CN118262426A

CN118262426A - Security inspection method and related equipment

Info

Publication number: CN118262426A
Application number: CN202211699747.1A
Authority: CN
Inventors: 吴健
Original assignee: Shanghai Yogo Robot Co Ltd
Current assignee: Shanghai Yogo Robot Co Ltd
Priority date: 2022-12-28
Filing date: 2022-12-28
Publication date: 2024-06-28

Abstract

The embodiment of the application provides a security inspection method and related equipment, which are used for meeting the security inspection requirements of a security robot. The method of the embodiment of the application comprises the following steps: acquiring target image data and target position data of a security inspection area; generating target map data corresponding to the security inspection area based on the target image data and the target position data, and sending the target map data to the security robot; configuring a target inspection plan of the security robot according to the target map data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot; and acquiring target parameter data acquired by the security robot according to the target inspection plan, and comparing the target parameter data with the inspection reference data according to the inspection reference data so as to carry out statistical analysis on the security inspection area.

Description

Security inspection method and related equipment

Technical Field

The embodiment of the application relates to the field of intelligent robots, in particular to a security inspection method and related equipment.

Background

Traditional security work is monitored through the camera, and monitoring efficiency is low, the effect is poor. With the advent of service robots, people have adopted robots to perform security work. The security robot is a robot which is semi-autonomous, autonomous or assists a human to complete security work under the complete control of the human. The security robot is used as a subdivision field of the robot industry, is based on the actual living needs, and is used for performing patrol monitoring, disaster early warning, potential safety hazard and the like. Thereby reducing the occurrence of safety accidents and reducing the loss of life and property.

The existing security robot uploads information about air, environment, equipment state and the like acquired in real time to the background, and security management staff judges and processes the information according to the acquired state photos. However, in the method, a large number of photos are required to be manually inspected to judge whether the photos are abnormal, and then the abnormal positions are judged according to the abnormalities, so that the position where the abnormalities occur cannot be directly and accurately known, a large amount of time is required for security processing, and the existing security inspection requirements of the security robot cannot be met.

Disclosure of Invention

The embodiment of the application provides a security inspection method and related equipment, which are used for meeting the security inspection requirements of a security robot.

The first aspect of the embodiment of the application provides a security inspection method, which is applied to a management end and is characterized in that at least one security robot is in communication connection with the management end, and the method comprises the following steps:

Acquiring target image data and target position data of a security inspection area;

Generating target map data corresponding to the security inspection area based on the target image data and the target position data, and sending the target map data to the security robot;

Configuring a target inspection plan of the security robot according to the target map data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot;

and acquiring target parameter data acquired by the security robot according to the target inspection plan, and comparing the target parameter data with the inspection reference data according to the inspection reference data so as to carry out statistical analysis on the security inspection area.

Optionally, the target image data at least includes target plane image data and target stereoscopic image data, and the acquiring the target image data and the target position data of the security inspection area includes:

Acquiring initial plane image data, initial stereoscopic image data and initial position data corresponding to the initial stereoscopic image data, which are acquired by the security robot in the security inspection area;

processing the initial plane image data, the initial stereoscopic image data and the initial position data to obtain the target plane image data and the target stereoscopic image data;

and performing alignment processing on the target plane image data and the target stereoscopic image data to acquire the target image data.

Optionally, the security robot further includes a security module, and the acquiring initial stereo image data acquired by the security robot in the security inspection area and initial position data corresponding to the initial stereo image data includes:

When the security module of the security robot is in a working state and the security robot is in a moving state, acquiring initial position data identified by the security robot based on the current position, and receiving initial stereoscopic image data acquired by the security module of the security robot in the moving state.

Optionally, the generating the target map data corresponding to the security inspection area based on the target image data and the target position data includes:

And marking the equipment position in the security inspection area according to the target image data and the target position data to generate the target map data comprising the equipment position so that the security robot detects the equipment state.

Optionally, the configuring the target inspection plan of the security robot according to the target map data includes:

Marking a target position point of the security robot during inspection and performing inspection operation on the target position point according to the target map data;

Connecting all the target position points according to the inspection sequence of the security robot to form an inspection route of the security robot;

configuring the inspection reference data of the security inspection area; wherein the inspection reference data comprises one or more of air quality reference data, equipment state reference data or space occupation reference data;

and configuring a target inspection plan of the security robot according to the inspection route, the inspection operation and the inspection reference data, so that the security robot acquires parameter data corresponding to the inspection reference data on the inspection route according to the target inspection plan.

Optionally, the obtaining the target parameter data collected by the security robot according to the target inspection plan, and comparing the inspection reference data with the target parameter data, so as to perform statistical analysis on the security inspection area includes:

Acquiring the target parameter data of all the target position points of all floors;

determining first parameter threshold data and first parameter average data of a first floor according to the target parameter data of all target position points of the first floor; wherein the first floor is any floor of all floors;

Determining second parameter threshold data and second parameter average data of all floors according to the target parameter data of all the target position points of all the floors;

And comparing the first parameter threshold data and the first parameter average data with the second parameter threshold data and the second parameter average data so as to carry out statistical analysis on the security inspection area.

Optionally, comparing the inspection reference data with the target parameter data to perform statistical analysis on the security inspection area includes:

Determining whether the target parameter data of all the target position points meet the inspection reference data;

And if not, deducting the statistical score of the target position point, and positioning the target position point in the target map data.

The second aspect of the embodiment of the application provides a security inspection system, which is applied to a management end and comprises:

the acquisition unit is used for acquiring target image data and target position data of the security inspection area;

The generation unit is used for generating target map data corresponding to the security inspection area based on the target image data and the target position data and sending the target map data to the security robot;

The configuration unit is used for configuring a target inspection plan of the security robot according to the target map data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot;

The acquisition unit is further used for acquiring target parameter data acquired by the security robot according to the target inspection plan, and comparing the inspection reference data with the target parameter data so as to perform statistical analysis on the security inspection area.

The second aspect of the embodiment of the present application provides a security inspection method for executing the first aspect.

The third aspect of the embodiment of the application provides a security inspection method applied to a security robot, which is characterized in that at least one security robot is in communication connection with a management end, and the method comprises the following steps:

Collecting initial plane image data, initial stereoscopic image data and initial position data corresponding to the initial stereoscopic image data in a security inspection area, and uploading the initial plane image data, the initial stereoscopic image data and the initial position data to the management end;

receiving target map data corresponding to the security inspection area and a target inspection plan configured according to the target map data, which are generated by the management end based on the initial plane image data, the initial stereoscopic image data and the initial position data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot;

And triggering the target inspection plan to acquire target parameter data according to the target inspection plan, and uploading the target parameter data to the management end so that the management end performs statistical analysis on the security inspection area according to the target parameter data.

Optionally, the security robot further includes a security module, the collecting initial plane image data, initial stereo image data and initial position data corresponding to the initial stereo image data in the security inspection area includes:

when the security module of the security robot is in a working state and the security robot is in a moving state, acquiring initial position data identified based on the current position, and receiving the initial stereoscopic image data and the initial plane image data acquired by the security module in the moving state.

Optionally, the receiving the target inspection plan configured by the management end according to the target map data includes:

Receiving a target position point of the security robot marked by the management end according to the target map data during inspection, inspection operation of the target position point and an inspection route; the inspection route is formed by connecting all the target position points according to the inspection sequence of the security robot by the management end;

Receiving the patrol reference data of the security patrol area configured by the management end; wherein the inspection reference data comprises one or more of air quality reference data, equipment state reference data or space occupation reference data;

and receiving a target inspection plan configured by the management end according to the inspection route, the inspection operation and the inspection reference data, so as to collect parameter data corresponding to the inspection reference data on the inspection route according to the target inspection plan.

Optionally, the management end is further in communication connection with a plurality of security robots, and triggering the target inspection plan includes:

when the timing task of the management end is triggered, a plurality of security robots receive the target inspection plan issued by the management end; any security robot executes different target inspection plans.

Optionally, the security robot function module, the triggering the target inspection plan to collect target parameter data according to the target inspection plan includes:

When the timing task of the management end is triggered, the management end goes to a target site, and the functional module is placed on the target site so as to load a security module; the security module is used for the security robot to execute the target inspection plan;

After the security module is loaded, the first position point of the inspection route is moved to, and target parameter data are collected according to the target inspection plan; the first position point is the first position point in the routing inspection route.

Optionally, after the triggering of the target inspection plan, the method further includes:

And returning to the target site after the security robot finishes executing the last position point in the routing inspection route so as to replace the security module with the functional module.

Optionally, after the target parameter data is collected according to the target inspection plan at the first location point of the route to be inspected, the method further includes:

When the security robot stays at any position point for a preset time in the moving process of the inspection route, and the target parameter data are collected;

And after the security robot stays for the preset time, going to the next position point of any position point.

A fourth aspect of the present application provides a security inspection system, applied to a security robot, including:

The system comprises a security inspection area, an acquisition unit, a management end and a management end, wherein the security inspection area is used for acquiring initial plane image data, initial stereoscopic image data and initial position data corresponding to the initial stereoscopic image data, and uploading the initial plane image data, the initial stereoscopic image data and the initial position data to the management end;

The receiving unit is used for receiving target map data corresponding to the security inspection area and generated by the management end based on the initial plane image data, the initial stereoscopic image data and the initial position data, and a target inspection plan configured according to the target map data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot;

The triggering unit is used for triggering the target inspection plan to acquire target parameter data according to the target inspection plan, and uploading the target parameter data to the management end so that the management end performs statistical analysis on the security inspection area according to the target parameter data.

The fourth aspect of the embodiment of the present application provides a security inspection method for executing the first aspect.

A fifth aspect of the embodiment of the present application provides a security inspection device, including:

the device comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;

The memory is a short-term memory or a persistent memory;

The central processor is configured to communicate with the memory and to execute instruction operations in the memory to perform the method of the first or second aspect.

A fourth aspect of an embodiment of the present application provides a computer readable storage medium, characterized in that the computer readable storage medium comprises instructions which, when run on a computer, cause the computer to perform the method of the first or second aspect.

From the above technical solutions, the embodiment of the present application has the following advantages: according to the security inspection method provided by the embodiment of the application, the target image data and the target position data of the security inspection area acquired by the security robot are acquired; generating target map data corresponding to the security inspection area based on the target image data and the target position data, and sending the target map data to the security robot; then, configuring a target inspection plan of the security robot according to the target map data; and finally, acquiring target parameter data acquired by the security robot according to a target inspection plan, and comparing the target parameter data with inspection reference data to perform statistical analysis on a security inspection area. Therefore, the management end can configure the security robot to execute corresponding inspection tasks under a plurality of scenes, and collect the parameter data of the inspection area, so that the management end can compare the parameter data and finally analyze the whole area. Therefore, the existing security inspection requirements for the security robot are met.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for those of ordinary skill in the art.

Fig. 1 is a schematic diagram of a security inspection system according to an embodiment of the present application;

Fig. 2 is a schematic flow chart of a security inspection method applied to a management end according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a security inspection method applied to a security robot, which is disclosed in the embodiment of the application;

FIG. 4 is a schematic diagram of an interaction flow of a security inspection method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a security inspection system applied to a management end according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a security inspection system applied to a security robot according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a security inspection device according to an embodiment of the present application.

Detailed Description

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that the description of "first", "second", etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Traditional security work is monitored through the camera, and monitoring efficiency is low, the effect is poor. With the advent of robots, people have adopted robots to perform security work, which are semi-autonomous, or robots that assist humans in completing security work under full control of the human. The security robot is used as a subdivision field of the robot industry, is based on the actual living needs, and is used for performing patrol monitoring, disaster early warning, potential safety hazard and the like. Thereby reducing the occurrence of safety accidents and reducing the loss of life and property.

The existing security robot uploads information about air, environment, equipment state and the like acquired in real time to the background, and security management staff judges and processes the information according to the acquired state photos; however, in this way, a large number of photos are often required to be manually examined to determine whether an abnormality exists in the photos, and then the position of the abnormality is determined according to the abnormality, so that it is not possible to directly and accurately know where the abnormality occurs, and a large amount of time is required for security processing.

The existing security robot also has the following problems: 1. waste of inspection manpower resources: the delivery personnel deliver the order goods to the robot for delivery, the order and the freight bill of the robot are two systems, no association occurs, and the problems of order delivery error, low efficiency and the like are often caused by information asymmetry. 2. A certain threshold is needed for inspection: a certain starting threshold and distribution cost are needed to start distribution, otherwise, distribution is not performed for a demander; the robot is extremely low in distribution cost, and only needs electricity charge, so that threshold-free distribution can be realized, and the distribution cost of a demander is reduced.

Therefore, the embodiment of the application provides a security inspection method, which is used for solving the technical problem that the existing robot cannot execute security tasks in a three-dimensional (3D) scene or can only display security data or an alarm mechanism based on a two-dimensional (2D) map.

Referring to fig. 1, fig. 1 is a schematic diagram of a security inspection system according to an embodiment of the present disclosure. Comprises a management end 101 and a patrol robot 102. The management end 101 is in communication connection with the inspection robot 102 through a cloud. It is to be understood that all the inspection robots mentioned in the embodiments of the present application are the security robots described in the foregoing, and for convenience of understanding and description, no further description is given in the following. Correspondingly, the cloud end and the management end 101 may belong to the same system, which is not described in detail later for convenience of understanding and description.

The management end 101 may be a client (for example, a terminal device such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a palm computer, a mobile internet device, etc.) or a server (for example, a cloud server of a cloud database, a cloud service, cloud computing, cloud functions, cloud storage, a network service, cloud communication, etc.), which is not limited herein. Specifically, the management end 101 has multiple functions:

1. 2D maps and 3D maps in the target scene can be constructed;

2. configuring a patrol task and distributing the task to the robot; wherein, the task of patrolling and examining includes: the inspection target and the detection parameters, such as the state that the robot can autonomously plan a route to detect the target according to the inspection target, the state of the inspection target according to the inspection route, the space data and the space state in the target environment, whether to wear a mask or not, and the like.

3. Based on the collected data, the abnormal information is reported in real time, and the corresponding position under the 3D scene is marked.

And the like, the functions of the management end 101 are not limited herein, and will not be described in detail later.

Correspondingly, the inspection robot 102 also has multiple functions, for example, the management end 101 can understand that the inspection robot 102 can receive the inspection task and collect various data related to the inspection task in real time. For example, after the inspection robot 102 receives the task, if the current self box cannot meet the inspection task, it reaches the intelligent cabinet station to replace the security box. It should be noted that the station may be understood as a small-sized station, and may be used for a robot to rest and switch functional modules. The inside can put the case that the robot used, security protection module, kill module etc.. The robot to switch modules must be swapped from station.

The inspection robot also has at least the following capabilities:

1. planning capability: path planning capability, map navigation capability,

2. Ability to ascertain: infrared sensing location capability, lidar location capability, visual identification capability.

3. Storage capacity of bin: at least one bin stores goods, and the bin door is opened and closed.

4. Mobility capability: mobility, rotational mobility, endurance

5. Interaction capability: the cloud communication interaction capability is used for transmitting order information and state with the cloud application; and the local communication interaction capability is used for interacting with local equipment, such as a brake opening machine, an automatic door and an elevator.

The warehouse capacity is a box module, which can complete tasks and replace other functional modules. The interaction capability is the interaction between the robot and other intelligent devices, such as a gate crossing machine, and the elevator belongs to local communication. For example, when the robot needs to be sent to take out to different floors and in the hands of clients at different times, the robot needs to be allocated to screen various tasks, and the principle is that the efficiency is highest and the time-out is avoided. Further, the take-out task is completed, and the robot is required to patrol a certain floor and also to be allocated. These need to communicate with the cloud. Correspondingly, since the security inspection function of the inspection robot is mainly described in the embodiment of the present application, the inspection robot 102 has a security inspection box module, and specifically, the module has 1 and sensing capability: the sensor collects air quality parameters; 2. identification capability: image visual recognition device status; ability to ascertain: 3. and a 3D laser sensor for detecting whether the device is occupied. It should be understood that the above is only one specific embodiment of the functions of the inspection robot 102, and will not be described in detail for convenience of understanding and description.

It should be noted in advance that, since the similarity between the security robot and the inspection robot 102 is described in the foregoing, for convenience of subsequent understanding and description, the security robot is described in detail in the subsequent description of the inspection robot 102, and no redundant description is provided in the subsequent description.

Referring to fig. 2, fig. 2 is a flow chart of a security inspection method applied to a management end according to an embodiment of the present application. Including steps 201-204.

201. And acquiring target image data and target position data of the security inspection area.

The management end can receive the image data or the position data uploaded by the security robot in real time. Specifically, in the working process of the security robot, the security module (camera or laser) installed on the security robot can be used for scanning the image data and the corresponding position data in the current scene, and then the image data and the corresponding position data are uploaded to the management end. The management end can process and analyze the image data and the corresponding position data, so as to obtain the corresponding target image data and the target position data.

In one embodiment, the security robot may collect image data or position data of the 2D map first and then collect image data or position data of the 3D map based on the 2D map. Of course, the image data or the position data of the 2D map or the 3D map may be acquired at the same time, which is not described herein. The 2D map is a map in which only the bottom surface of the indoor 3D space is used as the map, and the 3D map is a map in which 6 surfaces of the indoor 3D space are included in the map, and the map includes both the bottom surface (i.e., the 2D map) and the other 5 surfaces.

Based on the above embodiment, the security robot scans and collects image data in an reachable area, so that the management end generates a 2D map, i.e., a planar map, based on the above image data. And then the security robot uploads the image data to the management end. It is understood that the 2D map at this time may be understood as one kind of target image data.

In another embodiment, the security robot is provided with a 3D laser and a camera, the 3D laser collects 3D position data in the working process of the security robot, the camera collects image data, and the management end calculates and generates a 3D map based on the image data and the position data after collection. Then, after the security robot collects, the security robot can go to other floors to continuously collect data. Correspondingly, the security robot can automatically identify the current position of the robot, automatically explore the map boundary of a single floor by combining the obstacle avoidance capability of the robot, acquire 3D position data by 3D laser in the process, acquire image data by a camera, calculate and generate a 3D map after acquisition, and explore other floors continuously after exploration is completed. That is, the security robot may itself generate target image data and target position data based on the acquired image data and position data. The data is then uploaded to the management side. It is to be understood that the 3D map at this time may be understood as one kind of target image data and target position data.

202. And generating target map data corresponding to the security inspection area based on the target image data and the target position data, and sending the target map data to the security robot.

When the management end acquires the target image data and the target position data, the target map data in the security inspection area can be generated based on the two data.

In one embodiment, after the management end obtains the 2D map, some changes and adjustments occur, and the 2D map is processed by erasing tools such as walls and supplementing walls. Specifically, the wall is erased. And erasing the part of the non-real wall body on the 2D map through an eraser tool. If a cabinet is arranged during drawing scanning, the cabinet is removed and can be erased from the map. And supplementing the wall body. The robot cannot pass through the virtual wall body on the map by the dotted line. For example, the virtual wall is pulled up at the elevator entrance, so that the robot is prevented from falling off the elevator entrance. Etc., and are not described in detail herein.

Based on the above embodiments, in another embodiment, the 3D map may be aligned with the 2D map. The bottom surface of the 3D map and the plane of the 2D map are in the same horizontal plane, and the 3D wall surface is aligned with the frame of the 2D map. Meanwhile, the device positions, such as lamps, doors, emergency lamps, smoke alarms, fire extinguishers and the like in the 3D map, can be calibrated. Thus, the target map data can be formed and sent to the security robot.

It is easy to understand that the map is released to the local area of the security robot, so that the security robot can have the capability of planning a path and comparing with the map.

That is, when the management end issues the 2D map to the security robot through the cloud end, the security robot can plan a path according to the 2D map and move to the target position. When the management end issues the 3D map to the local place of the security robot through the cloud, the security robot can compare with the 3D map when inspecting, and whether the states of equipment (such as lamps and doors) on the 3D map accord with expectations or not is detected.

203. And configuring a target inspection plan of the security robot according to the target map data.

After the management end generates the target map data, the target inspection plan of the security robot can be configured. It will be appreciated that, in connection with the embodiments in the preceding steps, the target map data includes a 2D map and a 3D map.

In one embodiment, the inspection point of the security robot can be configured first, then the inspection route of the security robot is configured, then the inspection reference of the security robot is configured, and finally the final inspection plan is configured.

Specifically, the point positions where the security robot stops when patrolling are marked on the 2D map, so that the security robot can collect information when stopping.

Then, the marked points are strung into a route according to a certain inspection sequence, and the security robot can reach the appointed points successively according to the inspection sequence. It will be appreciated that the point at this time is the target location point described above. Meanwhile, the behavior actions of the security robot can be set on all the points, the stay time of the security robot, the rotation angle of the security robot and the like, and the security robot is not limited in specific points. It is not easy to understand that the behavior action, the stay time and the like of the security robot are the inspection operation described in the above description. It should be noted in advance that, in this embodiment, the management end may be connected to a plurality of security robots, and after the route is configured, which security robot may be further configured to execute which route.

Then, the inspection reference of the security robot needs to be configured. Specifically, at least three references are included.

1. Air quality reference. For example, temperature, humidity, PM2.5, PM10, formaldehyde, carbon monoxide, noise, smoke, flame, etc., numerical ranges, corresponding grades. If the temperature is between 18 ℃ and 26 ℃, the temperature is preferably; 10 degrees celsius to 18 degrees celsius, 26 to 30 degrees celsius are good.

2. Device status references. For example, what state the device should be in for a certain period of time. The lights should be off when the building is left unattended at night.

3. The space occupies the reference. For example, a certain location point should not be occupied by an item. If the fire-fighting channel is located at a point, articles cannot be occupied, and the fire-fighting channel is blocked from passing. It should be understood that the inspection reference may further include other reference data, which is not limited herein, and will not be described in detail later.

Finally, the inspection plan of each security robot can be generated according to the configurations. Specifically, a fixed time point can be set, a security robot is triggered at fixed time to execute a route inspection, corresponding inspection references are compared, and inspection results, alarm and analysis data are obtained. For example, the patrol plan is: ten times of night, the cloud initiates a patrol task, so that the A robot executes the patrol task of the first route (1 building-10 building). It is to be understood that multiple robots may be triggered simultaneously, so that different inspection routes may be executed respectively, and different inspection references may be used.

204. And acquiring target parameter data acquired by the security robot according to a target inspection plan, and comparing the target parameter data with inspection reference data to perform statistical analysis on a security inspection area.

After the security robot acquires the target inspection plan issued by the management end, the security robot can execute corresponding inspection tasks according to the target inspection plan. In the process of executing the target inspection plan by the security robot, data corresponding to inspection references, namely target parameter data, are acquired in real time. Then, the management end can compare the target parameter data with preset reference data, so as to determine whether the security inspection area meets the specified requirement.

In one embodiment, the management end places the target inspection plan on the cloud, the cloud is triggered by a timing task, and an instruction of the target inspection plan (inspection task) is issued to a plurality of corresponding security robots, and the security robots start the inspection task.

After the security robot submits different inspection points, the security robot stretches out the 3D laser and the camera, and data are collected. Specifically, for example, air quality data may be collected as temperature, humidity, PM2.5, PM10, formaldehyde, carbon monoxide, noise, smoke, flame, etc. Device status data, status of each device in the point view range. Space occupation data, stay point positions, detect the detected point positions marked in advance through 3D laser, and the three-dimensional space of the point positions, (for example, the ground is 1m ² to 2m in height) is occupied by an object or not. This is because 2D lasers have limited recognition heights and cannot recognize suspended objects. Mask identification data, which identifies whether the user wears the mask or not and reminds the user by voice. And the like, and the content of the inspection task executed by the security robot is not limited in detail.

Based on the above embodiment, in another embodiment, the security robot may collect the device status data during the movement process, the camera identifies the device along the road, and the identification result is obtained by comparing the identified status with the set device status reference when identifying the status of the device.

Therefore, the security robot uploads the collected air quality data, equipment state data, space occupation data and the like to the cloud in real time when the point positions stay in the moving process, and can check in the background of the management end. Then, the cloud compares the real-time data with the inspection reference. And the cloud transmits different data to the management end in an alarm mode, and alarms are repeated if a large amount of data is acquired in 10 seconds, so that the alarms are not repeated, and the alarms are combined according to point position deduplication. The method can quickly locate the spatial position of the problematic point in the 3D map.

According to the security inspection method provided by the embodiment, firstly, target image data and target position data of a security inspection area acquired by a security robot are acquired; generating target map data corresponding to the security inspection area based on the target image data and the target position data, and sending the target map data to the security robot; then, configuring a target inspection plan of the security robot according to the target map data; and finally, acquiring target parameter data acquired by the security robot according to a target inspection plan, and comparing the target parameter data with inspection reference data to perform statistical analysis on a security inspection area. Therefore, the management end can configure the security robot to execute corresponding inspection tasks under a plurality of scenes, and collect the parameter data of the inspection area, so that the management end can compare the parameter data and finally analyze the whole area. Therefore, the existing security inspection requirements for the security robot are met.

Referring to fig. 3, fig. 3 is a schematic flow chart of a security inspection method applied to a security robot according to an embodiment of the present application. Including steps 301-303.

301. And acquiring initial plane image data, initial stereoscopic image data and initial position data in the security inspection area, and uploading the initial plane image data, the initial stereoscopic image data and the initial position data to a server management end.

The security robot can collect image data and position data in real time under the working state.

In one embodiment, the security robot may be manually towed, and the accessible area is scanned and collected by the security robot's own laser, so that initial plane image data is collected at this time, and correspondingly, a 2D map, that is, a plane map, may be generated from the initial plane image data. The 2D map is a map that is only the bottom surface of the indoor 3D space.

In another embodiment, the image can be scanned by a manual traction security robot, specifically, the security robot with the security module (3D laser and camera) is manually pushed to move, and in the moving process of the security robot, the 3D laser collects 3D position data, and the camera collects image data, which corresponds to the initial stereo image data and the initial position data described in the foregoing description. And after acquisition, calculating and generating a 3D map. The security robot is manually pushed to go to other floors to continuously collect data.

Based on the embodiment, the security robot can automatically sweep the images. Specifically, the security robot automatically recognizes the current position of the robot according to the security module (3D laser and camera) after being started, automatically explores the map boundary of a single floor by combining the obstacle avoidance capability of the robot, acquires 3D position data by the 3D laser in the process, acquires image data by the camera, calculates and generates a 3D map after acquisition, and continues to explore other floors after exploration is completed.

302. And the receiving management end generates target map data corresponding to the security inspection area and a target inspection plan configured according to the target map data based on the initial plane image data, the initial stereoscopic image data and the initial position data.

After the management end receives the initial plane image data, the initial stereoscopic image data and the initial position data uploaded by the security robot, target map data can be generated, and then the management end can also configure a target inspection plan based on the target map data.

After the management end generates the target map data and the target inspection plan, the target map data and the target inspection plan are issued to the security robot, so that the security robot can carry out inspection tasks in a security inspection area according to the target inspection plan. Correspondingly, the specific content of the target inspection plan may refer to step 203 in fig. 2, which is not described herein in detail.

303. Triggering a target inspection plan to acquire target parameter data according to the target inspection plan, and uploading the target parameter data to a management end so that the management end performs statistical analysis on the security inspection area according to the target parameter data.

When the security robot triggers the target inspection plan, the security robot can collect target parameter data of each target position point according to the target inspection plan, and then the target parameter data is uploaded to the management end, so that the management end performs statistical analysis on the security inspection area according to the target parameter data.

In one embodiment, when the robot triggers the target inspection plan, the robot can switch to the role of the inspector at this time, and it is not easy to understand that the role of the previous robot may be the role of the deliverer, and the like, which is not described in detail herein. The security robot goes to station to replace security module (also called as inspection module), the robot puts the original module (such as robot box, disinfection module, etc.) on the robot into station, loads the inspected module, leaves station, and goes to the first point of inspection route. In general, the robot sends takeaway or express through the box at the moment, and the box is replaced by the security module in the station at the next moment according to the task. If the robot itself is the role of a patrol inspector, the robot directly goes to the first point of the patrol route. It is to be understood that the point location is the inspection point location in the configured inspection route in the target inspection plan.

After the security robot reaches the first inspection point, the security robot stretches out 3D laser and the camera, and data are collected simultaneously: for example, air quality data may be collected for temperature, humidity, PM2.5, PM10, formaldehyde, carbon monoxide, noise, smoke, flame, etc. Device status data, status of each device in the point view range. Space occupation data, stay point positions, detect the detected point positions marked in advance through 3D laser, and the three-dimensional space of the point positions, (for example, the ground is 1m ² to 2m in height) is occupied by an object or not. This is because 2D lasers have limited recognition heights and cannot recognize suspended objects. Mask identification data, which identifies whether the user wears the mask or not and reminds the user by voice. Etc. Of course, since the security robot and the behavior and the like executed on the inspection point are configured in the target inspection plan, the security robot will execute the corresponding behavior, rotation and the like on the inspection point.

Based on the above embodiment, in another embodiment, the security robot may collect the device status data during the movement process, the camera identifies the device along the road, and the identification result is obtained by comparing the identified status with the set device status reference when identifying the status of the device. Correspondingly, the point location residence time (for example, the point location residence time is 30s for collecting data) is configured in the target inspection plan, and when the residence time is over, the security robot goes to the next point location. After the last point location executes the task of collecting data, the security robot returns to the standby point or returns to the station, and the security module is replaced by a module with other roles to execute the tasks with other roles.

According to the security inspection method provided by the embodiment, the security robot can collect various parameter data in real time based on the inspection plan, so that a management end can conduct statistical analysis on the parameter data conveniently, and directly and accurately know where abnormality occurs, so that the time consumption for security processing is reduced as much as possible, and the realizability of a scheme is improved.

In order to describe the interaction flow between the management end and the security robot in detail in the security inspection method disclosed in the embodiment of the present application, please refer to fig. 4 and fig. 4 is a schematic diagram of the interaction flow of the security inspection method disclosed in the embodiment of the present application. Including steps 401-410.

401. And acquiring initial plane image data, initial stereoscopic image data and initial position data in the security inspection area.

Step 401 in this embodiment is similar to step 301 in fig. 3, and detailed description thereof is omitted herein.

402. And acquiring target plane image data and target stereoscopic image data, and performing alignment processing on the target plane image data and the target stereoscopic image data to acquire target image data.

Step 402 in this embodiment is similar to step 201 in fig. 2, and detailed description thereof is omitted herein. However, the management end mainly processes the initial plane image data, the initial stereoscopic image data and the initial position data acquired by the security robot, and then regenerates the target plane image data, the target stereoscopic image data and the target position data. Correspondingly, the processing of the 2D map and the 3D map can be understood.

In one embodiment, the 3D map may be aligned with the 2D map during the 3D map processing. The bottom surface of the 3D map and the plane of the 2D map are in the same horizontal plane, and the 3D wall surface is aligned with the frame of the 2D map. And combining the 3D map with the 2D map to generate target image data of the whole security inspection area. It is to be understood that the target image data in this case includes both the image data corresponding to the 2D map and the image data and the position data corresponding to the 3D map. Meanwhile, in the target image data, specific positions of various devices are also provided, such as lamps, doors, emergency lamps, smoke alarms, fire extinguishers and the like in the 3D map.

After the management end finishes processing the 2D map and the 3D map, the 2D map and the 3D map are distributed to the local security robot through the cloud end, so that the security robot plans a path according to the 2D map and moves to a target position. Correspondingly, the security robot can also compare with the 3D map during inspection, and detect whether the states of equipment (such as lamps and doors) on the 3D map meet the expectations.

403. And generating target map data corresponding to the security inspection area based on the target image data and the target position data.

Step 403 in this embodiment is similar to step 202 in fig. 2, and detailed description thereof will be omitted herein.

404. Marking target position points of the security robot during inspection and inspection operation of the target position points according to the target map data, and connecting all the target position points according to the inspection sequence of the security robot to form an inspection route of the security robot.

After the management end generates the target map data, the target position points of the security robot during inspection and inspection operation of the target position points can be marked according to the target map data, and meanwhile, all marked target position points can be sequentially connected according to the set inspection sequence, so that an inspection route of the security robot is generated.

In one embodiment, specifically, the point where the robot stops when patrolling is marked on the 2D map, it is easy to understand that the point at this time is the target position point described in the foregoing description, and correspondingly, in fig. 1, it can be seen that 3 position points are marked on the same plane. It will be appreciated that the point where the inspection robot rests may be marked on the 2D map manually.

And then based on all marked target position points, the marked position points can be strung into a route according to a certain inspection sequence, and the security robot can reach the appointed position points successively according to the inspection sequence. Correspondingly, in fig. 1, the dotted line part can be understood as a patrol route of the security robot.

Based on the above embodiment, the behavior of the robot, the residence time of the robot, the rotation angle of the robot, etc. may also be set at the location point, that is, the inspection operation of the security robot. At the moment, the security robot can execute the inspection operation at the target position point and collect data when the robot stops.

405. And configuring inspection reference data of the security inspection area, and configuring a target inspection plan of the security robot according to the inspection route, the inspection operation and the inspection reference data.

After the management end configures the inspection point and the inspection route, the inspection reference needs to be configured. It should be understood that the inspection reference described in this embodiment is the inspection reference data described in the foregoing, and the following detailed inspection operation is performed for convenience of understanding and description.

In one embodiment, the inspection references specifically include at least three references.

Therefore, the target inspection plan of the security robot can be configured according to the inspection route, the inspection operation and the inspection reference.

In one embodiment, specifically, a fixed time point is set, a security robot is triggered at fixed time to execute a route inspection, and corresponding inspection references are compared to obtain inspection results, alarm and analysis data. Such as the inspection plan is: ten times of night, the cloud initiates a patrol task, so that the A robot executes the patrol task of the first route (1 building-10 building). The multiple security robots can be triggered simultaneously, different inspection routes can be executed respectively, and different inspection references can be used. That is, the B robot may perform the patrol task of route two (11 th floor-20 th floor).

406. And going to the target site, placing the functional module at the target site to load the security module, and after the security module is loaded, going to the first position point of the inspection route, and collecting target parameter data according to a target inspection plan.

It should be noted in advance that, before the inspection task starts, there is a determination process to determine whether the security robot performs the inspection task (target inspection plan), if it is determined that the security robot performs the inspection task, step 406 is performed, and if it is determined that the security robot does not perform the inspection task, step 404 is performed.

For convenience of understanding and description, only any one security robot among all security robots will be described in detail later.

When the inspection task starts, the cloud timing task triggers, an inspection task instruction is issued to a plurality of corresponding robots, and the robots start the inspection task. Specifically, when the robot triggers the target inspection plan, the robot can switch to the role of the inspector at this time, and it is easy to understand that the role of the previous robot may be the role of the deliverer, etc., which is not described in detail herein. The security robot goes to station to replace security module (also called as inspection module), the robot puts the original module (such as robot box, disinfection module, etc.) on the robot into station, loads the inspected module, leaves station, and goes to the first point of inspection route. In general, the robot sends takeaway or express through the box at the moment, and the box is replaced by the security module in the station at the next moment according to the task. If the robot itself is the role of a patrol inspector, the robot directly goes to the first point of the patrol route. It is to be understood that the point location is the inspection point location in the configured inspection route in the target inspection plan.

407. And when the security robot stays for a preset time at any position point in the moving process of the inspection route, collecting target parameter data, and going to the next position point of any position point after the security robot stays for the preset time.

In the process that the security robot executes the inspection task on the inspection route, as the point location residence time (for example, the point location residence time is 30s for collecting data) is configured in the target inspection plan, the security robot can stay at the point location for a certain time, and corresponding target parameter data is collected. Specifically, the first patrol bit is described below.

After the security robot reaches the first inspection point, the security robot stretches out 3D laser and the camera, and data are collected simultaneously: for example, air quality data may be collected for temperature, humidity, PM2.5, PM10, formaldehyde, carbon monoxide, noise, smoke, flame, etc. Device status data, status of each device in the point view range. Space occupation data, stay point positions, detect the detected point positions marked in advance through 3D laser, and the three-dimensional space of the point positions, (for example, the ground is 1m ² to 2m in height) is occupied by an object or not. This is because 2D lasers have limited recognition heights and cannot recognize suspended objects. Mask identification data, which identifies whether the user wears the mask or not and reminds the user by voice. Etc. Of course, since the security robot and the behavior and the like executed on the inspection point are configured in the target inspection plan, the security robot will execute the corresponding behavior, rotation and the like on the inspection point. That is, the security robot is capable of uploading the collected air quality data, the equipment state data and the space occupation data to the cloud in real time when the security robot stays at the point location and in the moving process, and checking the data in the background of the management end.

After the residence time is over, the security robot goes to the next point.

In another embodiment, after the cloud receives the real-time data uploaded by the security robot, the cloud compares the real-time data with the inspection reference. The cloud transmits the data to the management end in an alarm mode, which is different from the expected data. The management end can alarm and remove the duplication at the moment, if a large amount of data are collected in 10 seconds, the alarm is not repeated, and the alarm is combined according to the point position duplication removal. Therefore, the space position of the problematic point can be quickly positioned in the 3D map.

It will be appreciated that the steps performed by subsequent location points are similar in this regard and will not be described in detail.

408. And returning to the target site after the security robot completes execution of the last position point in the inspection route so as to replace the security module with the functional module.

When the security robot completes the inspection plan of each target position point according to the inspection route and falls to the last position point, the security robot returns to the target station, and the security module at the moment is replaced by other modules, so that other tasks are executed.

In one embodiment, after the last point location performs the task of collecting data, the robot returns to the standby point or returns to the station, and the security module is replaced by a module with another role, so as to perform the tasks with other roles. It is to be understood that the station is the target station described in the foregoing, and for convenience of understanding and description, this will not be repeated later. Correspondingly, the modules or tasks of other roles can be delivery tasks such as express delivery or take-out, and the corresponding modules, namely the transportation modules, and the like, and the modules or tasks of other roles are not limited in detail. However, it should be noted that all module exchanges are automatic exchanges. In principle, a plurality of different modules can exist on the robot body at the same time, for example, a takeaway box and a security module are integrated. In practice, the robot carries a single functional module because of insufficient space.

409. And acquiring target parameter data of all target position points of all floors.

After the security robot executes the target inspection plan, all the collected target parameter data are uploaded to the management end, so that the management end can acquire the target parameter data of all the target position points. In one embodiment, for ease of understanding and description, a building is illustrated, where the building has multiple floors.

That is, at this time, the management side may acquire the target parameter data of all target location points of all floors.

In one embodiment, after the security robot collects data on the inspection route of each floor, the data is uploaded to the cloud, and then the cloud presents the data of each point location.

Then, the cloud end can obtain a spatial average value, a spatial highest value and a spatial lowest value of each reference in each inspection reference of a single floor according to the numerical values of a plurality of points of the floor. It should be understood that the spatial average value, the spatial highest value and the spatial lowest value of the single floor at this time are the first parameter threshold value data and the first parameter average data described in the foregoing description. Parameter threshold data corresponding to the spatial highest value and the spatial lowest value, and parameter average data corresponding to the spatial average value.

And then the data of the whole building can be statistically analyzed. Specifically, according to the spatial average value, the highest value and the lowest value of each floor, the average value, the highest value and the lowest value of the whole building (all floors) are obtained. Correspondingly, the spatial average value, the highest value and the lowest value of the whole building are the second parameter threshold value data and the second parameter average data described in the above description. Parameter threshold data corresponding to the spatial highest value and the spatial lowest value, and parameter average data corresponding to the spatial average value. Specific statistical processes and steps are not described here in detail.

410. And determining whether the target parameter data of all the target position points meet the inspection reference data.

Then, the management end judges according to the data of each position point. If the data and the state of the inspection reference are met, the inspection reference is not buckled; if the data and the state of the inspection reference are not met, the deduction is carried out, the deduction score can be set by itself, and if 1 point is not met, 0.5 score is deducted, and the total score is 100 scores. The 10 points are problematic and are classified as 95 points.

Therefore, the space position of the problematic point can be quickly positioned in the 3D map.

According to the security inspection method provided by the embodiment, the 2D map and the 3D map under the construction target scene can be constructed simultaneously, the inspection task is configured and distributed to the robot, the robot receives the inspection task, various data related to the inspection task can be collected in real time, so that the management terminal is based on the collected data, abnormal information is reported in real time, the corresponding position under the 3D scene is marked, the waste of manpower resources is saved as much as possible, meanwhile, the distribution cost of the robot is extremely low, only electric charge is needed, threshold-free distribution can be realized, and the distribution cost of a demander is reduced.

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.

If the scheme involves sensitive information (e.g., user information, business information), it should be noted that the collection, use and handling of the sensitive information requires compliance with laws and regulations of the relevant country and region, and needs to be performed with approval or consent of the corresponding subject (e.g., user or business, etc.).

Referring to fig. 5, fig. 5 is a schematic structural diagram of a security inspection system applied to a management end according to an embodiment of the present application.

An acquiring unit 501, configured to acquire target image data and target position data of a security inspection area;

A generating unit 502, configured to generate target map data corresponding to the security inspection area based on the target image data and the target position data, and send the target map data to the security robot;

A configuration unit 503, configured to configure a target inspection plan of the security robot according to the target map data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot;

The obtaining unit 501 is further configured to obtain target parameter data collected by the security robot according to the target inspection plan, and compare the target parameter data with the inspection reference data, so as to perform statistical analysis on the security inspection area.

Illustratively, the target image data includes at least target planar image data and target stereoscopic image data, the system further comprising: a processing unit 504;

The acquiring unit 501 is specifically configured to acquire initial plane image data, initial stereo image data, and initial position data corresponding to the initial stereo image data acquired by the security robot in the security inspection area;

a processing unit 504, configured to process the initial planar image data, the initial stereoscopic image data, and the initial position data, so as to obtain target planar image data and target stereoscopic image data;

the processing unit 504 is further configured to perform alignment processing on the target plane image data and the target stereoscopic image data to obtain target image data.

Illustratively, the security robot further comprises a security module, the system comprising:

The obtaining unit 501 is specifically configured to obtain initial position data identified by the security robot based on a current position when the security module of the security robot is in a working state and the security robot is in a moving state, and receive initial stereo image data acquired by the security module of the security robot in the moving state.

Illustratively, the system further comprises: a marking unit 505;

And the marking unit 505 is configured to mark a device position in the security inspection area according to the target image data and the target position data, so as to generate target map data including the device position, so that the security robot detects the device state.

Illustratively, the system includes: a connection unit 506;

The marking unit 505 is specifically configured to mark a target position point of the security robot during inspection and an inspection operation at the target position point according to the target map data;

The connection unit 506 is configured to connect all the target location points according to the inspection sequence of the security robot, so as to form an inspection route of the security robot;

A configuration unit 503, configured to specifically configure inspection reference data of the security inspection area; the inspection reference data comprises one or more of air quality reference data, equipment state reference data and space occupation reference data;

the configuration unit 503 is specifically configured to configure a target inspection plan of the security robot according to the inspection route, the inspection operation, and the inspection reference data, so that the security robot collects parameter data corresponding to the inspection reference data on the inspection route according to the target inspection plan.

Illustratively, the system includes: a determination unit 507;

an acquiring unit 501, configured to specifically acquire target parameter data of all target location points of all floors;

A determining unit 507, configured to determine first parameter threshold data and first parameter average data of the first floor according to target parameter data of all target location points of the first floor; wherein the first floor is any floor of all floors;

The determining unit 507 is further configured to determine second parameter threshold data and second parameter average data of all floors according to the target parameter data of all target location points of all floors;

The processing unit 504 is specifically configured to compare the first parameter threshold data and the first parameter average data with the second parameter threshold data and the second parameter average data, so as to perform statistical analysis on the security inspection area.

Illustratively, the system further comprises: an execution unit 508;

a determining unit 507, configured to determine whether the target parameter data of all the target location points meet the inspection reference data;

And the execution unit 508 is configured to deduct the statistical score of the target location point and locate the target location point in the target map data when the target parameter data of all the target location points do not satisfy the inspection reference data.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a security inspection system applied to a security robot according to an embodiment of the present application.

The acquisition unit 601 is configured to acquire initial plane image data, initial stereoscopic image data, and initial position data corresponding to the initial stereoscopic image data in the security inspection area, and upload the initial plane image data, the initial stereoscopic image data, and the initial position data to the management end;

A receiving unit 602, configured to receive target map data corresponding to a security inspection area generated by a management terminal based on initial planar image data, initial stereoscopic image data, and initial position data, and a target inspection plan configured according to the target map data; the target inspection plan at least comprises an inspection plan corresponding to the security robot in the security inspection area and inspection reference data corresponding to the security robot;

The triggering unit 603 is configured to trigger the target inspection plan to collect target parameter data according to the target inspection plan, and upload the target parameter data to the management end, so that the management end performs statistical analysis on the security inspection area according to the target parameter data.

Illustratively, the security robot further comprises a security module, the system further comprising: an acquisition unit 604;

The acquiring unit 604 is configured to acquire initial position data identified based on a current position when the security module of the security robot is in a working state and the security robot is in a moving state, and receive initial stereoscopic image data and initial plane image data acquired by the security module in the moving state.

Illustratively, the system includes:

The receiving unit 602 is specifically configured to receive a target position point of the security robot marked by the management end according to the target map data during inspection, an inspection operation at the target position point, and an inspection route; the inspection route is formed by connecting all target position points according to the inspection sequence of the security robot by a management end;

The receiving unit 602 is specifically configured to receive inspection reference data of a security inspection area configured by the management end; the inspection reference data comprises one or more of air quality reference data, equipment state reference data and space occupation reference data;

The receiving unit 602 is specifically configured to receive a target inspection plan configured by the management end according to the inspection route, the inspection operation, and the inspection reference data, so as to collect parameter data corresponding to the inspection reference data on the inspection route according to the target inspection plan.

Illustratively, the management end is further communicatively connected to a plurality of security robots, and the system includes:

The receiving unit 602 is specifically configured to receive, by the plurality of security robots, a target inspection plan issued by the management end when a timing task of the management end is triggered; wherein, any security robot executes different target inspection plans.

Illustratively, the security robot includes a functional module, the system further comprising: an execution unit 605;

The execution unit 605 is configured to, when the timing task of the management end triggers, go to the target site, and place the functional module on the target site to load the security module; the security module is used for the security robot to execute a target inspection plan;

the execution unit 605 is further configured to, after loading the security module, go to a first location point of the inspection route, and collect target parameter data according to a target inspection plan; the first position point is the first position point in the inspection route.

Illustratively, the system includes:

The execution unit 605 is further configured to return to the target site after the security robot has executed the last position point in the inspection route, so as to replace the security module with a functional module.

Illustratively, the system includes:

the acquisition unit 601 is further configured to stay for a preset time at any one position point and acquire target parameter data when the security robot moves along the inspection route;

The collection unit 601 is further configured to go to a next position point of any one position point after the security robot stays for a preset time.

Referring to fig. 7, a structural schematic diagram of a security inspection device according to an embodiment of the present application includes:

a central processor 701, a memory 705, an input/output interface 704, a wired or wireless network interface 703, and a power supply 702;

Memory 705 is transient memory or persistent memory;

The central processor 701 is configured to communicate with the memory 705 and to execute the operations of the instructions in the memory 705 to perform the methods of any of the embodiments shown in fig. 2-4 described above.

The embodiment of the application also provides a chip system, which is characterized in that the chip system comprises at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a circuit, and the at least one processor is used for running a computer program or instructions to execute the method in the embodiment shown in any of the foregoing fig. 2 to 4.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Claims

1. The security inspection method is applied to a management end and is characterized in that at least one security robot is in communication connection with the management end, and the method comprises the following steps:

2. The security inspection method according to claim 1, wherein the target image data at least includes target plane image data and target stereoscopic image data, and the obtaining the target image data and the target position data of the security inspection area includes:

3. The security inspection method according to claim 2, wherein the security robot further comprises a security module, and the acquiring initial stereoscopic image data acquired by the security robot in the security inspection area and initial position data corresponding to the initial stereoscopic image data includes:

4. The security inspection method according to claim 1, wherein the generating the target map data corresponding to the security inspection area based on the target image data and the target position data includes:

5. The security inspection method according to claim 1, wherein the configuring the target inspection plan of the security robot according to the target map data comprises:

6. The security inspection method according to claim 5, wherein the obtaining the target parameter data collected by the security robot according to the target inspection plan and comparing the inspection reference data with the target parameter data to perform statistical analysis on the security inspection area includes:

7. The security inspection method according to claim 5, wherein comparing the inspection reference data with the target parameter data to perform statistical analysis on the security inspection area comprises:

8. The security inspection method is applied to a security robot and is characterized in that at least one security robot is in communication connection with a management end, and the method comprises the following steps:

9. The security inspection method according to claim 8, wherein the security robot further comprises a security module, and the collecting initial plane image data, initial stereoscopic image data, and initial position data corresponding to the initial stereoscopic image data in the security inspection area comprises:

10. The security inspection method according to claim 8, wherein the receiving the target inspection plan configured by the management side according to the target map data includes:

11. The security inspection method according to claim 8, wherein the management end is further in communication connection with a plurality of the security robots, and the triggering the target inspection plan includes:

12. The security inspection method of claim 8, wherein the security robot comprises a functional module, and the triggering the target inspection plan to collect target parameter data according to the target inspection plan comprises:

13. The security inspection method of claim 12, wherein after the triggering of the target inspection plan, the method further comprises:

14. The security inspection method according to claim 12, wherein after the first location point of the route to inspection is collected according to the target inspection plan, the method further comprises:

15. The utility model provides a security protection inspection system, is applied to the management end, its characterized in that, at least one security protection robot with management end communication connection, the system includes:

16. The utility model provides a security protection inspection system, is applied to security protection robot, its characterized in that, at least one security protection robot and management end communication connection, the system includes:

17. A security inspection device, the device comprising:

The memory is a short-term memory or a persistent memory;

the central processor is configured to communicate with the memory and to execute instruction operations in the memory to perform the security patrol method of any of claims 1 to 14.

18. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the security inspection method of any one of claims 1 to 14.