CN116798182A - Child activity monitoring method and system based on dynamic vision - Google Patents
Child activity monitoring method and system based on dynamic vision Download PDFInfo
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Abstract
The invention provides a child activity monitoring method and a system based on dynamic vision, which are characterized in that a robot is used for collecting and analyzing an environment image of an indoor area where a child is located to obtain a corresponding indoor map; identifying marker position information of an environment image, and determining an allowable moving range corresponding to the child in an indoor map; acquiring dynamic images of children in an indoor area through a robot to obtain a moving path of the children; and comparing the indoor map with the activity path to judge whether the children have out-of-range activity, so as to send notification reminding information to the mobile terminal, visually monitoring the indoor area where the children are located and the activity condition of the children, and constructing the indoor map and the activity path corresponding to the indoor area and the activity condition of the children, thereby judging whether the children have out-of-range activity in real time and dynamically, and improving the automation and reliability of the activity monitoring of the children.
Description
Technical Field
The invention relates to the technical field of visual monitoring, in particular to a method and a system for monitoring the activities of children based on dynamic vision.
Background
In a home environment scenario, parents are not able to monitor the activities of children from time to time. Although the child can be visually monitored by installing the monitoring camera, the method still requires parents to independently watch the monitoring images, the method can not analyze the activity condition of the child and can not timely and simultaneously cause abnormal events to the parents and the child, so that the automation and reliability of the activity monitoring of the child are reduced.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a child activity monitoring method and a system based on dynamic vision, which acquire and analyze environment images of an indoor area where a child is located through a robot to obtain a corresponding indoor map; identifying marker position information of an environment image, and determining an allowable moving range corresponding to the child in an indoor map; acquiring dynamic images of children in an indoor area through a robot to obtain a moving path of the children; and comparing the indoor map with the activity path to judge whether the children have out-of-range activity, so as to send notification reminding information to the mobile terminal, visually monitoring the indoor area where the children are located and the activity condition of the children, and constructing the indoor map and the activity path corresponding to the indoor area and the activity condition of the children, thereby judging whether the children have out-of-range activity in real time and dynamically, and improving the automation and reliability of the activity monitoring of the children.
The invention provides a child activity monitoring method based on dynamic vision, which comprises the following steps:
step S1, after verifying a connection request from a mobile terminal, constructing a wireless communication channel between the mobile terminal and a robot; the robot is instructed to collect environment images of indoor areas where children are located, and the environment images are analyzed and processed to obtain an indoor map corresponding to the indoor areas;
s2, identifying and extracting marker position information existing in the indoor area from the environment image, and determining an allowable moving range corresponding to the child in the indoor map according to the marker position information; the robot is instructed to collect dynamic images of the children in the indoor area, and an activity path of the children in the indoor area is obtained according to the dynamic images;
s3, comparing the indoor map with the activity path to judge whether the children have out-of-range activity behaviors; and sending a notification reminding message to the mobile terminal according to the judgment result of the out-of-range activity behavior.
Further, in the step S1, after verifying the connection request from the mobile terminal, a wireless communication channel between the mobile terminal and the robot is constructed, including:
extracting terminal identity information of a mobile terminal from a connection request from the mobile terminal;
comparing the terminal identity information with a history connection terminal list of the robot;
if the terminal identity information exists in the history connection terminal list, determining that the connection request is successfully verified, and constructing a wireless communication channel between the mobile terminal and the robot at the moment;
and if the terminal identity information does not exist in the history connection terminal list, determining that the connection request is verified and identified, and at the moment, not constructing a wireless communication channel between the mobile terminal and the robot.
Further, in the step S1, the robot is instructed to collect an environmental image of an indoor area where the child is located, and analyze and process the environmental image to obtain an indoor map corresponding to the indoor area, including:
the robot is instructed to scan and shoot the indoor area where the child is located, and a panoramic environment image corresponding to the indoor area is obtained;
analyzing and processing the panoramic environment image to obtain wall existence state information and door and window existence state information of the indoor area; wherein the wall presence status information includes respective presence locations and extension lengths of all walls of the indoor area; the door and window presence state information comprises the respective presence positions and sizes of all doors and windows in the indoor area;
obtaining boundary information of the indoor area according to the wall existence state information and the door and window existence state information of the indoor area; and obtaining an indoor map corresponding to the indoor area according to the boundary information.
Further, in the step S2, identifying and extracting the marker position information existing in the indoor area from the environmental image, and determining the allowable movement range corresponding to the child in the indoor map according to the marker position information; instructing the robot to collect a dynamic image of the child in the indoor area, and obtaining an activity path of the child in the indoor area according to the dynamic image, wherein the method comprises the following steps:
determining the respective position information of all the markers existing in the indoor area according to the pixel outline characteristic information of the environment image, and taking the area jointly surrounded by all the markers as the allowed movable range of the child in the indoor area;
mapping the allowed movable range of the child in the indoor area to the indoor map to obtain the corresponding allowed movable range of the child in the indoor map;
the robot is instructed to track and shoot the children, and a dynamic image of the children in the indoor area is obtained; and extracting outline characteristic information of the child from all image frames contained in the dynamic image, and obtaining the moving path of the child in the indoor area according to the outline characteristic information of all image frames.
Further, in the step S3, the indoor map is compared with the activity path, and whether the child has out-of-range activity is determined; according to the judgment result of the out-of-range activity behavior, sending a notification reminding message to the mobile terminal, wherein the notification reminding message comprises the following steps:
after mapping the activity path to the indoor map, comparing the allowed activity range with the activity path in the indoor map; if the activity path exceeds the allowable activity range, judging that the child has out-of-range activity; otherwise, judging that the children do not have out-of-range activity behaviors;
and when the children have out-of-range activity, sending a notification reminding message in a voice form to the mobile terminal.
The present invention also provides a child activity monitoring system based on dynamic vision, comprising:
the communication connection module is used for constructing a wireless communication channel between the mobile terminal and the robot after verifying a connection request from the mobile terminal;
the indoor map generation module is used for indicating the robot to collect environment images of the indoor area where the child is located, and analyzing and processing the environment images to obtain an indoor map corresponding to the indoor area;
the allowable moving range determining module is used for identifying and extracting the marker position information existing in the indoor area from the environment image, and determining the allowable moving range corresponding to the child in the indoor map according to the marker position information;
the moving path determining module is used for indicating the robot to collect the dynamic image of the child in the indoor area and obtaining the moving path of the child in the indoor area according to the dynamic image;
the activity behavior recognition module is used for comparing the indoor map with the activity path and judging whether the child has out-of-range activity behaviors or not; and sending a notification reminding message to the mobile terminal according to the judgment result of the out-of-range activity behavior.
Further, the communication connection module is configured to construct a wireless communication channel between the mobile terminal and the robot after verifying a connection request from the mobile terminal, and includes:
extracting terminal identity information of a mobile terminal from a connection request from the mobile terminal;
comparing the terminal identity information with a history connection terminal list of the robot;
if the terminal identity information exists in the history connection terminal list, determining that the connection request is successfully verified, and constructing a wireless communication channel between the mobile terminal and the robot at the moment;
and if the terminal identity information does not exist in the history connection terminal list, determining that the connection request is verified and identified, and at the moment, not constructing a wireless communication channel between the mobile terminal and the robot.
Further, the indoor map generating module is configured to instruct the robot to collect an environmental image of an indoor area where a child is located, analyze the environmental image, and obtain an indoor map corresponding to the indoor area, and includes:
the robot is instructed to scan and shoot the indoor area where the child is located, and a panoramic environment image corresponding to the indoor area is obtained;
analyzing and processing the panoramic environment image to obtain wall existence state information and door and window existence state information of the indoor area; wherein the wall presence status information includes respective presence locations and extension lengths of all walls of the indoor area; the door and window presence state information comprises the respective presence positions and sizes of all doors and windows in the indoor area;
obtaining boundary information of the indoor area according to the wall existence state information and the door and window existence state information of the indoor area; and obtaining an indoor map corresponding to the indoor area according to the boundary information.
Further, the allowable moving range determining module is configured to identify, from the environmental image, marker position information extracted to exist in the indoor area, and determine, according to the marker position information, an allowable moving range corresponding to a child in the indoor map, where the allowable moving range includes:
determining the respective position information of all the markers existing in the indoor area according to the pixel outline characteristic information of the environment image, and taking the area jointly surrounded by all the markers as the allowed movable range of the child in the indoor area;
mapping the allowed movable range of the child in the indoor area to the indoor map to obtain the corresponding allowed movable range of the child in the indoor map;
the activity path determining module is used for indicating the robot to collect the dynamic image of the child in the indoor area, and obtaining the activity path of the child in the indoor area according to the dynamic image, and comprises the following steps:
the robot is instructed to track and shoot the children, and a dynamic image of the children in the indoor area is obtained; and extracting outline characteristic information of the child from all image frames contained in the dynamic image, and obtaining the moving path of the child in the indoor area according to the outline characteristic information of all image frames.
Further, the activity behavior recognition module is used for comparing the indoor map with the activity path and judging whether the child has out-of-range activity behaviors or not; according to the judgment result of the out-of-range activity behavior, sending a notification reminding message to the mobile terminal, wherein the notification reminding message comprises the following steps:
after mapping the activity path to the indoor map, comparing the allowed activity range with the activity path in the indoor map; if the activity path exceeds the allowable activity range, judging that the child has out-of-range activity; otherwise, judging that the children do not have out-of-range activity behaviors;
and when the children have out-of-range activity, sending a notification reminding message in a voice form to the mobile terminal.
Compared with the prior art, the method and the system for monitoring the child activity based on dynamic vision acquire and analyze the environment images of the indoor area where the child is located through the robot, so as to obtain a corresponding indoor map; identifying marker position information of an environment image, and determining an allowable moving range corresponding to the child in an indoor map; acquiring dynamic images of children in an indoor area through a robot to obtain a moving path of the children; and comparing the indoor map with the activity path to judge whether the children have out-of-range activity, so as to send notification reminding information to the mobile terminal, visually monitoring the indoor area where the children are located and the activity condition of the children, and constructing the indoor map and the activity path corresponding to the indoor area and the activity condition of the children, thereby judging whether the children have out-of-range activity in real time and dynamically, and improving the automation and reliability of the activity monitoring of the children.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for monitoring child activities based on dynamic vision.
Fig. 2 is a schematic structural diagram of a child activity monitoring system based on dynamic vision according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a method for monitoring child activities based on dynamic vision according to an embodiment of the present invention is shown. The method for monitoring the child activities based on dynamic vision comprises the following steps:
step S1, after verifying a connection request from a mobile terminal, constructing a wireless communication channel between the mobile terminal and a robot; the robot is instructed to collect an environment image of an indoor area where the child is located, and the environment image is analyzed and processed to obtain an indoor map corresponding to the indoor area;
step S2, identifying and extracting the marker position information existing in the indoor area from the environment image, and determining the allowable moving range corresponding to the child in the indoor map according to the marker position information; the robot is instructed to collect dynamic images of the children in the indoor area, and the moving path of the children in the indoor area is obtained according to the dynamic images;
s3, comparing the indoor map with the activity path to judge whether the children have out-of-range activity behaviors; and sending a notification reminding message to the mobile terminal according to the judgment result of the out-of-range activity behavior.
The beneficial effects of the technical scheme are as follows: the child activity monitoring method based on dynamic vision acquires and analyzes an environment image of an indoor area where a child is located through a robot to obtain a corresponding indoor map; identifying marker position information of an environment image, and determining an allowable moving range corresponding to the child in an indoor map; acquiring dynamic images of children in an indoor area through a robot to obtain a moving path of the children; and comparing the indoor map with the activity path to judge whether the children have out-of-range activity, so as to send notification reminding information to the mobile terminal, visually monitoring the indoor area where the children are located and the activity condition of the children, and constructing the indoor map and the activity path corresponding to the indoor area and the activity condition of the children, thereby judging whether the children have out-of-range activity in real time and dynamically, and improving the automation and reliability of the activity monitoring of the children.
Preferably, in the step S1, after verifying a connection request from a mobile terminal, a wireless communication channel between the mobile terminal and a robot is constructed, including:
extracting terminal identity information of the mobile terminal from a connection request from the mobile terminal;
comparing the terminal identity information with a history connection terminal list of the robot;
if the terminal identity information exists in the history connection terminal list, determining that the connection request is successfully verified, and constructing a wireless communication channel between the mobile terminal and the robot at the moment;
if the terminal identity information does not exist in the history connection terminal list, determining that the connection request is verified and identified, and at the moment, not constructing a wireless communication channel between the mobile terminal and the robot.
The beneficial effects of the technical scheme are as follows: when a mobile terminal such as a smart phone held by a parent needs to interact with the robot, a connection request is sent to the robot, the robot extracts terminal identity information of the mobile terminal from the received connection request, and then the terminal identity information is compared with a historical connection terminal list of the robot. The history connection terminal list includes terminal identity information of all mobile terminals that the robot successfully connected in the history process. By the mode, only the preset mobile terminal can be connected with the robot, and the situation that the robot is connected with other mobile terminals to cause overlarge work load and influence the data safety of the robot is avoided.
Preferably, in the step S1, the method includes instructing the robot to collect an environmental image of an indoor area where the child is located, analyzing the environmental image to obtain an indoor map corresponding to the indoor area, including:
the robot is instructed to scan and shoot the indoor area where the child is located, and a panoramic environment image corresponding to the indoor area is obtained;
analyzing and processing the panoramic environment image to obtain wall existence state information and door and window existence state information of the indoor area; wherein the wall presence status information includes respective presence locations and extension lengths of all walls of the indoor area; the door and window presence state information comprises the respective presence positions and sizes of all doors and windows in the indoor area;
obtaining boundary information of the indoor area according to the wall existence state information and the door and window existence state information of the indoor area; and obtaining an indoor map corresponding to the indoor area according to the boundary information.
The beneficial effects of the technical scheme are as follows: through the mode, the indoor area where the child is located is scanned and shot by the scanning camera of the robot, a panoramic environment image of the indoor area is obtained, and then the existence conditions of the wall and the door and window of the indoor area are identified from the panoramic environment image, so that the boundary of the indoor area is conveniently calibrated, and an indoor map matched with the indoor area is formed.
Preferably, in the step S2, marker position information of the indoor area is identified and extracted from the environmental image, and an allowable moving range corresponding to the child is determined in the indoor map according to the marker position information; instructing the robot to collect a dynamic image of the child in the indoor area, and obtaining an activity path of the child in the indoor area according to the dynamic image, including:
determining the respective position information of all the markers existing in the indoor area according to the pixel outline characteristic information of the environment image, and taking the area jointly surrounded by all the markers as the allowable moving range of the child in the indoor area;
mapping the allowed movable range of the child in the indoor area to the indoor map to obtain the corresponding allowed movable range of the child in the indoor map;
the robot is instructed to track and shoot the children, and a dynamic image of the children in the indoor area is obtained; and extracting outline characteristic information of the child from all image frames contained in the dynamic image, and obtaining the moving path of the child in the indoor area according to the outline characteristic information of all the image frames.
The beneficial effects of the technical scheme are as follows: in actual work, the markers with the preset patterns can be preset on the ground of the indoor area where the child is located, all the markers limit the allowable moving range of the child in the current indoor area, and the positions of all the markers in the indoor area can be determined by identifying the environment images, so that the allowable moving range of the child can be calibrated. And mapping the allowed activity range to an indoor map so as to calibrate the allowed activity range on the indoor map. In addition, the robot is used for tracking and shooting the children through a scanning camera of the robot, so that dynamic images corresponding to the activities of the children in the indoor area are obtained, the dynamic images are identified in image frames, and continuous form activity paths corresponding to the children in the indoor area activity process are obtained.
Preferably, in the step S3, the indoor map is compared with the activity path to determine whether the child has out-of-range activity; according to the judgment result of the out-of-range activity behavior, sending a notification reminding message to the mobile terminal, wherein the notification reminding message comprises:
after mapping the activity path to the indoor map, comparing the allowed activity range with the activity path in the indoor map; if the activity path exceeds the allowable activity range, judging that the child has out-of-range activity; otherwise, judging that the children do not have out-of-range activity behaviors;
and when the children have out-of-range activity, sending a notification reminding message in a voice form to the mobile terminal.
The beneficial effects of the technical scheme are as follows: after the activity path is mapped to the indoor map, the allowable activity range is compared with the activity path in the same indoor map, and whether the child exceeds the corresponding allowable activity range in the indoor area activity process is accurately judged according to the relative position relationship between the activity path and the allowable activity range, so that a notification reminding message in a voice form is timely sent to the mobile terminal, and parents can know the activity condition of the child in real time.
Referring to fig. 2, a schematic structural diagram of a child activity monitoring system based on dynamic vision according to an embodiment of the present invention is provided. The child activity monitoring system based on dynamic vision comprises:
the communication connection module is used for constructing a wireless communication channel between the mobile terminal and the robot after verifying the connection request from the mobile terminal;
the indoor map generation module is used for indicating the robot to collect the environment image of the indoor area where the child is located, and analyzing and processing the environment image to obtain an indoor map corresponding to the indoor area;
the allowable moving range determining module is used for identifying and extracting the marker position information existing in the indoor area from the environment image, and determining the allowable moving range corresponding to the child in the indoor map according to the marker position information;
the moving path determining module is used for indicating the robot to collect the dynamic image of the child in the indoor area and obtaining the moving path of the child in the indoor area according to the dynamic image;
the activity behavior recognition module is used for comparing the indoor map with the activity path and judging whether the children have out-of-range activity behaviors or not; and sending a notification reminding message to the mobile terminal according to the judgment result of the out-of-range activity behavior.
The beneficial effects of the technical scheme are as follows: the child activity monitoring system based on dynamic vision acquires and analyzes an environment image of an indoor area where a child is located through a robot to obtain a corresponding indoor map; identifying marker position information of an environment image, and determining an allowable moving range corresponding to the child in an indoor map; acquiring dynamic images of children in an indoor area through a robot to obtain a moving path of the children; and comparing the indoor map with the activity path to judge whether the children have out-of-range activity, so as to send notification reminding information to the mobile terminal, visually monitoring the indoor area where the children are located and the activity condition of the children, and constructing the indoor map and the activity path corresponding to the indoor area and the activity condition of the children, thereby judging whether the children have out-of-range activity in real time and dynamically, and improving the automation and reliability of the activity monitoring of the children.
Preferably, the communication connection module is configured to construct a wireless communication channel between the mobile terminal and the robot after verifying a connection request from the mobile terminal, and includes:
extracting terminal identity information of the mobile terminal from a connection request from the mobile terminal;
comparing the terminal identity information with a history connection terminal list of the robot;
if the terminal identity information exists in the history connection terminal list, determining that the connection request is successfully verified, and constructing a wireless communication channel between the mobile terminal and the robot at the moment;
if the terminal identity information does not exist in the history connection terminal list, determining that the connection request is verified and identified, and at the moment, not constructing a wireless communication channel between the mobile terminal and the robot.
The beneficial effects of the technical scheme are as follows: when a mobile terminal such as a smart phone held by a parent needs to interact with the robot, a connection request is sent to the robot, the robot extracts terminal identity information of the mobile terminal from the received connection request, and then the terminal identity information is compared with a historical connection terminal list of the robot. The history connection terminal list includes terminal identity information of all mobile terminals that the robot successfully connected in the history process. By the mode, only the preset mobile terminal can be connected with the robot, and the situation that the robot is connected with other mobile terminals to cause overlarge work load and influence the data safety of the robot is avoided.
Preferably, the indoor map generating module is configured to instruct the robot to collect an environmental image of an indoor area where a child is located, analyze the environmental image, and obtain an indoor map corresponding to the indoor area, and includes:
the robot is instructed to scan and shoot the indoor area where the child is located, and a panoramic environment image corresponding to the indoor area is obtained;
analyzing and processing the panoramic environment image to obtain wall existence state information and door and window existence state information of the indoor area; wherein the wall presence status information includes respective presence locations and extension lengths of all walls of the indoor area; the door and window presence state information comprises the respective presence positions and sizes of all doors and windows in the indoor area;
obtaining boundary information of the indoor area according to the wall existence state information and the door and window existence state information of the indoor area; and obtaining an indoor map corresponding to the indoor area according to the boundary information.
The beneficial effects of the technical scheme are as follows: through the mode, the indoor area where the child is located is scanned and shot by the scanning camera of the robot, a panoramic environment image of the indoor area is obtained, and then the existence conditions of the wall and the door and window of the indoor area are identified from the panoramic environment image, so that the boundary of the indoor area is conveniently calibrated, and an indoor map matched with the indoor area is formed.
Preferably, the allowable moving range determining module is configured to identify, from the environmental image, marker position information extracted that the indoor area exists, and determine, according to the marker position information, an allowable moving range corresponding to a child in the indoor map, including:
determining the respective position information of all the markers existing in the indoor area according to the pixel outline characteristic information of the environment image, and taking the area jointly surrounded by all the markers as the allowable moving range of the child in the indoor area;
mapping the allowed movable range of the child in the indoor area to the indoor map to obtain the corresponding allowed movable range of the child in the indoor map;
the moving path determining module is used for indicating the robot to collect the dynamic image of the child in the indoor area, and according to the dynamic image, the moving path of the child in the indoor area is obtained, and the moving path determining module comprises:
the robot is instructed to track and shoot the children, and a dynamic image of the children in the indoor area is obtained; and extracting outline characteristic information of the child from all image frames contained in the dynamic image, and obtaining the moving path of the child in the indoor area according to the outline characteristic information of all the image frames.
The beneficial effects of the technical scheme are as follows: in actual work, the markers with the preset patterns can be preset on the ground of the indoor area where the child is located, all the markers limit the allowable moving range of the child in the current indoor area, and the positions of all the markers in the indoor area can be determined by identifying the environment images, so that the allowable moving range of the child can be calibrated. And mapping the allowed activity range to an indoor map so as to calibrate the allowed activity range on the indoor map. In addition, the robot is used for tracking and shooting the children through a scanning camera of the robot, so that dynamic images corresponding to the activities of the children in the indoor area are obtained, the dynamic images are identified in image frames, and continuous form activity paths corresponding to the children in the indoor area activity process are obtained.
Preferably, the activity behavior recognition module is used for comparing the indoor map with the activity path to judge whether the children have out-of-range activity behaviors; according to the judgment result of the out-of-range activity behavior, sending a notification reminding message to the mobile terminal, wherein the notification reminding message comprises:
after mapping the activity path to the indoor map, comparing the allowed activity range with the activity path in the indoor map; if the activity path exceeds the allowable activity range, judging that the child has out-of-range activity; otherwise, judging that the children do not have out-of-range activity behaviors;
and when the children have out-of-range activity, sending a notification reminding message in a voice form to the mobile terminal.
The beneficial effects of the technical scheme are as follows: after the activity path is mapped to the indoor map, the allowable activity range is compared with the activity path in the same indoor map, and whether the child exceeds the corresponding allowable activity range in the indoor area activity process is accurately judged according to the relative position relationship between the activity path and the allowable activity range, so that a notification reminding message in a voice form is timely sent to the mobile terminal, and parents can know the activity condition of the child in real time.
As can be seen from the content of the above embodiment, the method and the system for monitoring the activity of children based on dynamic vision acquire and analyze the environmental image of the indoor area where the children are located through the robot, so as to obtain a corresponding indoor map; identifying marker position information of an environment image, and determining an allowable moving range corresponding to the child in an indoor map; acquiring dynamic images of children in an indoor area through a robot to obtain a moving path of the children; and comparing the indoor map with the activity path to judge whether the children have out-of-range activity, so as to send notification reminding information to the mobile terminal, visually monitoring the indoor area where the children are located and the activity condition of the children, and constructing the indoor map and the activity path corresponding to the indoor area and the activity condition of the children, thereby judging whether the children have out-of-range activity in real time and dynamically, and improving the automation and reliability of the activity monitoring of the children.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method for monitoring the activity of children based on dynamic vision, which is characterized by comprising the following steps:
step S1, after verifying a connection request from a mobile terminal, constructing a wireless communication channel between the mobile terminal and a robot; the robot is instructed to collect environment images of indoor areas where children are located, and the environment images are analyzed and processed to obtain an indoor map corresponding to the indoor areas;
s2, identifying and extracting marker position information existing in the indoor area from the environment image, and determining an allowable moving range corresponding to the child in the indoor map according to the marker position information; the robot is instructed to collect dynamic images of the children in the indoor area, and an activity path of the children in the indoor area is obtained according to the dynamic images;
s3, comparing the indoor map with the activity path to judge whether the children have out-of-range activity behaviors; and sending a notification reminding message to the mobile terminal according to the judgment result of the out-of-range activity behavior.
2. A method of dynamic vision based childhood activity monitoring as claimed in claim 1, wherein: in the step S1, after verifying a connection request from a mobile terminal, constructing a wireless communication channel between the mobile terminal and a robot, including:
extracting terminal identity information of a mobile terminal from a connection request from the mobile terminal;
comparing the terminal identity information with a history connection terminal list of the robot;
if the terminal identity information exists in the history connection terminal list, determining that the connection request is successfully verified, and constructing a wireless communication channel between the mobile terminal and the robot at the moment;
and if the terminal identity information does not exist in the history connection terminal list, determining that the connection request is verified and identified, and at the moment, not constructing a wireless communication channel between the mobile terminal and the robot.
3. A method of dynamic vision based childhood activity monitoring as claimed in claim 2, wherein: in the step S1, the robot is instructed to collect an environmental image of an indoor area where the child is located, and analyze and process the environmental image to obtain an indoor map corresponding to the indoor area, including:
the robot is instructed to scan and shoot the indoor area where the child is located, and a panoramic environment image corresponding to the indoor area is obtained;
analyzing and processing the panoramic environment image to obtain wall existence state information and door and window existence state information of the indoor area; wherein the wall presence status information includes respective presence locations and extension lengths of all walls of the indoor area; the door and window presence state information comprises the respective presence positions and sizes of all doors and windows in the indoor area;
obtaining boundary information of the indoor area according to the wall existence state information and the door and window existence state information of the indoor area; and obtaining an indoor map corresponding to the indoor area according to the boundary information.
4. A method for dynamic vision based childhood activity monitoring as claimed in claim 3, characterized in that: in the step S2, identifying and extracting the marker position information existing in the indoor area from the environmental image, and determining the allowable movement range corresponding to the child in the indoor map according to the marker position information; instructing the robot to collect a dynamic image of the child in the indoor area, and obtaining an activity path of the child in the indoor area according to the dynamic image, wherein the method comprises the following steps:
determining the respective position information of all the markers existing in the indoor area according to the pixel outline characteristic information of the environment image, and taking the area jointly surrounded by all the markers as the allowed movable range of the child in the indoor area;
mapping the allowed movable range of the child in the indoor area to the indoor map to obtain the corresponding allowed movable range of the child in the indoor map;
the robot is instructed to track and shoot the children, and a dynamic image of the children in the indoor area is obtained; and extracting outline characteristic information of the child from all image frames contained in the dynamic image, and obtaining the moving path of the child in the indoor area according to the outline characteristic information of all image frames.
5. The dynamic vision-based child activity monitoring method of claim 4, wherein: in the step S3, comparing the indoor map with the activity path, and judging whether the child has out-of-range activity; according to the judgment result of the out-of-range activity behavior, sending a notification reminding message to the mobile terminal, wherein the notification reminding message comprises the following steps:
after mapping the activity path to the indoor map, comparing the allowed activity range with the activity path in the indoor map; if the activity path exceeds the allowable activity range, judging that the child has out-of-range activity; otherwise, judging that the children do not have out-of-range activity behaviors;
and when the children have out-of-range activity, sending a notification reminding message in a voice form to the mobile terminal.
6. A child activity monitoring system based on dynamic vision, comprising:
the communication connection module is used for constructing a wireless communication channel between the mobile terminal and the robot after verifying a connection request from the mobile terminal;
the indoor map generation module is used for indicating the robot to collect environment images of the indoor area where the child is located, and analyzing and processing the environment images to obtain an indoor map corresponding to the indoor area;
the allowable moving range determining module is used for identifying and extracting the marker position information existing in the indoor area from the environment image, and determining the allowable moving range corresponding to the child in the indoor map according to the marker position information;
the moving path determining module is used for indicating the robot to collect the dynamic image of the child in the indoor area and obtaining the moving path of the child in the indoor area according to the dynamic image; the activity behavior recognition module is used for comparing the indoor map with the activity path and judging whether the child has out-of-range activity behaviors or not; and sending a notification reminding message to the mobile terminal according to the judgment result of the out-of-range activity behavior.
7. The dynamic vision-based child activity monitoring system of claim 6, wherein: the communication connection module is used for constructing a wireless communication channel between the mobile terminal and the robot after verifying a connection request from the mobile terminal, and comprises the following steps:
extracting terminal identity information of a mobile terminal from a connection request from the mobile terminal;
comparing the terminal identity information with a history connection terminal list of the robot;
if the terminal identity information exists in the history connection terminal list, determining that the connection request is successfully verified, and constructing a wireless communication channel between the mobile terminal and the robot at the moment;
and if the terminal identity information does not exist in the history connection terminal list, determining that the connection request is verified and identified, and at the moment, not constructing a wireless communication channel between the mobile terminal and the robot.
8. The dynamic vision-based child activity monitoring system of claim 7, wherein: the indoor map generation module is used for indicating the robot to collect the environment image of the indoor area where the child is located, analyzing and processing the environment image to obtain an indoor map corresponding to the indoor area, and comprises the following steps:
the robot is instructed to scan and shoot the indoor area where the child is located, and a panoramic environment image corresponding to the indoor area is obtained;
analyzing and processing the panoramic environment image to obtain wall existence state information and door and window existence state information of the indoor area; wherein the wall presence status information includes respective presence locations and extension lengths of all walls of the indoor area; the door and window presence state information comprises the respective presence positions and sizes of all doors and windows in the indoor area;
obtaining boundary information of the indoor area according to the wall existence state information and the door and window existence state information of the indoor area; and obtaining an indoor map corresponding to the indoor area according to the boundary information.
9. The dynamic vision-based child activity monitoring system of claim 8, wherein: the allowable moving range determining module is configured to identify, from the environmental image, marker position information extracted to exist in the indoor area, and determine, according to the marker position information, an allowable moving range corresponding to a child in the indoor map, where the allowable moving range includes:
determining the respective position information of all the markers existing in the indoor area according to the pixel outline characteristic information of the environment image, and taking the area jointly surrounded by all the markers as the allowed movable range of the child in the indoor area;
mapping the allowed movable range of the child in the indoor area to the indoor map to obtain the corresponding allowed movable range of the child in the indoor map;
the activity path determining module is used for indicating the robot to collect the dynamic image of the child in the indoor area, and obtaining the activity path of the child in the indoor area according to the dynamic image, and comprises the following steps:
the robot is instructed to track and shoot the children, and a dynamic image of the children in the indoor area is obtained; and extracting outline characteristic information of the child from all image frames contained in the dynamic image, and obtaining the moving path of the child in the indoor area according to the outline characteristic information of all image frames.
10. The dynamic vision-based child activity monitoring system of claim 9, wherein: the activity behavior recognition module is used for comparing the indoor map with the activity path and judging whether the child has out-of-range activity behaviors or not; according to the judgment result of the out-of-range activity behavior, sending a notification reminding message to the mobile terminal, wherein the notification reminding message comprises the following steps:
after mapping the activity path to the indoor map, comparing the allowed activity range with the activity path in the indoor map; if the activity path exceeds the allowable activity range, judging that the child has out-of-range activity; otherwise, judging that the children do not have out-of-range activity behaviors;
and when the children have out-of-range activity, sending a notification reminding message in a voice form to the mobile terminal.
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