CN114187676A - Inspection method, device, equipment, system and storage medium - Google Patents
Inspection method, device, equipment, system and storage medium Download PDFInfo
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- CN114187676A CN114187676A CN202111460260.3A CN202111460260A CN114187676A CN 114187676 A CN114187676 A CN 114187676A CN 202111460260 A CN202111460260 A CN 202111460260A CN 114187676 A CN114187676 A CN 114187676A
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Abstract
The embodiment of the application discloses a polling method, a polling device, polling equipment, polling system and a storage medium. Acquiring identification information and behavior data of a target object in a target environment; generating danger reference data according to the identification information and the behavior data; and controlling the inspection robot to alarm and remind according to the dangerous reference data. According to the technical scheme, the risk involved condition of the target object is determined by identifying the identification information and the behavior data of the target object, the dangerous behavior of the target object can be identified timely and accurately, whether the target object has the accident tendency or not is judged, and safety guarantee in a target environment is facilitated. The inspection robot is controlled to give an alarm according to the dangerous reference data, so that the inspection robot can remind a target object in time when dangerous behaviors and accident trends are found, prevention is performed before an accident occurs, the occurrence of the accident is effectively reduced, and the safety of a target environment is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a polling method, a polling device, polling equipment, a polling system and a polling storage medium.
Background
The robot has the capabilities of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. When intellectualization is popularized, great attention and development are paid to the robot technology.
When a traffic accident occurs on a road, if the traffic accident is not checked and handled in time, a major accident is easily caused. Therefore, technicians use the inspection robots to cruise and detect whether accidents occur or not at all the sections at the present stage, so that the inspection robots are helped to find and process the accidents at the first time, and the spreading of harm is avoided. However, the inspection in the prior art is mainly implemented by identifying and feeding back accident information after an accident occurs, so that dangerous factors cannot be inspected in time to prevent the accident.
Disclosure of Invention
The embodiment of the application provides a routing inspection method, a routing inspection device, equipment, a routing inspection system and a storage medium, so that the safety of a target environment is improved.
In a first aspect, an embodiment of the present application provides a method for routing inspection, which is applied to a robot for routing inspection, and includes:
acquiring identification information and behavior data of a target object in a target environment;
generating danger reference data according to the identification information and the behavior data;
and controlling the inspection robot to alarm and remind according to the dangerous reference data.
In a second aspect, an embodiment of the present application further provides an inspection system, including: an inspection robot and a processing device; the inspection robot is in communication connection with the processing equipment;
the inspection robot acquires identification information and behavior data of a target object in a target environment, and generates danger reference data according to the identification information and the behavior data;
and the processing equipment controls the inspection robot to alarm and remind according to the danger reference data.
In a third aspect, an embodiment of the present application further provides an inspection device, including:
the data acquisition module is used for acquiring identification information and behavior data of a target object in a target environment;
the danger reference data generation module is used for generating danger reference data according to the identification information and the behavior data;
and the alarm module is used for controlling the inspection robot to alarm and remind according to the dangerous reference data.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement any one of the inspection methods provided in the embodiments of the first aspect of the present application.
In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements any one of the inspection methods provided in the embodiments of the first aspect of the present application.
According to the technical scheme of the embodiment of the application, the risk-involved condition of the target object is determined by identifying the identification information and the behavior data of the target object, the dangerous behavior of the target object can be identified timely and accurately, whether the target object has the accident tendency or not is judged, and the safety guarantee in the target environment is facilitated. The inspection robot is controlled to give an alarm according to the dangerous reference data, so that the inspection robot can remind a target object in time when dangerous behaviors and accident trends are found, prevention is performed before an accident occurs, the occurrence of the accident is effectively reduced, and the safety of a target environment is improved.
Drawings
Fig. 1 is a flowchart of a polling method according to an embodiment of the present application;
fig. 2 is a flowchart of a polling method provided in the second embodiment of the present application;
fig. 3 is a flowchart of a polling method provided in the third embodiment of the present application;
fig. 4A is a schematic structural diagram of an inspection system according to a fourth embodiment of the present application;
fig. 4B is a schematic structural diagram of an inspection system according to a fourth embodiment of the present application;
fig. 5 is a schematic structural diagram of an inspection device provided in the fifth embodiment of the present application;
fig. 6 is a structural diagram of an electronic device according to a sixth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a polling method according to an embodiment of the present application. The embodiment of the application is applicable to preventing road accidents, and the method can be executed by an inspection device which can be realized by software and/or hardware and is specifically configured in an inspection robot.
Referring to fig. 1, the inspection method specifically includes the following steps:
and S110, acquiring identification information and behavior data of the target object in the target environment.
Wherein, it can be the mobile robot that possesses functions such as machine vision, environmental monitoring to patrol and examine the robot for cruise and predetermine the inspection of target in target environment. The target environment may include, but is not limited to, roads, tunnels, mines, and the like. The target object may be a person, a vehicle, or the like. The identification information may represent the identity or the attribute information of the target object, the identification information of the person may be identity information (such as an identity card or a fingerprint), wearing (such as whether the person is a work garment), and the like, and the identification information of the vehicle may be at least one of a vehicle type, a vehicle body color, a license plate number, a license plate color, and the like. The behavior data may characterize the behavior of the target object, such as the behavior of a person affecting or about to affect traffic safety, the behavior of a vehicle violating or about to violate a violation of a road, a violation of a road, of a violation of a road, of a violation of.
Specifically, identity information, attribute information of the target object and various behaviors of the target object in the target environment are identified. For example, the inspection robot cruises in the tunnel and simultaneously checks the behaviors of pedestrians and vehicles to check the risk factors. In the inspection process, the inspection robot can verify the identity of the pedestrian entering the tunnel by methods such as machine vision and the like so as to identify workers in the non-tunnel. Meanwhile, the inspection robot can identify vehicles coming and going through machine vision, check information of the vehicles and monitor driving conditions of the vehicles.
And S120, generating danger reference data according to the identification information and the behavior data.
The dangerous reference data can be reference information obtained by comparing identification information of the target object with preset verification information, and is used for representing whether the target object has dangerous behaviors or trends of the dangerous behaviors.
In a specific example, when the inspection robot inspects the tunnel, the inspection robot identifies target personnel in the tunnel, and obtains information whether the target personnel are allowed to enter the tunnel or not by comparing identification information of the target personnel with preset personnel information allowed to enter the tunnel, so that the information can be used as dangerous reference data.
For another example, when the inspection robot inspects a tunnel, the inspection robot identifies vehicles in the tunnel through machine vision, obtains information such as vehicle types, license plates and driving states of the vehicles, compares the information with vehicle safety driving information, and obtains comparison information as danger reference data. For example, the inspection robot recognizes the driving information of the vehicle in the tunnel, and compares the driving information with the normal information during safe driving to obtain comparison information such as: and at least one of whether the vehicle has a line-pressing trend, whether the vehicle has a lane-changing trend, whether the vehicle has a turning or turning trend, whether the vehicle has a parking trend, whether the vehicle is in a wrong direction and the like, and using the comparison information as danger reference data. The machine vision may use a device such as a two-dimensional camera or a panoramic camera to acquire images of a target environment and a target object, and the implementation manner of the machine vision is not limited in the embodiments of the present application.
The above examples of the person and the vehicle are only used as illustrations of the manner of generating the hazard reference data in the embodiment of the present application, and should not be construed as limitations to the technical solutions of the present application.
And S130, controlling the inspection robot to alarm and remind according to the danger reference data.
And judging whether the target object has a trend of dangerous accidents in the target environment according to the dangerous reference data determined in the previous step, and controlling the inspection robot to alarm and remind. The warning reminding mode can be that the inspection robot reminds the target object through sound broadcasting and/or lamplight.
In an optional implementation, the inspection method may further include: identifying whether an environment abnormal condition exists in a target environment; and if the environment abnormal condition exists, carrying out alarm reminding on the target object.
The environmental abnormal condition may include, but is not limited to, abnormal conditions of environmental factors such as temperature, humidity, water accumulation, gas (carbon dioxide, sulfur dioxide, etc.) concentration, smoke concentration, and obstacles in the target environment. For example, the situation that the concentration of sulfur dioxide in the tunnel exceeds the standard, the accumulated water exceeds the warning line or the center of the lane has an obstacle and the like can be understood as the situation of environmental abnormality. And if the environmental factors are found to be abnormal, controlling the inspection robot to remind the target object.
According to the technical scheme of the embodiment, the environmental abnormal information is determined by monitoring the environmental factors in the target environment, and an accurate basis is provided for reminding the target object. The environmental factors are comprehensively monitored, and the method is favorable for timely troubleshooting and coping with various dangerous factors so as to prevent dangerous accidents related to environmental abnormality.
In an alternative embodiment, the environmental anomaly comprises the presence of an obstacle in the target environment; correspondingly, the performing of the alarm prompt on the target object may include: and when the target object enters the region to which the barrier belongs, warning reminding is carried out on the target object.
An obstacle is understood to mean an item which does not belong to the target environment or which affects the safety of the target environment, for example a remnant which has fallen off a vehicle travelling in a highway or in a tunnel. The area to which the obstacle belongs is a preset range centered on the obstacle. It can be understood that, in order to prevent the target object from colliding with the obstacle, when the inspection robot finds the obstacle in the inspection process, that is, at the preset range boundary centered on the obstacle, the inspection robot reminds the target user of the position information about the obstacle.
For example, a truck drops a carton in a tunnel, after the inspection robot identifies the carton as an obstacle through a preset image processing algorithm, the inspection robot warns at two places extending 100 meters to two ends of the tunnel by taking the position of the carton as a center, and informs the coming vehicles and pedestrians of avoiding the obstacle in advance. Meanwhile, after the obstacle is found, the obstacle information can be sent to tunnel workers or traffic police and the like, so that the obstacle can be manually processed in time.
According to the technical scheme of the embodiment, the obstacle in the target environment is identified, and the alarm prompt is performed before the target object collides with the obstacle, so that the collision accident can be effectively prevented, and the safety in the target environment is improved.
According to the technical scheme of the embodiment of the application, the risk-involved condition of the target object is determined by identifying the identification information and the behavior data of the target object, the dangerous behavior of the target object can be identified timely and accurately, whether the target object has the accident tendency or not is judged, and the safety guarantee in the target environment is facilitated. The inspection robot is controlled to give an alarm according to the dangerous reference data, so that the inspection robot can remind a target object in time when dangerous behaviors and accident trends are found, prevention is performed before an accident occurs, the occurrence of the accident is effectively reduced, and the safety of a target environment is improved.
Example two
Fig. 2 is a flowchart of a polling method provided in the second embodiment of the present application. The embodiment of the application is based on the technical scheme of the embodiment, and the generation operation of the dangerous reference data is refined to prevent the vehicle in the road from accidents.
Referring to fig. 2, the inspection method specifically includes the following steps:
s210, acquiring identification information and behavior data of the target object in the target environment.
And S220, identifying whether the target vehicle has a line pressing behavior or not according to the vehicle running data.
The target object is a target vehicle; the behavior data of the target object is vehicle travel data.
The vehicle driving data may include, but is not limited to, a vehicle speed of the target vehicle, a positional relationship with a lane line of the current lane, and the like. The line pressing behavior may be that the target vehicle has crushed the lane line of the current lane in which it is located.
Specifically, whether the target vehicle is pressed is judged by identifying the running data of the target vehicle in the running process.
In an alternative embodiment, the identifying whether the target vehicle has the line pressing behavior according to the vehicle driving data may include: identifying whether a target vehicle has a line pressing behavior of rolling a lane early warning line of a current driving lane or not according to the vehicle driving data; the lane early warning line is an entity lane line of a current driving lane and/or a virtual lane line positioned on the inner side of the entity lane line of the current driving lane.
The lane precaution lines may be two types, one type is a solid lane line for distinguishing different lanes, and the other type is a virtual lane line located inside the solid lane line. It should be noted that the virtual lane lines are simulated by the inspection robot through a preset image processing algorithm, and do not exist in the actual road, and the two virtual lane lines are simulated and arranged inside the physical lane lines, that is, the lane width between the two virtual lane lines is smaller than the lane width between the two physical lane lines. The distance between the virtual lane line and the physical lane line may be set manually, for example, may be set to 30 cm.
Therefore, the line pressing behavior of the target vehicle is classified into two cases according to the difference of the lane warning lines. Namely rolling virtual lane lines and rolling solid lane lines. When the target vehicle rolls the virtual lane line, it can be understood that the target vehicle does not roll the solid lane line but yaws toward the solid lane line, that is, the target vehicle has a tendency to roll the solid lane line.
Specifically, the inspection robot judges whether the target vehicle has a solid lane line or a trend of rolling the solid lane line by recognizing the position relationship between the target vehicle and the virtual lane line and the solid lane line when the target vehicle runs on the current lane.
According to the technical scheme of the embodiment, the vehicle line pressing condition is identified by identifying the position relation between the target vehicle and the entity lane line and the virtual lane line, the behavior or trend of the entity lane line of the vehicle is rapidly distinguished, whether the target vehicle has illegal behaviors such as lane change and turning during running or not is helped to be judged in time, effective basis is provided for the warning of the inspection robot, and therefore the illegal driving behavior of a driver is helped to be corrected in time.
In an optional implementation, the inspection method may further include: and if the dangerous reference data comprise the line pressing behavior data corresponding to the entity lane line, generating violation records.
The violation record may be record information of a violation of the target vehicle, such as a violation lane change, a violation head-turning, and the like of the target vehicle. Specifically, when the inspection robot identifies that the target vehicle rolls the solid lane line, violation record information about the line pressing behavior of the target vehicle is generated. It will be appreciated that the violation record may be used as a basis for warning or penalizing the driver of the target vehicle.
According to the technical scheme of the embodiment, the rule violation record is carried out on the line pressing behaviors, and the basis can be effectively provided for warning that the target vehicle runs illegally.
And S230, generating danger reference data according to the identification result and the identification information.
The recognition result may be whether the target vehicle has a line pressing behavior. Specifically, according to the identification information of the target vehicle and the line pressing behavior of the target vehicle, danger reference data is generated for the target vehicle.
And S240, controlling the inspection robot to alarm and remind according to the danger reference data.
According to the technical scheme, whether the line pressing behavior exists in the target vehicle is judged by identifying the vehicle driving data of the target vehicle, the illegal driving or illegal trend of the target vehicle is quickly identified and recorded, the behavior possibly causing traffic accidents is timely warned, and the accidents are effectively prevented.
EXAMPLE III
Fig. 3 is a flowchart of a polling method provided in the third embodiment of the present application. The embodiment of the application refines the generation operation of the dangerous reference data on the basis of the technical scheme of the embodiment so as to prevent accidents of people in the road.
Referring to fig. 3, the inspection method specifically includes the following steps:
s310, acquiring identification information and behavior data of the target object in the target environment.
And S320, identifying whether the target person is an authorized person or not according to the identification information.
The target object is a target person; the behavior data of the target object is wandering behavior data.
Where the authorized personnel may be personnel allowed to enter the target environment, for example, the authorized personnel in the tunnel may be tunnel workers, the authorized personnel on the highway may be traffic police, etc. The target person may be any person that enters the target environment. The wandering behavior data may be a record of a movement condition of the target person in the target environment, and for example, the movement condition of the target person may be determined according to a positional relationship between the target person and the inspection robot.
Specifically, identifying whether the target person is an authorized person can be achieved by visually identifying a human face, identifying a dressing, identifying a fingerprint and the like. For example, the dresses of the persons in the tunnel can be identified through machine vision, the clothes of the persons in the tunnel and the clothes of the workers are compared through a preset clothes identification algorithm, and the obtained comparison information can be used as danger reference data. It will be appreciated that non-workers are not permitted to enter the tunnel at will (to prevent danger) by virtue of the provision, and therefore the identification of the person as being authorized to enter the tunnel is by way of the identification garment. Of course, the identification clothing information is only one of the preset verification information, and the identification information of the person can be verified in other ways, so as to generate the danger reference data. The machine vision may use a device such as a two-dimensional camera or a panoramic camera to acquire images of a target environment and a target object, and the implementation manner of the machine vision is not limited in the embodiments of the present application.
And S330, identifying whether the target person is in the interference range of the inspection robot or not according to the wandering behavior data.
The interference range can be understood as an alert range in which the inspection robot interferes with the movement of the target person. It should be noted that, since the target environment may be an area such as an expressway or a tunnel where a person is not allowed to walk, ride, or stay at will, the inspection robot needs to know the movement of the person in the target environment. The movement of the target person can be regulated by setting the interference range. The inspection robot can be used as a center, a preset distance is extended outwards to form a virtual warning line, the position relation between target personnel and the warning line is identified in the cruising process of the inspection robot, and whether the target personnel need to be warned or interfered in moving is judged. The warning range may be further divided into a warning range and an eviction range.
And S340, generating danger reference data according to the identification result.
And S350, controlling the inspection robot to alarm and remind according to the danger reference data.
In an optional embodiment, the identifying whether the target person is within the interference range of the inspection robot according to the wandering behavior data may include: identifying whether the target personnel is in a warning range and/or an expulsion range of the inspection robot according to the position information in the walking behavior data; wherein the eviction range is within the warning range.
The warning range can be a warning line range for warning the target personnel by taking the inspection robot as a center; the expelling range may be a warning line range in which the movement of the target person is interfered with centering on the inspection robot. It should be noted that, when the target person enters the warning range of the inspection robot, the inspection robot can give a warning to the target person to prompt the target person to leave the target environment; when the target personnel enter the expulsion range of the inspection robot, the inspection robot can warn the target personnel and supervise and drive the target personnel to leave the target environment. It is understood that the target person should be warned first, and if the target person does not listen to the warning and continues to approach the inspection robot, the target person is repelled, so that the repelled range is smaller relative to the warning range.
Specifically, whether the target person enters the warning range and/or the expelling range of the inspection robot is identified according to the position relation between the target person and the inspection robot.
According to the technical scheme of the embodiment, the moving condition of the target person is identified by setting the two warning lines, a basis is provided for subsequent processing of the target person, the moving condition of the target person in the target environment is effectively judged, and a basis is provided for preventing the target person from being dangerous or causing harm to other target objects.
In an optional implementation, the inspection method may further include: and if the dangerous reference data comprises the walk behavior data corresponding to the expelling range, expelling the target personnel according to the walk track of the target personnel.
The wandering behavior data corresponding to the expulsion range can be understood as the target person entering the expulsion range of the inspection robot. The wander trajectory may be a path of movement of the target person in the target environment. When the inspection robot recognizes that the moving path of the target person is continuously close to the inspection robot and enters the expelling range, the inspection robot judges that the target person does not hear the warning and withdraws, so that the target person is expelled. The eviction may be in the form of a continuous alarm following the target person until the target person leaves the target environment.
In a specific example, an unauthorized person enters a tunnel, the inspection robot finds the unauthorized person in the inspection process, identifies the moving path of the unauthorized person, and sends out voice and light alarms to warn the unauthorized person to leave the tunnel after identifying that the unauthorized person enters the warning range. But the unauthorized person does not listen to the warning to keep the position from leaving or continue to move to the inspection robot, when the unauthorized person moves to the expulsion range of the inspection robot, the inspection robot judges the trend of dangerous behaviors of the unauthorized person, immediately moves along with the unauthorized person, and continuously alarms until the unauthorized person is driven away from the tunnel.
According to the technical scheme of the embodiment, the walking track of the target person is identified, and the walking behavior of the target person is judged so as to help the inspection robot to determine whether the target person has the trend of dangerous behavior, namely whether dangerous accidents are possibly caused. And after the target personnel is judged to enter the expelling range, the target personnel is expelled, so that the risk factors in the target environment of the target personnel are eliminated, and the safety of the target personnel and other target objects is ensured.
According to the technical scheme, whether the target person is an authorized person or not is judged, the person entering the target environment is distinguished, unauthorized persons are accurately found, and the intelligence and flexibility of routing inspection are improved. By identifying the moving condition of the unauthorized personnel, the unauthorized personnel are warned or driven away, the safety of the target personnel is ensured, and the potential danger brought by the target personnel is also avoided.
Example four
Fig. 4A is a schematic structural diagram of an inspection system according to a fourth embodiment of the present application, where the fourth embodiment of the present application is applicable to a situation of preventing a road accident, and the system may be implemented by software and/or hardware, and as shown in fig. 4A, the system may include: an inspection robot 410 and a processing device 420;
the inspection robot 410 is in communication connection with the processing equipment 420;
the inspection robot 410 acquires identification information and behavior data of a target object in a target environment, and generates danger reference data according to the identification information and the behavior data;
and the processing equipment 420 controls the inspection robot to alarm and remind according to the danger reference data.
Wherein, it can be the mobile robot that possesses functions such as machine vision, environmental monitoring to patrol and examine the robot for cruise and predetermine the inspection of target in target environment. The processing device can be a server and can analyze the danger reference data in an automatic mode; or the dangerous reference data can be judged in a monitoring background in a manual mode. The target environment may include, but is not limited to, roads, tunnels, mines, and the like. The target object may be a person, a vehicle, or the like. The identification information may represent the identity or the attribute information of the target object, the identification information of the person may be identity information (such as an identity card or a fingerprint), wearing (such as whether the person is a work garment), and the like, and the identification information of the vehicle may be a vehicle type, a vehicle body color, a license plate number, a license plate color, and/or the like. The behavior data may characterize the behavior of the target object, such as the behavior of a person affecting or about to affect traffic safety, the behavior of a vehicle violating or about to violate a violation of a road, a violation of a road, of a violation of a road, of a violation of. The dangerous reference data may be reference information obtained by comparing the identification information of the target object with preset verification information, and is used to represent whether the target object has dangerous behaviors or a trend of the dangerous behaviors.
Specifically, the inspection robot and the processing equipment are in communication connection to perform information interaction, and the communication mode can be a composite communication network, for example, the communication mode can be a communication mode which can realize a communication range of 0.5km to 1km and comprises wired carrier communication and wireless network fusion complementation for building a local area network. The inspection robot judges whether the target object has dangerous behaviors or the trend of the dangerous behaviors by identifying identity information, attribute information, behavior information and the like of the target object in the target environment, and sends dangerous reference data to the processing equipment. The processing equipment controls the inspection robot to carry out processing modes such as warning on the target object according to the dangerous behaviors or the trend of the dangerous behaviors of the target object.
Fig. 4B is a schematic structural diagram of an inspection system according to a fourth embodiment of the present application. In particular, the present examples provide a preferred embodiment in addition to the above embodiments. As shown in fig. 4B, the inspection robot 410 may include: camera module 411, environmental monitoring module 412, emergency guidance module 413, composite communication module 414, industrial personal computer 415, motor driver 416 and switch 417. The processing device 420 may include: a backend server 421 and a monitoring platform 422.
The camera module 411 is used for capturing vehicle violations such as line pressing, reversing, turning around, parking, traffic jam and the like, capturing vehicle license plates, license plate colors, vehicle body colors, vehicle types and the like, recognizing movement situations of unauthorized persons, recognizing obstacles and the like. The camera module 411 may include a snapshot camera, a panorama camera, and the like.
And the environment monitoring module 412 is used for realizing real-time monitoring of harmful gases in the air in the tunnel, wherein the real-time monitoring includes temperature and humidity, carbon dioxide concentration, sulfur dioxide concentration, smoke induction and the like.
And the emergency guiding module 413 is used for triggering an emergency handling function when the tunnel is dangerous.
And the composite communication module 414 is used for information interaction between the inspection robot and the processing equipment.
And the industrial personal computer 415 is used for controlling each functional module.
And the motor driver 416 is used for driving the inspection robot to move.
A switch 417 for connecting to a local area network in the target environment.
And the background server 421 is configured to process environment information, personnel information, and vehicle information sent by the inspection robot.
And the monitoring platform 422 is used for displaying the environmental information, the personnel information and the vehicle information of the target environment to the working personnel.
Wherein the emergency disposition function can handle both situations. Firstly, when handling non-emergency, carry out the vehicle and dredge, camera module obtains certain highway section vehicle jam condition in the tunnel according to the recognition result, and backstage staff can manually control and patrol and examine the robot and arrive the reason that appointed position observed the road jam, carries out vehicle guide to navigating mate pronunciation warning or two-way pronunciation talkback. And when a traffic accident happens in the tunnel, a worker can manually operate the robot to timely drive the robot to the scene to observe the scene condition, send corresponding voice prompt and light to guide the worker to evacuate to a safe area, and remind the passing vehicle to decelerate and pass through by voice prompt. And secondly, when emergency accidents are handled, such as large-scale vehicle accidents or fire accidents in tunnels and emergency lighting power failure and other conditions, the inspection robot immediately starts a standby power supply to be used, workers manually operate the inspection robot to enable the inspection robot to operate to the accident site to observe the conditions, and turn on an emergency lamp, voice interaction and an emergency guide lamp to guide field workers to evacuate, and meanwhile, field pictures and video guidance can be provided for rescue workers, so that the rescue workers can make an optimal treatment scheme.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an inspection device according to a fifth embodiment of the present application, where the inspection device according to the fifth embodiment of the present application is applicable to preventing a road accident from occurring, the inspection device may be implemented in software and/or hardware, and may be configured in an electronic device, such as an inspection robot or a backend server. As shown in fig. 5, the apparatus may include: a data acquisition module 510, a hazard reference data generation module 520, and an alarm module 530, wherein,
a data obtaining module 510, configured to obtain identification information and behavior data of a target object in a target environment;
a danger reference data generating module 520, configured to generate danger reference data according to the identification information and the behavior data;
and the alarm module 530 is used for controlling the inspection robot to alarm and remind according to the dangerous reference data.
According to the technical scheme of the embodiment of the application, the risk-involved condition of the target object is determined by identifying the identification information and the behavior data of the target object, the dangerous behavior of the target object can be identified timely and accurately, whether the target object has the accident tendency or not is judged, and the safety guarantee in the target environment is facilitated. The inspection robot is controlled to give an alarm according to the dangerous reference data, so that the inspection robot can remind a target object in time when dangerous behaviors and accident trends are found, prevention is performed before an accident occurs, the occurrence of the accident is effectively reduced, and the safety of a target environment is improved.
In an alternative embodiment, the target object is a target vehicle; the behavior data of the target object is vehicle driving data;
the corresponding hazard reference data generation module 520 may include:
the line pressing identification unit is used for identifying whether a line pressing action exists in the target vehicle according to the vehicle running data;
and the danger reference data generating unit is used for generating danger reference data according to the identification result and the identification information.
In an alternative embodiment, the pressing line recognition unit may include:
the early warning line identification subunit is used for identifying whether the target vehicle has a line pressing behavior of rolling the lane early warning line of the current driving lane according to the vehicle driving data;
the lane early warning line is an entity lane line of a current driving lane and/or a virtual lane line positioned on the inner side of the entity lane line of the current driving lane.
In an optional embodiment, the inspection device may further include:
and the violation record module is used for generating violation records if the dangerous reference data comprise line pressing behavior data corresponding to the entity lane lines.
In an alternative embodiment, the target object is a target person; the behavior data of the target object is wandering behavior data;
accordingly, the hazard reference data generating module 520 may include:
the authorized person identification unit is used for identifying whether the target person is an authorized person or not according to the identification information;
the interference range identification unit is used for identifying whether the target person is in the interference range of the inspection robot or not according to the wandering behavior data;
and the reference data identification unit generates dangerous reference data according to the identification result.
In an alternative embodiment, the interference range identification unit may include:
the personnel warning judging unit is used for identifying whether the target personnel is in a warning range and/or an expulsion range of the inspection robot according to the position information in the wandering behavior data;
wherein the eviction range is within the warning range.
In an optional embodiment, the inspection device may further include:
and the personnel expelling module is used for expelling the target personnel according to the walking track of the target personnel if the dangerous reference data comprises walking behavior data corresponding to the expelling range.
In an optional embodiment, the inspection device may further include:
the environment abnormity identification module is used for identifying whether an environment abnormity condition exists in the target environment;
and the environment abnormity warning module is used for warning and reminding the target object if the environment abnormity condition exists.
In an alternative embodiment, the environmental anomaly comprises the presence of an obstacle in the target environment;
accordingly, the environmental anomaly alarm module may include:
and the alarm reminding unit is used for carrying out alarm reminding on the target object when the target object enters the region to which the barrier belongs.
The inspection device provided by the embodiment of the application can execute the inspection method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of executing each inspection method.
EXAMPLE six
Fig. 6 is a structural diagram of an electronic device according to a sixth embodiment of the present application. FIG. 6 illustrates a block diagram of an exemplary electronic device 612 suitable for use in implementing embodiments of the present application. The electronic device 612 illustrated in fig. 6 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present application.
As shown in fig. 6, the electronic device 612 is in the form of a general purpose computing device. The components of the electronic device 612 may include, but are not limited to: one or more processors or processing units 616, a system memory 628, and a bus 618 that couples various system components including the system memory 628 and the processing unit 616.
The electronic device 612 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 612 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 628 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)630 and/or cache memory 632. The electronic device 612 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 634 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be connected to bus 618 by one or more data media interfaces. Memory 628 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.
A program/utility 640 having a set (at least one) of program modules 642 may be stored, for example, in memory 628, such program modules 642 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 642 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 612 may also communicate with one or more external devices 614 (e.g., keyboard, pointing device, display 624, etc.), with one or more devices that enable a user to interact with the electronic device 612, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 612 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 622. Also, the electronic device 612 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 620. As shown, the network adapter 620 communicates with the other modules of the electronic device 612 via the bus 618. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 612, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 616 executes various functional applications and data processing by executing at least one of other programs of the plurality of programs stored in the system memory 628, for example, to implement a polling method provided by the embodiments of the present application.
In an alternative embodiment, the electronic device 612 may be an inspection robot or a backend server.
EXAMPLE seven
The seventh embodiment of the present application further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the program is used for executing the inspection method provided by the embodiment of the present application when executed by a processor: acquiring identification information and behavior data of a target object in a target environment; generating danger reference data according to the identification information and the behavior data; and controlling the inspection robot to alarm and remind according to the dangerous reference data.
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. 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 (a non-exhaustive list) of the computer readable storage medium would include the following: 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 the context of this document, 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.
A computer readable signal medium may include 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 wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present application 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 the "C" programming language 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).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (13)
1. The utility model provides a patrol and examine method, its characterized in that is applied to patrolling and examining robot, includes:
acquiring identification information and behavior data of a target object in a target environment;
generating danger reference data according to the identification information and the behavior data;
and controlling the inspection robot to alarm and remind according to the dangerous reference data.
2. The method of claim 1, wherein the target object is a target vehicle; the behavior data of the target object is vehicle driving data;
correspondingly, the generating danger reference data according to the identification information and the behavior data includes:
identifying whether the target vehicle has a line pressing behavior or not according to the vehicle running data;
and generating the danger reference data according to the identification result and the identification information.
3. The method of claim 2, wherein identifying whether the target vehicle has a line pressing behavior based on the vehicle driving data comprises:
identifying whether the target vehicle has a line pressing behavior of rolling a lane early warning line of a current driving lane according to the vehicle driving data;
the lane early warning line is an entity lane line of the current driving lane and/or a virtual lane line positioned at the inner side of the entity lane line of the current driving lane.
4. The method of claim 3, further comprising:
and if the dangerous reference data comprise line pressing behavior data corresponding to the entity lane line, generating violation records.
5. The method of claim 1, wherein the target object is a target person; the behavior data of the target object is wandering behavior data;
correspondingly, the generating danger reference data according to the identification information and the behavior data includes:
identifying whether the target person is an authorized person or not according to the identification information;
identifying whether the target person is in the interference range of the inspection robot or not according to the wandering behavior data;
and generating the danger reference data according to the identification result.
6. The method of claim 5, wherein identifying whether the target person is within the interference range of the inspection robot based on the wandering behavior data comprises:
identifying whether the target personnel is in a warning range and/or an expulsion range of the inspection robot according to the position information in the walking behavior data;
wherein the eviction range is within the warning range.
7. The method of claim 6, further comprising:
and if the dangerous reference data comprises the walking behavior data corresponding to the expelling range, expelling the target person according to the walking track of the target person.
8. The method according to any one of claims 1-7, further comprising:
identifying whether an environmental abnormal condition exists in the target environment;
and if the environment abnormal condition exists, carrying out alarm reminding on the target object.
9. The method of claim 8, wherein the environmental anomaly comprises a presence of an obstacle in the target environment;
correspondingly, the warning reminding for the target object includes:
and when the target object enters the region to which the barrier belongs, performing alarm reminding on the target object.
10. An inspection device, comprising:
the data acquisition module is used for acquiring identification information and behavior data of a target object in a target environment;
the danger reference data generation module is used for generating danger reference data according to the identification information and the behavior data;
and the alarm module is used for controlling the inspection robot to alarm and remind according to the dangerous reference data.
11. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a patrol method according to any one of claims 1-9.
12. An inspection system, comprising: an inspection robot and a processing device; the inspection robot is in communication connection with the processing equipment;
the inspection robot acquires identification information and behavior data of a target object in a target environment, and generates danger reference data according to the identification information and the behavior data;
and the processing equipment controls the inspection robot to alarm and remind according to the danger reference data.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a patrol method according to any one of claims 1-9.
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