CN116380162A - Security monitoring method, device, computer equipment and storage medium - Google Patents
Security monitoring method, device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a security monitoring method, a security monitoring device, computer equipment and a storage medium. The method comprises the steps of establishing a patrol point, and generating a range to be monitored based on the patrol point; acquiring a patrol position of a patrol point, and acquiring a robot position of a patrol robot; the inspection robot is provided with an inspection sensor; determining a routing inspection route of the routing inspection robot according to the routing inspection position and the robot position; the inspection route at least passes through the inspection position; when the inspection robot is positioned at the inspection position, the inspection sensor detects the detection data obtained from the range to be monitored; and determining the security of the inspection point according to the detection data. The safety monitoring to the inspection point can be completed through the inspection robot, the safety inspection is realized, the manual work is not needed, and the efficiency is improved.
Description
Technical Field
The present disclosure relates to the field of environmental security technologies, and in particular, to a security monitoring method, a device, a computer device, and a storage medium.
Background
Along with the promotion of the industrialization progress, safety accidents such as fire disasters, dangerous gas leakage and the like frequently occur in the manufacturing production, and if the safety accidents can be found out and handled in time, the life safety is protected while the property loss is reduced. In addition, forest fires and floods pose a threat to life safety and property, and thus areas prone to accidents need to be monitored.
The traditional safety monitoring method mostly utilizes manpower to carry out safety monitoring. The manual monitoring needs to be carried out through human eyes and handheld equipment, the requirement on the monitoring judgment experience of safety monitoring personnel is very high, the human occupancy rate is very high, and the working efficiency is lower.
Disclosure of Invention
Based on the foregoing, it is necessary to provide a security monitoring method, apparatus, computer device and storage medium for monitoring security incidents.
In a first aspect, the present application provides a security monitoring method. The method comprises the following steps:
establishing a patrol point; generating a range to be monitored based on the inspection points;
acquiring a patrol position of a patrol point, and acquiring a robot position of a patrol robot; the inspection robot is provided with an inspection sensor;
determining a routing inspection route of the routing inspection robot according to the routing inspection position and the robot position; the inspection route at least passes through the inspection position;
when the inspection robot is positioned at the inspection position, the inspection sensor detects the detection data obtained from the range to be monitored;
and determining the security of the inspection point according to the detection data.
In one embodiment, determining a routing inspection route of the inspection robot according to the inspection position and the robot position; the inspection route at least passes through the inspection position and comprises:
Acquiring a first image shot by an inspection unmanned aerial vehicle; the first image comprises image information of an obstacle between the inspection robot and the inspection point;
determining a routing inspection route of the routing inspection robot according to the routing inspection position, the robot position and the first image; the inspection route at least passes through the inspection position and avoids the obstacle.
In one embodiment, determining the inspection route of the inspection robot from the inspection position, the robot position, and the first image includes:
determining a first stereoscopic model of the inspection robot and a second stereoscopic model of the obstacle according to the first image;
establishing a three-dimensional map; the three-dimensional map comprises a patrol position, a first three-dimensional model and a second three-dimensional model;
and determining the inspection route of the inspection robot according to the inspection position and the position relation of the first three-dimensional model and the second three-dimensional model in the three-dimensional map.
In one embodiment, the first image further includes first profile information of the inspection robot and obstacle position and second profile information of the obstacle; determining a first stereoscopic model of the inspection robot and a second stereoscopic model of the obstacle from the first image, comprising:
determining a first three-dimensional model of the inspection robot according to the robot position and the first contour information;
A second stereoscopic model of the obstacle is determined from the obstacle position and the second contour information.
In one embodiment, before acquiring the detection data obtained by detecting the range to be monitored by the inspection sensor when the inspection robot is located at the inspection position, after determining the inspection route of the inspection robot according to the inspection position and the robot position, the method further includes:
establishing a patrol map according to the patrol points;
acquiring the robot position of the inspection robot in real time, and displaying the robot position on an inspection map to obtain an inspected path;
determining an unground path according to the round path and the round path;
and displaying the non-patrol route on the patrol map.
In one embodiment, determining the security of the inspection point from the detection data includes:
acquiring a second image shot by the inspection camera; the second image comprises state information of a range to be monitored;
and determining the security of the inspection point according to the detection data and the state information.
In one embodiment, the method further comprises:
comparing the data value in the detection data with a preset threshold value;
and if the data value is above the preset threshold value, sending out alarm information.
In a second aspect, the present application also provides a safety monitoring device. The device comprises:
The inspection point establishing module is used for establishing an inspection point and generating a range to be monitored based on the inspection point;
the position information acquisition module is used for acquiring the inspection position of the inspection point and acquiring the robot position of the inspection robot; the inspection robot is provided with an inspection sensor;
the inspection route determining module is used for determining an inspection route of the inspection robot according to the inspection position and the robot position; the inspection route at least passes through the inspection position;
the detection data acquisition module is used for acquiring detection data obtained by detecting a range to be monitored by the inspection sensor when the inspection robot is positioned at the inspection position;
and the security determination module is used for determining the security of the inspection point according to the detection data.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
establishing a patrol point; generating a range to be monitored based on the inspection points;
acquiring a patrol position of a patrol point, and acquiring a robot position of a patrol robot; the inspection robot is provided with an inspection sensor;
determining a routing inspection route of the routing inspection robot according to the routing inspection position and the robot position; the inspection route at least passes through the inspection position;
When the inspection robot is positioned at the inspection position, the inspection sensor detects the detection data obtained from the range to be monitored;
and determining the security of the inspection point according to the detection data.
In a fourth aspect, the present application also provides a computer-readable storage medium. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
establishing a patrol point; generating a range to be monitored based on the inspection points;
acquiring a patrol position of a patrol point, and acquiring a robot position of a patrol robot; the inspection robot is provided with an inspection sensor;
determining a routing inspection route of the routing inspection robot according to the routing inspection position and the robot position; the inspection route at least passes through the inspection position;
when the inspection robot is positioned at the inspection position, the inspection sensor detects the detection data obtained from the range to be monitored;
and determining the security of the inspection point according to the detection data.
In a fifth aspect, the present application also provides a computer program product. Computer program product comprising a computer program which, when executed by a processor, realizes the steps of:
establishing a patrol point; generating a range to be monitored based on the inspection points;
acquiring a patrol position of a patrol point, and acquiring a robot position of a patrol robot; the inspection robot is provided with an inspection sensor;
Determining a routing inspection route of the routing inspection robot according to the routing inspection position and the robot position; the inspection route at least passes through the inspection position;
when the inspection robot is positioned at the inspection position, the inspection sensor detects the detection data obtained from the range to be monitored;
and determining the security of the inspection point according to the detection data.
According to the safety monitoring method, the safety monitoring device, the computer equipment and the storage medium, the inspection route is determined according to the positions of the inspection points and the positions of the inspection robots, so that the inspection robots can reach the designated inspection positions from the positions of the robots. By arranging the inspection sensor on the inspection robot, after the inspection robot reaches the inspection position, the security of the inspection point can be determined according to the detection data of the inspection sensor. The safety monitoring to the inspection point can be completed through the inspection robot, the safety inspection is realized, the manual work is not needed, and the efficiency is improved. In addition, the information fusion method using the sensor compensates for the information deficiency problem of a single signal source, so that information butt joint between the inspection equipment and the terminal can be realized, and a user can comprehensively know the acquired detection data in real time.
Drawings
FIG. 1 is a diagram of an application environment of a security monitoring method in one embodiment;
FIG. 2 is a flow chart of a security monitoring method in one embodiment;
FIG. 3 is a flow chart of a security monitoring method according to another embodiment;
FIG. 4 is a block diagram of a security monitoring device in one embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The safety monitoring method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal device 102 communicates with the patrol device 104 via a communication network. The user may control the patrol device 104 via the terminal device 102, for example, control the start, stop, and direction of movement of the patrol device 104, etc. The terminal device 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The inspection device 104 may be a robot, a drone, a camera, or other device capable of acquiring ambient information for inspection. In the following embodiments, inspection equipment is taken as an example of a robot, a unmanned aerial vehicle and a camera for detailed description.
In one embodiment, as shown in fig. 2, a security monitoring method is provided, and the method is applied to the inspection device in fig. 1 for illustration, and includes the following steps:
s202, establishing a patrol point, and generating a range to be monitored based on the patrol point.
The inspection point is a point position needing to be safely monitored, and the range to be monitored is an environment which is located at the inspection point and needs to be monitored. The inspection equipment needs to go to the inspection point to monitor the environmental safety of the range to be monitored. The inspection point can be an area with a range or a specific point, and the inspection equipment acquires the monitoring information of the range to be monitored located at the inspection point after entering the area or the point. The monitoring information may be temperature information, gas composition information, water level information, or the like.
The inspection point may have one or more. Where there are multiple inspection points, the inspection points may be located at different locations.
S204, acquiring the inspection position of the inspection point and the robot position of the inspection robot; the inspection robot has an inspection sensor.
The inspection position may be a coordinate position of an inspection point and the robot position may be a coordinate position of an inspection robot. The inspection position and the robot position can be relative positions, and only the relative position relation between the inspection point and the inspection robot can be determined. When there are a plurality of inspection points, it is necessary to confirm the positional relationship between the inspection robot and all the inspection points. In one possible implementation, a positioning sensor is installed in the inspection robot, and the robot position of the inspection robot is acquired through the positioning sensor.
The inspection sensor is used for acquiring information of an object to be detected or surrounding environment at the inspection point, and different inspection sensor types are selected according to the data types to be monitored at the inspection point. For example, an infrared thermal image sensor, a gas sensor or a water level detection sensor. The infrared thermal imaging sensor can detect the infrared temperature, and a thermal image is obtained through thermal imaging photographing. And analyzing and processing the thermal image to obtain temperature data of the monitored object or surrounding environment. A temperature anomaly is considered when the temperature in the thermal image displayed by thermal imaging is too great. The gas components in the range to be monitored are monitored through the gas sensor, and the range to be monitored can be located indoors or outdoors. Further, the range to be monitored can be located on a highway, and the inspection robot monitors along the highway. And judging after obtaining the values of various gases, and considering that the gas components are abnormal when the harmful gas components of the monitored values are higher than the set values. And calculating an accurate value of the current water level through a water level detection sensor, and considering that the water level is abnormal when the accurate value exceeds a set value.
Multiple inspection points may have different categories of security monitoring requirements. The inspection robot creates specific collected data items according to different inspection points, and the terminal transmits the collected data items to the inspection robot.
S206, determining a routing inspection route of the routing inspection robot according to the routing inspection position and the robot position; the inspection route passes through at least the inspection position.
After the position relation between the inspection point and the inspection robot is determined, the inspection route of the inspection robot is determined according to the position relation between the inspection point and the inspection robot, and the inspection route at least passes through the inspection position, so that the inspection robot can go to the inspection position for inspection. When the inspection robot reaches the inspection position, the robot can be considered to reach the inspection point.
When only one inspection point exists, the line segment distance between the inspection robot and the inspection point is considered as the shortest path. When a plurality of inspection points are provided, the positional relationship between the inspection robot and all the inspection points, including the direction and the distance, is first determined. And then planning the path of the inspection robot according to a shortest path algorithm, and determining the shortest path required to be passed by the inspection robot when the inspection robot goes to all inspection points.
S208, when the inspection robot is located at the inspection position, detection data obtained by detecting the range to be monitored by the inspection sensor is obtained.
When the inspection robot moves to the inspection position, the inspection sensor carried by the inspection robot can detect the range to be monitored of the inspection point. The inspection robot has an inspection sensor type determined according to the type of data to be monitored at the inspection point, and may be an infrared thermal image sensor, a gas sensor or a water level detection sensor, for example. And when the infrared thermal image sensor is arranged, acquiring thermal image detection data monitored by the infrared thermal image sensor. With the gas sensor, gas component detection data monitored by the gas sensor can be acquired. When the water level detection sensor is provided, water level detection data monitored by the water level detection sensor can be acquired. When the inspection equipment cannot be connected with the network, the inspection equipment automatically enters an offline inspection mode, and the acquired data is automatically uploaded after the networking.
S210, determining the security of the inspection point according to the detection data.
After the detection data of the inspection sensor are obtained, the safety can be judged according to the detection data. For example, thermal image detection data monitored by an infrared thermal image sensor is abnormal when the temperature is too high, and is fire when the temperature is higher than the flame temperature, and the risk of fire is increased. When the harmful gas component is too high in the gas component determined by the gas sensor, it is considered to be abnormal. Above a critical value, there is considered a risk of hazardous gas leakage. And when the water level determined by the water level detection sensor is too high and exceeds a critical value, the flood risk is considered.
And all data uploaded by the inspection equipment can be established into a graph and a chart by using a data visualization technology. And an exchange control is arranged on the terminal, so that a user can conveniently set various parameters of the inspection equipment, determine the critical value of the inspection sensor, define inspection points, inspect the equipment and make an inspection route through the exchange control. The terminal may also record the running state of the inspection device, send start and stop commands for the inspection device, monitor movement of the inspection device. In addition, the data of each sensor can be acquired in real time, and various data of the sensors can be displayed in real time.
In the safety monitoring method, the inspection route is determined according to the position of the inspection point and the position of the inspection robot, so that the inspection robot can reach the designated inspection position from the robot position. Through setting up the sensor of patrolling and examining on the robot that patrols and examines, after the robot that patrols and examines reaches the position of patrolling and examining, the sensor of patrolling and examining can detect the scope of waiting that is located the inspection point, can confirm the security of inspection point according to the detection data of sensor of patrolling and examining. The safety monitoring to the inspection point can be completed through the inspection robot, the safety inspection is realized, the manual work is not needed, and the efficiency is improved. In addition, the information fusion method using the sensor compensates for the information deficiency problem of a single signal source, so that information butt joint between the inspection equipment and the terminal can be realized, and a user can comprehensively know the acquired detection data in real time.
In one embodiment, a patrol route of the patrol robot is determined according to the patrol position and the robot position; the inspection route at least passes through the inspection position and comprises: acquiring a first image shot by an inspection unmanned aerial vehicle; the first image comprises image information of an obstacle between the inspection robot and the inspection point; determining a routing inspection route of the routing inspection robot according to the routing inspection position, the robot position and the first image; the inspection route at least passes through the inspection point and avoids the obstacle.
Since the inspection robot and the inspection point are often not perfectly flat road sections with obstacles, it is necessary to plan the inspection route to avoid the obstacles. The inspection unmanned aerial vehicle is equipment capable of flying off the ground and hovering in the air, and is provided with a camera for shooting. When determining the inspection route, a first image is shot through the inspection unmanned aerial vehicle, wherein the first image at least comprises image information of an obstacle between the inspection robot and an inspection point. After the terminal receives the first image, the inspection route from the robot position to the inspection position can be determined according to the robot position of the inspection robot, the inspection position of the inspection point and the image information of the obstacle. And according to the first image, the inspection route is enabled to avoid the obstacle, so that the inspection robot is prevented from contacting the obstacle.
In this embodiment, in order to avoid the contact of the inspection robot with the obstacle in the process of going to the inspection point, the inspection unmanned aerial vehicle used performs auxiliary determination of the inspection route. The unmanned aerial vehicle is used for shooting the image information of the obstacle between the inspection robot and the inspection point, and determining a route according to the position of the robot, the inspection position and the image information of the obstacle, so that the inspection robot can reach the inspection point to execute the inspection task and simultaneously avoid the inspection robot from touching the obstacle to be damaged.
In one embodiment, determining the inspection route of the inspection robot from the inspection location, the robot location, and the first image comprises: determining a first stereoscopic model of the inspection robot and a second stereoscopic model of the obstacle according to the first image; establishing a three-dimensional map; the three-dimensional map comprises a patrol position, a first three-dimensional model and a second three-dimensional model; and determining the inspection route of the inspection robot according to the inspection position and the position relation of the first three-dimensional model and the second three-dimensional model in the three-dimensional map.
Since both the inspection robot and the obstacle are three-dimensional objects having dimensions, it is also necessary to determine a route from the contours of both. First, a first three-dimensional model of the inspection robot and a second three-dimensional model of the obstacle are determined according to the first image. After the three-dimensional map is established, the first three-dimensional model and the second three-dimensional model are put into the three-dimensional map, and a map corresponding to a real scene is obtained, wherein the map is provided with a patrol position, a patrol robot and an obstacle. Through the information of the pixel change, the characteristic area change and the position change of the two frames of images before and after the continuous shooting comparison of the motion of the inspection robot, the inspection route can be determined according to the position of the obstacle at the moment, so that the inspection robot can reach an inspection point and avoid the obstacle.
In addition, a scene perception sensor can be mounted in the inspection robot, the environment information is detected and perceived through the scene perception sensor, the information is transmitted into a central control unit of the robot, the central control unit processes the information, a control instruction is sent to limbs of the robot, and the robot is guided to avoid obstacles.
In the embodiment, through the three-dimensional model and the model arranged on the three-dimensional map, whether the inspection robot collides with an obstacle when moving along the inspection route can be accurately and intuitively judged. Compared with the scheme of determining the inspection route only according to the position, the inspection robot and the volume influence of the obstacle are considered, so that the inspection route is more accurate.
In one embodiment, the first image further includes first profile information of the inspection robot and obstacle position and second profile information of the obstacle; determining a first stereoscopic model of the inspection robot and a second stereoscopic model of the obstacle from the first image, comprising: determining a first three-dimensional model of the inspection robot according to the robot position and the first contour information; a second stereoscopic model of the obstacle is determined from the obstacle position and the second contour information.
The inspection unmanned aerial vehicle shoots and obtains a first image, and the first image comprises first contour information of the inspection robot, and obstacle position and second contour information of an obstacle. And the robot position has been acquired. The profile information refers to data capable of representing an outline of the exterior, for example, the first profile information may include the size and shape of the inspection robot, and the second profile information may include the size and shape of the obstacle. A first stereoscopic model which is amplified or reduced in the same proportion can be established according to the first contour information of the inspection robot, and a second stereoscopic model which is amplified or reduced in the same proportion can be established according to the second contour information of the obstacle. The three-dimensional map may be displayed on a display device.
In the embodiment, a three-dimensional model is built according to the positions and the outlines of the inspection robot and the obstacle, and the three-dimensional model can be rapidly determined through the positions and the outlines. The first stereoscopic model and the second stereoscopic model are facilitated to be presented on a three-dimensional stereoscopic map.
In one embodiment, before acquiring the detection data obtained by detecting the range to be monitored by the inspection sensor when the inspection robot is located at the inspection position, after determining the inspection route of the inspection robot according to the inspection position and the robot position, the safety monitoring method further includes: establishing a patrol map according to the patrol points; acquiring the robot position of the inspection robot in real time, and displaying the robot position on an inspection map to obtain an inspected path; determining an unground path according to the round path and the round path; and displaying the non-patrol route on the patrol map.
In order to monitor the position and the inspection progress of the inspection robot in real time, the inspection robot can be displayed on an inspection map. Firstly, a patrol map is established according to patrol points, namely the patrol map at least comprises position information of the patrol points. And acquiring the position information of the inspection robot in real time, and updating the position information on the inspection map to confirm the route which the inspection robot has passed. Since the inspection robot always proceeds along the inspection route, the route it has passed is determined as the inspected route. And according to the whole inspection route and the inspected route, the non-inspection route of the inspection robot can be confirmed. By distinguishing the route which the inspection robot passes by and the route which the inspection robot does not pass by according to different colors, the area which is not inspected can be timely monitored. The patrol map may be displayed on a display device.
In this embodiment, a patrol map is established according to the patrol points, and the position information of the patrol robot is acquired in real time and updated on the patrol map. The route which the inspection robot passes through is determined as an inspected route, and the non-inspected route can be determined according to the total inspected route and the inspected route. The user can intuitively acquire the inspection plan according to the inspected route and the non-inspected route.
In one embodiment, determining the security of the inspection point from the detection data comprises: acquiring a second image shot by the inspection camera; the second image comprises state information of a range to be monitored; and determining the security of the inspection point according to the detection data and the state information.
After the inspection sensor acquires detection data, an inspection camera is further arranged for ensuring the accuracy of the data. Shooting the range to be monitored positioned at the inspection point through the inspection camera to obtain a second image of the position of the inspection point, wherein the second image at least comprises state information of the range to be monitored. The status information may be whether the inspection point is on fire, whether there is gas leakage, whether there is water overflow, etc. The safety degree of the inspection points is comprehensively judged by combining the detection data with the second image, and the condition that only a single source of the inspection sensor affects the judgment conclusion is avoided.
In this embodiment, a patrol camera is additionally provided to assist in judging the security of the patrol point. And shooting the inspection point by the inspection camera to obtain a second image comprising the state information of the inspection point, and comprehensively judging the security of the inspection point according to the detection data acquired by the inspection sensor and the state information acquired by the inspection camera.
In one embodiment, the inspection camera is configured on a mobile device; before the second image shot by the inspection camera is acquired, the method further comprises the following steps: and controlling the mobile device to the inspection point.
In order to enable the inspection camera to be capable of shooting images with higher precision, the inspection camera is arranged on the mobile device. When shooting, the mobile equipment is moved to the inspection point through control, so that the inspection camera approaches to the inspection point and shooting is performed. The mobile device can be a freely moving trolley or a trolley which is in sliding connection with the guide rail, and the like, and can drive the inspection camera to move.
In one embodiment, the security monitoring method further comprises: comparing the data value in the detection data with a preset threshold value; and if the data value is above the preset threshold value, sending out alarm information.
After acquired detection data of the inspection sensor are acquired, a preset threshold value is set, and data values in the detection data are compared with the preset threshold value. For example, after the temperature of the inspection point is determined through the infrared image, a preset threshold value of the temperature is set, and if the temperature of the inspection point is greater than or equal to the preset temperature threshold value, the inspection point is considered to be unsafe, and alarm information is sent out. And if the temperature of the inspection point is less than the temperature threshold, the inspection point is considered to be safe. In addition, the position of the inspection point can be output, an accident handling instruction is sent out, and after the accident is solved, the alarming notification information is removed. The accident handling solutions and results may also be archived back up.
In this embodiment, by comparing the data acquired by the inspection sensor with a preset threshold, if the data value of the inspection point is too high, the inspection point is considered to have a safety problem, and alarm information is sent to prompt the user to perform safety accident treatment.
In one embodiment, as shown in FIG. 3, a security monitoring method is provided, the method comprising:
s302, a patrol point is established, and a range to be monitored is generated based on the patrol point.
S304, acquiring a patrol position of a patrol point and acquiring a robot position of a patrol robot; the inspection robot has an inspection sensor.
S306, acquiring a first image shot by the inspection unmanned aerial vehicle; the first image includes first contour information of the inspection robot and obstacle position and second contour information of the obstacle.
S308, determining a first three-dimensional model of the inspection robot according to the robot position and the first contour information.
S310, determining a second stereoscopic model of the obstacle according to the obstacle position and the second contour information.
S312, establishing a three-dimensional map; the three-dimensional map includes a patrol position, a first three-dimensional model, and a second three-dimensional model.
S314, determining a routing inspection route of the routing inspection robot according to the routing inspection position and the position relation of the first three-dimensional model and the second three-dimensional model in the three-dimensional map; the inspection route at least passes through the inspection position and avoids the obstacle.
S316, building a patrol map according to the patrol points.
S318, the robot position of the inspection robot is obtained in real time, and the robot position is displayed on the inspection map, so that the inspected path is obtained.
S320, determining an unground path according to the round path and the round route.
S322, displaying the non-patrol route on the patrol map.
S324, when the inspection robot is located at the inspection position, detection data obtained by detecting the range to be monitored by the inspection sensor is obtained.
S326, acquiring a second image shot by the inspection camera; the second image includes status information of the range to be monitored.
S328, determining the security of the inspection point according to the detection data and the state information.
S330, comparing the data value in the detection data with a preset threshold value.
And S332, if the data value is above a preset threshold value, sending out alarm information.
In this embodiment, the equipment for patrolling and examining includes inspection robot, inspection unmanned aerial vehicle and inspection camera simultaneously. In the safety monitoring method, first, a patrol point is established, a patrol position of the patrol point is obtained, and a robot position of a patrol robot is obtained. And shooting position information and contour information of the inspection robot and the obstacle through the inspection unmanned aerial vehicle, and generating a corresponding three-dimensional model. After the three-dimensional map is established, the three-dimensional model can be displayed on the three-dimensional map, and the position relationship between the inspection robot and the obstacle can be judged through real-time updating. The advancing direction of the inspection robot can be determined through the inspection position and the robot position, and the inspection route can be optimized through the three-dimensional model of the inspection robot and the obstacle, so that the inspection robot can at least pass through the inspection point and avoid the obstacle when advancing according to the inspection route.
The inspection robot is provided with an inspection sensor, can acquire inspection data of the inspection point position about safety, is often a data value, and can acquire state information about safety by moving the inspection camera to the inspection point position, is often an image, and can comprehensively judge the safety of the inspection point according to the inspection data and the state information. In this embodiment, the inspection robot obtains the detection data of the inspection point, the inspection camera obtains the state information of the range to be monitored, the inspection unmanned aerial vehicle assists the inspection robot to determine the inspection route, and the inspection robot, the inspection unmanned aerial vehicle and the inspection robot mutually assist to finish the judgment of the safety of the inspection point.
After the detection data of the inspection sensor are acquired, the data value can be compared with a preset threshold value. If the data value is higher than the preset threshold, the safety risk is considered, and an alarm is sent to remind the user. For example, the alarm is sent out by an external buzzer or a warning lamp. In addition, a patrol map can be established, and the patrol map is updated in real time after the position of the patrol robot is acquired. The route which is inspected and the route which is not inspected can be determined according to the total inspection route, so that the user can update the inspection plan conveniently.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a safety monitoring device for realizing the above-mentioned safety monitoring method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitation of one or more embodiments of the safety monitoring device provided below may be referred to the limitation of the safety monitoring method hereinabove, and will not be repeated here.
In one embodiment, as shown in FIG. 4, there is provided a safety monitoring device 400 comprising: a patrol point establishment module 402, a location information acquisition module 404, a patrol route determination module 406, a detection data acquisition module 408, and a security determination module 410, wherein:
a patrol point establishing module 402, configured to establish a patrol point; the inspection point has a range to be monitored.
A position information obtaining module 404, configured to obtain a patrol position of the patrol point, and obtain a robot position of the patrol robot; the inspection robot has an inspection sensor.
The inspection route determining module 406 is configured to determine an inspection route of the inspection robot according to the inspection position and the robot position; the inspection route passes through at least the inspection position.
The detection data acquisition module 408 is configured to acquire detection data obtained when the inspection robot is located at an inspection position and the inspection sensor detects a range to be monitored.
The security determining module 410 is configured to determine the security of the inspection point according to the detection data.
In one embodiment, the inspection route determining module 406 is specifically configured to obtain a first image captured by the inspection unmanned aerial vehicle; the first image comprises image information of an obstacle between the inspection robot and the inspection point; determining a routing inspection route of the routing inspection robot according to the routing inspection position, the robot position and the first image; the inspection route at least passes through the inspection point and avoids the obstacle.
In one embodiment, the inspection route determining module 406 is specifically configured to obtain a first image captured by the inspection unmanned aerial vehicle; the first image comprises image information of an obstacle between the inspection robot and the inspection point; determining a routing inspection route of the routing inspection robot according to the routing inspection position, the robot position and the first image; the inspection route at least passes through the inspection position and avoids the obstacle.
In one embodiment, the first image further includes first profile information of the inspection robot and obstacle position and second profile information of the obstacle; the tour route determining module 406 is specifically configured to: determining a first three-dimensional model of the inspection robot according to the robot position and the first contour information; a second stereoscopic model of the obstacle is determined from the obstacle position and the second contour information.
In one embodiment, the safety monitoring device further comprises: the inspection map display module is used for building an inspection map according to the inspection points; acquiring the robot position of the inspection robot in real time, and displaying the robot position on an inspection map to obtain an inspected path; determining an unground path according to the round path and the round path; and displaying the non-patrol route on the patrol map.
In one embodiment, the detection data acquisition module is specifically configured to acquire a second image captured by the inspection camera; the second image comprises state information of a range to be monitored; and determining the security of the inspection point according to the detection data and the state information.
In one embodiment, the safety monitoring device further comprises: the alarm module is used for comparing the data value in the detection data with a preset threshold value; and if the data value is above the preset threshold value, sending out alarm information.
The various modules in the safety monitoring device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a security monitoring method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of security monitoring, the method comprising:
establishing a patrol point, and generating a range to be monitored based on the patrol point;
acquiring the inspection position of the inspection point and the robot position of the inspection robot; the inspection robot is provided with an inspection sensor;
determining a routing inspection route of the inspection robot according to the inspection position and the robot position; the inspection route passes through at least the inspection position;
When the inspection robot is positioned at the inspection position, the inspection sensor detects detection data obtained by the range to be monitored;
and determining the security of the inspection point according to the detection data.
2. The method of claim 1, wherein the determining the inspection route of the inspection robot is based on the inspection location and the robot location; the routing inspection route at least passes through the inspection position comprises:
acquiring a first image shot by an inspection unmanned aerial vehicle; the first image comprises image information of an obstacle between the inspection robot and the inspection point;
determining a routing inspection route of the inspection robot according to the inspection position, the robot position and the first image; wherein, the inspection route passes through at least the inspection position and avoids the obstacle.
3. The method of claim 2, wherein the determining the inspection route of the inspection robot from the inspection location, the robot location, and the first image comprises:
determining a first stereoscopic model of the inspection robot and a second stereoscopic model of the obstacle according to the first image;
Establishing a three-dimensional map; the three-dimensional map comprises the inspection position, the first three-dimensional model and the second three-dimensional model;
and determining a routing inspection route of the routing inspection robot according to the routing inspection position and the position relation of the first three-dimensional model and the second three-dimensional model in the three-dimensional map.
4. The method of claim 3, wherein the first image further comprises first profile information of the inspection robot and obstacle position and second profile information of the obstacle; the determining a first stereoscopic model of the inspection robot and a second stereoscopic model of the obstacle according to the first image includes:
determining a first three-dimensional model of the inspection robot according to the robot position and the first contour information;
and determining a second stereoscopic model of the obstacle according to the obstacle position and the second contour information.
5. The method of claim 1, wherein the inspection sensor detects the detection data obtained from the range to be monitored while the inspection robot is located at the inspection position, and wherein after determining the inspection route of the inspection robot from the inspection position and the robot position, the method further comprises:
Establishing a patrol map according to the patrol points;
acquiring the robot position of the inspection robot in real time, and displaying the robot position on the inspection map to obtain an inspected path;
determining an unground path according to the round path and the round route;
and displaying the non-patrol route on the patrol map.
6. The method of claim 1, wherein said determining the security of the inspection point from the detection data comprises:
acquiring a second image shot by the inspection camera; the second image comprises state information of the range to be monitored;
and determining the safety of the inspection point according to the detection data and the state information.
7. The method according to claim 1 or 6, characterized in that the method further comprises:
comparing the data value in the detection data with a preset threshold value;
and if the data value is above the preset threshold value, sending out alarm information.
8. A safety monitoring device, the device comprising:
the inspection point establishing module is used for establishing an inspection point and generating a range to be monitored based on the inspection point;
the position information acquisition module is used for acquiring the inspection position of the inspection point and acquiring the robot position of the inspection robot; the inspection robot is provided with an inspection sensor;
The inspection route determining module is used for determining an inspection route of the inspection robot according to the inspection position and the robot position; the inspection route passes through at least the inspection position;
the detection data acquisition module is used for acquiring detection data obtained by detecting the range to be monitored by the inspection sensor when the inspection robot is positioned at the inspection position;
and the security determination module is used for determining the security of the inspection point according to the detection data.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116989802A (en) * | 2023-07-10 | 2023-11-03 | 三峡科技有限责任公司 | IDC machine room inspection plan configuration strategy method based on GIS and BIM models |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116989802A (en) * | 2023-07-10 | 2023-11-03 | 三峡科技有限责任公司 | IDC machine room inspection plan configuration strategy method based on GIS and BIM models |
| CN116989802B (en) * | 2023-07-10 | 2024-04-16 | 三峡科技有限责任公司 | IDC machine room inspection plan configuration strategy method based on GIS and BIM models |
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