WO2020113660A1 - 巡逻机器人和巡逻机器人管理系统 - Google Patents

巡逻机器人和巡逻机器人管理系统 Download PDF

Info

Publication number
WO2020113660A1
WO2020113660A1 PCT/CN2018/121242 CN2018121242W WO2020113660A1 WO 2020113660 A1 WO2020113660 A1 WO 2020113660A1 CN 2018121242 W CN2018121242 W CN 2018121242W WO 2020113660 A1 WO2020113660 A1 WO 2020113660A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
patrol robot
patrol
management system
main control
Prior art date
Application number
PCT/CN2018/121242
Other languages
English (en)
French (fr)
Inventor
李思涵
吕哲诚
苏衍宇
Original Assignee
博众精工科技股份有限公司
苏州博众机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 博众精工科技股份有限公司, 苏州博众机器人有限公司 filed Critical 博众精工科技股份有限公司
Priority to EP18942087.0A priority Critical patent/EP3787257A1/en
Priority to US16/972,218 priority patent/US20210311476A1/en
Priority to SG11202011610UA priority patent/SG11202011610UA/en
Publication of WO2020113660A1 publication Critical patent/WO2020113660A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/06—Manipulators combined with a control cab for the operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/002—Manipulators for defensive or military tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/172—Classification, e.g. identification
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
    • G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G06V20/625—License plates

Definitions

  • the embodiments of the present disclosure relate to the technical field of robots, for example, to a patrol robot and a patrol robot management system.
  • the related security technology is mainly manpower patrol and static camera fixed-point monitoring, which monitors abnormal behavior and outdoor environmental conditions.
  • the monitoring network composed of manpower patrol and fixed-point cameras has inherent weaknesses such as security and fatigue, and the camera is prone to dead spots. It is impossible to monitor the target area in real time and dynamically, nor can it intuitively grasp the on-site situation at the time of the emergency, so that the security resources cannot be effectively and timely dispatched, and the security needs of large crowds and logistics sites cannot be met.
  • the embodiments of the present disclosure provide a patrol robot and a patrol robot management system to identify abnormal emergencies and realize real-time effective monitoring of the patrol area.
  • an embodiment of the present disclosure provides a patrol robot, including a robot body and a control system disposed on the robot body, the robot body includes a chassis system and a container disposed on the chassis system Cavity
  • the control system includes a main control module, an image processing module, and an image acquisition device.
  • the main control module and the image processing module are disposed in the receiving cavity, and the main control module is electrically connected to the image processing module ,
  • the image processing module is electrically connected to the image acquisition device;
  • the image acquisition device includes a spherical camera disposed on the accommodating cavity
  • the image processing module includes a behavior recognition unit that is configured to perform pedestrian anomalies according to environmental images collected by the image acquisition device Behavior recognition, generating pedestrian abnormal behavior recognition information
  • the main control module is configured to send the pedestrian abnormal behavior recognition information to the patrol robot management system.
  • the image processing module further includes a face recognition unit, the face recognition unit is configured to perform face recognition according to the environmental image collected by the image collection device, generate person identification information, and the main control The module is also configured to send the personal identification information to the patrol robot management system.
  • the image processing module further includes a license plate recognition unit, the license plate recognition unit is configured to perform vehicle license plate recognition based on the environment image collected by the image collection device, generate vehicle license plate information and vehicle position information, the The main control module is further configured to send the vehicle license plate information and vehicle position information to the patrol robot management system.
  • the image acquisition device further includes at least one of the following: a gun-type camera and a multi-camera integrated camera; the image acquisition device is electrically connected to the main control module, and the main control module is further configured to Sending the environment image collected by the image collecting device to the patrol robot management system.
  • the robot body further includes a lifting mechanism disposed on the accommodating cavity, and the image acquisition device is disposed on the lifting mechanism.
  • control system further includes a radio frequency information processing module and a radio frequency information collection device, the radio frequency information processing module is electrically connected to the main control module and the radio frequency information collection device, respectively, and the radio frequency information processing The module is configured to perform radio frequency card identification based on the radio frequency information collected by the radio frequency information collection device to generate radio frequency card identity information and radio frequency card quantity information;
  • the image processing module further includes a pedestrian recognition unit configured to perform pedestrian recognition based on the environmental image collected by the image collection device and generate pedestrian identity information and pedestrian number information;
  • the main control module is further configured to send the radio frequency card identity information, the radio frequency card quantity information, the pedestrian identity information, and the pedestrian quantity information to the patrol robot management system.
  • control system further includes a sound processing module and a sound collection device, and the sound processing module is electrically connected to the main control module and the sound collection device, respectively;
  • the sound processing module includes an abnormal sound recognition unit configured to perform abnormal sound recognition based on the sound information collected by the sound collection device to generate abnormal sound information, and the main control module is further configured to use the The abnormal sound information is sent to the patrol robot management system.
  • the main control module is further configured to send the sound information collected by the sound collection device to the patrol robot management system;
  • the control system further includes a sound playback device, and the main control module is further configured to receive sound information sent by the patrol robot management system and send the sound information received from the patrol robot management system to the sound playback device .
  • control system further includes a navigation obstacle avoidance module, the navigation obstacle avoidance module is electrically connected to the main control module, and the main control module is further configured to obtain a position according to the navigation obstacle avoidance module Information and navigation information drive the robot body to move;
  • the navigation obstacle avoidance module includes at least one of the following: two-dimensional (2Dimensions, 2D) lidar ranging unit, three-dimensional (3Dimensions, 3D) lidar ranging unit, attitude measurement unit, ultrasonic ranging unit, satellite Positioning navigation unit and anti-drop unit.
  • the chassis system includes a height-adjustable suspension and a differential gear train
  • the differential gear train includes wheels, a servo motor, a reducer, and a drive module, and the wheels are connected to the height-adjustable suspension .
  • an embodiment of the present disclosure also provides a patrol robot management system, including at least one of the above patrol robots.
  • the patrol robot management system further includes:
  • a cloud server and a background monitoring system the cloud server is in communication connection with the background monitoring system and the at least one patrol robot, respectively;
  • the cloud server is configured to store the video stream information collected by the image collection device and the audio stream information collected by the sound collection device on each of the patrol robots, and according to the video viewing instructions and audio listening instructions of the background monitoring system
  • the background monitoring system sends video stream information and audio stream information.
  • the patrol robot management system further includes:
  • a scheduling system the scheduling system is respectively in communication connection with the background monitoring system and the at least one patrol robot;
  • the scheduling system is configured to control at least one of the patrol robots to perform patrols according to the patrol task instructions according to the patrol task instructions of the background monitoring system.
  • the cloud server is further configured to send the on-site information collected by each patrol robot to the background monitoring system, where the on-site information includes environmental information;
  • the cloud server is further configured to perform at least one of the following control on one or more of the patrol robots according to the control instructions of the background monitoring system: mechanical structure control and electrical structure control; wherein, the mechanical structure includes settings A lifting mechanism on the cavity of the patrol robot, the electrical structure includes a light assembly arranged on the body of the patrol robot;
  • the dispatch system is further configured to send the on-site information collected by each patrol robot to the background monitoring system, where the on-site information includes location information.
  • the patrol robot management system further includes an automatic charging station; the background management system sends a notification to the dispatch system when the status information of the patrol robot sent by the cloud server satisfies preset conditions A patrol robot charging instruction is sent, and the scheduling system controls the patrol robot whose status information meets preset conditions to dock with the automatic charging station for charging.
  • the patrol robot management system further includes a wireless communication system; the wireless communication system is configured to enable the cloud server and the dispatch system to wirelessly communicate with the at least one patrol robot, respectively, and to enable the The cloud server and the dispatch system communicate with the background management system wirelessly, respectively.
  • FIG. 1 is a schematic structural diagram of a patrol robot body provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a control system in the patrol robot shown in FIG. 1;
  • FIG. 3 is a schematic structural diagram of a lifting mechanism provided by an embodiment of the present disclosure.
  • FIG. 4 is a structural diagram of another control system of a patrol robot provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of a patrol robot management system provided by an embodiment of the present disclosure.
  • FIG. 1 is a schematic structural diagram of a patrol robot body provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a control system in the patrol robot shown in FIG. 1.
  • the patrol robot includes a robot body 100 and A control system 200 provided on the robot body 100.
  • the robot body 100 includes a chassis system 110 and a receiving cavity 120 provided on the chassis system 110;
  • the control system 200 includes a main control module 210, an image processing module 220, and an image acquisition device 230
  • the main control module 210 and the image processing module 220 are disposed in the accommodating cavity 120, the main control module 210 is electrically connected to the image processing module 220, and the image processing module 220 is electrically connected to the image acquisition device 230;
  • the image acquisition device 220 includes The spherical camera 231 accommodated in the cavity 120, the image processing module 220 includes a behavior recognition unit 221, the behavior recognition unit 221 is configured to perform pedestrian abnormal behavior recognition based on the environment image collected by the image collection device 230, and generate pedestrian abnormal behavior recognition information,
  • the main control module 210 is configured to send pedestrian abnormal behavior recognition information to the patrol robot management system.
  • the control system 200 is installed on the robot body 100 and performs robot driving, information collection, control, communication, etc.
  • the control system 200 includes information acquisition devices, control modules, processors, transmission media and other physical devices, and also includes controls installed on the control Control programs in modules, processors, etc.
  • the spherical camera 231 in the image collection device 230 is set to collect environmental images of the area where the patrol robot is located, which can be a video image or an environmental photo.
  • the spherical camera 231 can realize zooming and turning through control, that is, it can collect a wide angle of view To obtain global information, or focus on small-angle images to obtain detailed information.
  • the behavior recognition unit 221 provided in the image processing device 220 can recognize pedestrians in the collected picture. In one embodiment, it can also recognize abnormal pedestrian behaviors such as people gathering and fighting, thereby generating abnormal pedestrian behaviors. Identify the information and report it to the management system of the patrol robot.
  • the patrol robot When the patrol robot is running, it can turn on the pedestrian abnormal behavior recognition function at the preset position in the task.
  • the abnormal alarm message is immediately uploaded to the management system of the patrol robot through the main control module.
  • the background monitoring system in the management system can call and display the real-time picture of the patrol robot.
  • the behavior recognition unit can effectively recognize abnormal behavior events in life.
  • the currently supported behaviors include fighting, theft, shooting, arson, and traffic accidents.
  • the video stream is firstly obtained from the image acquisition device, divided into time-series fragments, and then imported into a pre-trained 3D convolutional network model for feature extraction, and then the score function is used to calculate each fragment Score, the score of normal video clips is generally low, and the score of abnormal video clips is generally high, and finally, by setting a reasonable threshold to determine whether there is abnormal behavior in the video.
  • the present disclosure can realize the report to the patrol robot management system by setting an image acquisition device including a ball camera in the control system of the patrol robot, and performing pedestrian behavior analysis through an image processing module including a behavior recognition unit, thereby reporting to the patrol robot management system
  • the automatic identification and reporting of abnormal emergencies in the patrol area solves the problem that the monitoring network of human patrols and fixed-point cameras cannot be monitored in real-time and effective abnormal events due to inherent weaknesses such as fatigue in the security guard and prone to dead spots in the camera.
  • the patrol robot and patrol robot management system provided by the disclosed embodiments can assist in real-time and dynamic identification and monitoring of abnormal events, and can meet the security requirements of large crowds and logistics sites.
  • the image processing module 220 further includes a face recognition unit 222, which is configured to perform face recognition based on the environment image collected by the image collection device 230 to generate person identification information,
  • the main control module 210 is configured to send personnel identification information to the patrol robot management system.
  • the dome camera when the dome camera collects the environment picture, it can identify the pedestrians in the environment picture.
  • the face image collected by the camera can be detected and tracked, and the recognition information of the face is transmitted
  • the background monitoring system performs comparison and screening, manages the flow of personnel, and the black and white list comparison function can be set in the background monitoring system, that is, the face information is sent to the main control module in the face recognition unit.
  • the background monitoring system compares the face information with the face information in the black and white list.
  • an exception can be issued immediately, and the background monitoring system can immediately display
  • the real-time picture collected by the patrol robot, the staff on duty in the background can take over the patrol robot remotely, control the movement of the patrol robot, adjust the observation angle of the dome camera, and zoom in to check the scene.
  • the image processing module 220 further includes a license plate recognition unit 223 configured to perform vehicle license plate recognition based on the environment image collected by the image collection device 230 to generate vehicle license plate information and vehicle location Information, the main control module 210 is configured to send vehicle license plate information and vehicle position information to the patrol robot management system.
  • a license plate recognition unit 223 configured to perform vehicle license plate recognition based on the environment image collected by the image collection device 230 to generate vehicle license plate information and vehicle location Information
  • the main control module 210 is configured to send vehicle license plate information and vehicle position information to the patrol robot management system.
  • the license plate recognition unit in the image processing module can recognize the license plate and analyze and acquire the license plate number, generate vehicle license plate information, and can determine the location information of the vehicle according to the location of the patrol robot.
  • the main control module uploads the vehicle license plate information and vehicle position information recognized by the license plate recognition unit to the management system of the patrol robot, the background monitoring system will compare it with the vehicle database and display all the comparison results with the license plate picture In the display interface of the background monitoring system, the vehicle database can also set the black and white list of the vehicle.
  • the license plate is found not in the white list, found in the black list, or the parking position of this vehicle is inconsistent with the database pre-recorded position, you can immediately Abnormality can be issued, and the real-time picture of the patrol robot can be displayed on the display interface of the background monitoring system.
  • the background personnel can take over the robot remotely, control the movement of the robot, adjust the observation angle of the dome camera, and zoom in to view the scene.
  • the image acquisition device 230 further includes a gun-type camera 232 and a multi-camera integrated camera 233, the image acquisition device 230 is electrically connected to the main control module 210, and the main control module 210 is further configured to capture the image acquisition device 230 The environment image is sent to the patrol robot management system.
  • the image acquisition device 230 may further include one of a gun-type camera 232 and a multi-eye integrated camera 233.
  • the dome camera 231 can only perform image collection for the local environment, and the dome camera 231 needs to be driven and rotated to collect all the environmental images. Therefore, in order to achieve 360° full-angle image capture, the present disclosure implements For example, it provides a visual solution that combines a gun-type camera or a multi-eye integrated camera with a dome camera. It can also support the gun-ball linkage function. By controlling the rotation of the dome camera, it can track and observe the target at a fixed point.
  • the use of a gun-type camera or a multi-camera integrated camera and a dome-type camera image acquisition device can better obtain global information and detailed information of environmental images, obtain clearer video images, and improve pedestrian abnormal behavior recognition and pedestrians. The accuracy of functions such as face recognition and license plate recognition.
  • FIG. 3 is a schematic structural diagram of a lifting mechanism provided by an embodiment of the present disclosure.
  • the robot body 100 further includes a cavity On the lifting mechanism 130 on 120, the image acquisition device is installed on the lifting mechanism 130.
  • the spherical camera 231 shown in FIG. 1 is installed at the top of the lifting mechanism 130, and the lifting mechanism 130 is hidden and disposed on the upper portion of the receiving cavity 120 of the robot body 100.
  • the lifting mechanism 130 adopts a spiral screw type lifting rod structure, which can be directly driven by a DC motor, and a linear movement in a vertical direction can be realized through a limit stop 131. Since the cable is longer and thicker during lifting, it is easy to be tangled and knotted, so the spiral tube 132 is used to restrain the cable to ensure the safety of the cable when lifting.
  • FIG. 4 is a structural diagram of another patrol robot control system provided by an embodiment of the present disclosure.
  • the control system further It includes a radio frequency information processing module 240 and a radio frequency information collection device 250.
  • the radio frequency information processing module 240 is electrically connected to the main control module 210 and the radio frequency information collection device 250, respectively.
  • the radio frequency information processing module 240 is set to the radio frequency collected by the radio frequency information collection device 250 The information is subjected to radio frequency card recognition to generate radio frequency card identity information and radio frequency card quantity information; the image processing module 220 further includes a pedestrian recognition unit 224, which is configured to perform pedestrian recognition based on the environmental image collected by the image collection device 230 and generate a pedestrian identity Information and pedestrian quantity information; the main control module 210 is configured to send the radio frequency card identity information, radio frequency card quantity information, pedestrian identity information and pedestrian quantity information to the patrol robot management system.
  • the radio frequency information collection device 250 may include a radio frequency card reader antenna 251
  • the radio frequency information processing module 240 may include a radio frequency card reader controller.
  • the radio frequency card reader The controller can obtain the identity information in the radio frequency card and the number of radio frequency cards, and correspondingly, the identity information and number of on-site personnel can be obtained.
  • the RF card reader controller can only obtain the information of the person wearing the RF card.
  • a pedestrian recognition unit can be provided in cooperation.
  • the patrol robot will detect the number of pedestrians in the current screen during operation. When the patrol robot recognizes the following two states, it will report the abnormal alarm message to the background monitoring system for display. The first one is to synthesize the judgment result of the radio frequency signal. If the number of pedestrians identified is greater than the number of radio frequency cards identified by the radio frequency, an alarm will be issued; second, if the patrol robot operates at a position where no one should enter the area within the specified time, It will directly issue an alarm without considering the result of RFID. After receiving the abnormal alarm, the video monitoring interface will immediately display the real-time picture of the robot. The staff on duty in the background can take over the robot remotely, control the movement of the robot, and adjust the observation angle of the dome camera to zoom in to view the scene.
  • the control system may further include a sound processing module 260 and a sound collection device 270, which are electrically connected to the main control module 210 and the sound collection device 270, respectively; the sound processing module 260 includes abnormal sound
  • the recognition unit 261 and the abnormal sound recognition unit 261 are configured to perform abnormal sound recognition based on the sound information collected by the sound collection device 270 to generate abnormal sound information, and the main control module 210 is configured to send the abnormal sound information to the patrol robot management system.
  • the sound collection device 270 may include a microphone 271.
  • the abnormal sound recognition unit processes the abnormal sound, such as screams, explosions, etc., and reports the abnormal information to the patrol Robot management system.
  • the background monitoring system in the management system can monitor, intervene and control the on-site pictures.
  • the main control module can also send the sound information collected by the sound collection device to the patrol robot management system; the control system also includes a sound playback device, and the main control module is also configured to receive the sound information sent by the patrol robot management system, and The sound information received from the patrol robot management system is sent to the sound playback device, that is, the patrol robot also has a two-way voice intercom function, and can include two intercom methods, mode 1: the background monitoring system in the patrol robot management system passes Give instructions to actively open the voice interaction function; Method 2: The robot end presses the help button to turn on the voice interaction function.
  • the control system A navigation obstacle avoidance module 280 is also included.
  • the navigation obstacle avoidance module 280 is electrically connected to the main control module 210.
  • the main control module 210 is configured to drive the robot body 100 to move according to the positioning information and navigation information acquired by the navigation obstacle avoidance module 280;
  • the navigation obstacle avoidance module 280 includes one or more of a 2D lidar ranging unit 281, a 3D lidar ranging unit 282, an attitude measuring unit 283, an ultrasonic ranging unit 284, a satellite positioning and navigation unit 285, and an anti-drop unit 286.
  • one or more of the above-mentioned distance measuring units can be combined to accurately locate the distance.
  • the 2D/3D lidar distance measuring unit can obtain environmental feature information, gyroscopic gyroscope and heading reference system
  • the attitude measurement unit such as the module can obtain the orientation and displacement of the patrol robot.
  • Ultrasonic distance measuring unit can be installed around the outer shell of the robot, and can sense obstacles in the surrounding environment in 360 degrees in all directions.
  • the satellite positioning and navigation unit can obtain global satellite navigation system signals and obtain the absolute position and orientation of the patrol robot in an outdoor environment.
  • Anti-drop units such as infrared ranging sensors and depth cameras can measure close-range environmental information, etc.
  • the position information and environmental information of patrol robots can be accurately obtained, which can be based on the obtained position information and Environmental information, map construction and patrol route navigation and other functions.
  • the satellite positioning and navigation unit can assist the 2D/3D lidar ranging unit to sense the outdoor complex environment, realize the long-distance ranging and positioning function when the environment area is too large, and make up for the 2D/3D lidar ranging unit to measure the distance Shortcomings.
  • the anti-drop unit can perform environment perception at a relatively short distance, which solves the problem of blind spots in the 2D/3D lidar's short-range scanning, and can identify road faults to assist the robot in obstacle avoidance navigation.
  • the patrol robot provided by the embodiment of the present disclosure is also provided with a chassis system, referring to FIG. 1, wherein the chassis system 110 in the patrol robot includes a height-adjustable suspension (not shown in the figure) and a differential wheel system.
  • the wheel train includes wheels 111, a servo motor, a reducer, and a drive module, and the wheels are connected to a height-adjustable suspension.
  • the main control module in the control system controls the driver module to drive the wheels to walk, and realize the patrol function of the patrol robot.
  • the differential wheel system is connected to an independent suspension with adjustable height, and each wheel can be driven independently, so that it can achieve 360° steering on the spot, and the independent suspension with adjustable height can adjust the height of the chassis of the patrol robot, thus Patrol for different road conditions, enhance the adaptability of the robot to various terrains and the stability of driving.
  • the patrol robot provided by the embodiment of the present disclosure can achieve a maximum moving speed of 1.5m/s, and can perform 15° longitudinal slope climbing and 15° horizontal slope driving, and can cross over obstacles of 100 mm in height.
  • FIG. 5 is a schematic structural diagram of a patrol robot management system provided by an embodiment of the present disclosure.
  • the patrol robot management system includes at least one embodiment of the present disclosure. Any kind of patrol robot 301. Since the patrol robot 301 provided by the embodiment of the present disclosure is adopted in the patrol robot management system, the patrol robot management system also has the effect of the patrol robot described above.
  • the patrol robot management system provided by the embodiments of the present disclosure may further include other devices and systems for supporting the normal operation of the patrol robot management system.
  • the patrol robot management system further includes a cloud server 302 and a background monitoring system 303.
  • the cloud server 302 communicates with the background monitoring system 303 and at least one patrol robot 301 respectively Connection;
  • Cloud server 302 is set to store the video stream information collected by the image collection device and the audio stream information collected by the sound collection device on each patrol robot 301, and monitor the background according to the video viewing instructions and audio listening instructions of the background monitoring system 303
  • the system 303 sends video stream information and audio stream information.
  • the cloud server 302 may also be configured to send environmental information collected by the patrol robot and other on-site information to the background monitoring system 303.
  • the cloud server 302 serves as a forwarding station for the front-end patrol robot 301 and the back-end background monitoring system 303, and is configured to forward and store compressed data such as video stream information and audio stream information collected by at least one patrol robot.
  • the monitoring system can play the video and audio collected by at least one patrol robot in real time, and can retrieve and play the video and audio stored in the cloud server.
  • the cloud server of streaming media adopts a distributed architecture. When the capacity or bandwidth of the related servers cannot meet the requirements, multiple media servers can be clustered to expand the capacity and bandwidth.
  • the cloud server also has the function of forwarding other information such as commands. For the background monitoring system, the commands issued by the patrol robot can be collected and forwarded to the patrol robot by the cloud server.
  • the background monitoring system receives the patrol After the pedestrian's abnormal behavior recognition information uploaded by the robot, when there is a need to adjust the ball and gun cameras in the image acquisition device, the cloud server can forward the control command of the gun and ball linkage to the patrol robot to obtain better video images. It also includes commands to control the patrol robot's travel. The cloud server can also forward the temperature and humidity information set by the patrol robot and the visual detection result generated by the image processing module to the background monitoring system to realize the monitoring of the background monitoring system.
  • the patrol robot management system further includes a dispatch system 304, which is respectively connected to the background monitoring system 303 and at least one patrol robot 301; the dispatch system 304 is set to control the patrol according to the patrol task instructions of the background monitoring system 303 The robot 301 patrols according to the patrol task instruction.
  • the dispatch system 304 may also be configured to send the on-site information such as the position information collected by each patrol robot 301 to the background monitoring system 303.
  • the scheduling system 304 manages the position information and navigation information of the patrol robot 301 and issues patrol tasks to the patrol robot 301, etc., to achieve stable scheduling services such as task scheduling, traffic scheduling, and charging management, and can coordinate the patrol robot 301 and related equipment. Ordered work is the medium through which users control the coordination of multiple robots.
  • the patrol robot management system also includes an automatic charging station (not shown in the figure).
  • an automatic charging station (not shown in the figure).
  • the background management system 303 sends the patrol robot charging instruction to the dispatch system 304, and the dispatch system 304 Control the patrol robot 301 to dock with the automatic charging station for charging.
  • the automatic charging station includes an automatic charging house and automatic charging equipment.
  • the patrol robot moves to the designated location area in the automatic charging house for charging.
  • the automatic charging device locates the position information of the patrol robot through sensors, controls the movement of the robot arm, and actively docks the automatic charging device with the patrol robot to realize the automatic charging function.
  • the scheduling system will issue a charging task to the one or more patrol robots, if the current task priority of the one or more patrol robots is higher , The charging task will be run after the task is executed; if the current task priority of the one or more patrol robots is low, the current task will be ended immediately and the charging task will be run.
  • the one or more patrol robots return to the automatic charging station, and after arriving at the designated parking area, send an arrival command to the charging station.
  • the charging station determines the position of the charging pole piece on the patrol robot through measuring devices such as infrared sensors, and then controls the mechanical arm to start movement. Connect the charging board with the charging pole piece to start the charging task.
  • the power of the patrol robot reaches 100%, it means that the charging is completed, the robot arm returns to the initial position, the patrol robot exits the charging station, and continues to perform the tasks that have not been completed. If there is no task, it returns to the preset initial position.
  • the cloud server 302 and the dispatch system 304 communicate with the patrol robot 301 and the background monitoring system 303, respectively. Therefore, a wireless communication system can be provided in the management system.
  • the wireless communication system can adopt the wireless fidelity (WIFI) or the fourth generation mobile communication technology (The 4th Generation Mobile Communication Technology, 4G) communication method, so that the patrol robot management system can meet the requirements of fast deployment and strong scene adaptability. Communication needs.
  • WIFI wireless fidelity
  • 4G The 4th Generation Mobile Communication Technology

Abstract

本文公开了一种巡逻机器人，包括：机器人本体和设置在机器人本体上的控制系统，机器人本体包括底盘系统和设置在底盘系统上的容置腔体；控制系统包括主控模块、图像处理模块以及图像采集装置，主控模块与图像处理模块电连接，图像处理模块与图像采集装置电连接；图像采集装置包括设置于容置腔体上的球型摄像机，图像处理模块包括行为识别单元，行为识别单元设置为根据图像采集装置采集的环境图像进行行人异常行为识别，生成行人异常行为识别信息，主控模块设置为发送行人异常行为识别信息给巡逻机器人管理系统。本文还公开了一种巡逻机器人管理系统。

Description

巡逻机器人和巡逻机器人管理系统
本申请要求在2018年12月5日提交中国专利局、申请号为201811480933.X的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开实施例涉及机器人技术领域，例如涉及一种巡逻机器人和巡逻机器人管理系统。
背景技术
目前安保工作在社会公共安全中起着不可或缺的作用，尤其是在大型园区，会展中心，大型机场，物流仓库等场所。而随着这些场所的数量不断增加以及规模的不断扩大，因此要越来越多的人力，物力和安保资源来确保这些场所的安全运作。
相关的安保技术是以人力巡逻和静态的摄像机定点监控为主，对异常行为、户外环境状况进行监控，然而人力巡逻和定点摄像机组成的监控网络存在保安易疲劳、摄像机易出现死角等固有弱点，无法实时、动态对目标区域进行监控，也不能直观的把握突发事件发生时的现场情形，从而无法对安保资源进行有效、及时的调度，不能满足大型人流、物流场所的安保需求。
发明内容
本公开实施例提供一种巡逻机器人和巡逻机器人管理系统，以识别异常突发事件，实现对巡逻区域的实时有效监控。
在一实施例中，本公开实施例提供了一种巡逻机器人，包括机器人本体和设置在所述机器人本体上的控制系统，所述机器人本体包括底盘系统和设置在所述底盘系统上的容置腔体；
所述控制系统包括主控模块、图像处理模块以及图像采集装置，所述主控模块和所述图像处理模块设置于所述容置腔体内，所述主控模块与所述图像处理模块电连接，所述图像处理模块与所述图像采集装置电连接；
所述图像采集装置包括设置于所述容置腔体上的球型摄像机，所述图像处理模块包括行为识别单元，所述行为识别单元设置为根据所述图像采集装置采集的环境图像进行行人异常行为识别，生成行人异常行为识别信息，所述主控模块设置为发送所述行人异常行为识别信息给巡逻机器人管理系统。
在一实施例中，所述图像处理模块还包括人脸识别单元，所述人脸识别单元设置为根据所述图像采集装置采集的环境图像进行人脸识别，生成人员身份信息，所述主控模块还设置为发送所述人员身份信息给所述巡逻机器人管理系统。
在一实施例中，所述图像处理模块还包括车牌识别单元，所述车牌识别单元设置为根据所述图像采集装置采集的环境图像进行车辆车牌识别，生成车辆车牌信息和车辆位置信息，所述主控模块还设置为发送所述车辆车牌信息和车辆位置信息给所述巡逻机器人管理系统。
在一实施例中，所述图像采集装置还包括下述至少一项：枪型摄像机和多目集成摄像机；所述图像采集装置与所述主控模块电连接，所述主控模块还设置为将所述图像采集装置采集的环境图像发送给所述巡逻机器人管理系统。
在一实施例中，所述机器人本体还包括设置于所述容置腔体上的升降机构，所述图像采集装置设置于所述升降机构上。
在一实施例中，所述控制系统还包括射频信息处理模块和射频信息采集装置，所述射频信息处理模块分别与所述主控模块和所述射频信息采集装置电连接，所述射频信息处理模块设置为根据所述射频信息采集装置采集的射频信息进行射频卡识别，生成射频卡身份信息和射频卡数量信息；
所述图像处理模块还包括行人识别单元，所述行人识别单元设置为根据所述图像采集装置采集的环境图像进行行人识别，生成行人身份信息和行人数量信息；
所述主控模块还设置为将所述射频卡身份信息、所述射频卡数量信息、所述行人身份信息和所述行人数量信息发送给所述巡逻机器人管理系统。
在一实施例中，所述控制系统还包括声音处理模块和声音采集装置，所述声音处理模块分别与所述主控模块和所述声音采集装置电连接；
所述声音处理模块包括异常声音识别单元，所述异常声音识别单元设置为根据所述声音采集装置采集的声音信息进行异常声音识别，生成异常声音信息，所述主控模块还设置为将所述异常声音信息发送给所述巡逻机器人管理系统。
在一实施例中，所述主控模块还设置为将所述声音采集装置采集的声音信息发送给所述巡逻机器人管理系统；
所述控制系统还包括声音播放装置，所述主控模块还设置为接收所述巡逻机器人管理系统发送的声音信息，并将从所述巡逻机器人管理系统接收的声音信息发送给所述声音播放装置。
在一实施例中，所述控制系统还包括导航避障模块，所述导航避障模块与所述主控模块电连接，所述主控模块还设置为根据所述导航避障模块获取的定位信息和导航信息驱动所述机器人本体移动；
其中，所述导航避障模块包括下述至少一项：二维(2Dimensions，2D)激光雷达测距单元、三维(3Dimensions，3D)激光雷达测距单元、姿态测量单元、超声波测距单元、卫星定位导航单元及防跌落单元。
在一实施例中，所述底盘系统包括高度可调悬架和差分轮系，所述差分轮系包括车轮、伺服电机、减速机、驱动器模块，所述车轮与所述高度可调悬架连接。
在一实施例中，本公开实施例还提供了一种巡逻机器人管理系统，包括至少一个上述的巡逻机器人。
在一实施例中，所述巡逻机器人管理系统还包括：
云服务器和后台监控系统，所述云服务器分别与所述后台监控系统和所述至少一个巡逻机器人通讯连接；
所述云服务器设置为存储每个所述巡逻机器人上的图像采集装置采集的视频流信息和声音采集装置采集的音频流信息，并根据所述后台监控系统的视频查看指令和音频收听指令向所述后台监控系统发送视频流信息和音频流信息。
在一实施例中，所述巡逻机器人管理系统还包括：
调度系统，所述调度系统分别与所述后台监控系统和所述至少一个巡逻机器人通讯连接；
所述调度系统设置为根据所述后台监控系统的巡逻任务指令，控制至少一个所述巡逻机器人根据所述巡逻任务指令进行巡逻。
在一实施例中，所述云服务器还设置为向所述后台监控系统发送每个所述巡逻机器人采集的现场信息，所述现场信息包括环境信息；
所述云服务器还设置为根据所述后台监控系统的控制指令，对一个或多个所述巡逻机器人进行下述至少一项控制：机械结构控制和电气结构控制；其中，所述机械结构包括设置于巡逻机器人容置腔体上的升降机构，所述电气结构包括设置于巡逻机器人本体上的灯光组件；
所述调度系统还设置为向所述后台监控系统发送每个所述巡逻机器人采集的所述现场信息，所述现场信息包括位置信息。
在一实施例中，所述巡逻机器人管理系统还包括自动充电站；所述后台管理系统在所述云服务器发送的所述巡逻机器人的状态信息满足预设条件的情况下，向所述调度系统发送巡逻机器人充电指令，所述调度系统控制所述状态信息满足预设条件的巡逻机器人与所述自动充电站对接充电。
在一实施例中，所述巡逻机器人管理系统还包括无线通讯系统；所述无线通讯系统设置为使所述云服务器和所述调度系统分别与所述至少一个巡逻机器人无线通讯，以及使所述云服务器和所述调度系统分别与所述后台管理系统无线通讯。
附图说明
图1为本公开实施例提供的一种巡逻机器人本体的结构示意图；
图2是图1所示巡逻机器人中的控制系统的结构示意图；
图3是本公开实施例提供的一种升降机构的结构示意图；
图4是本公开实施例提供的又一种巡逻机器人的控制系统结构图；
图5是本公开实施例提供的一种巡逻机器人管理系统的结构示意图。
具体实施方式
下面结合附图和实施例对本公开进行说明。此处所描述的实施例仅仅用于 解释本公开，而非对本公开的限定。为了便于描述，附图中仅示出了与本公开相关的部分而非全部结构。
图1为本公开实施例提供的一种巡逻机器人本体的结构示意图，图2是图1所示巡逻机器人中的控制系统的结构示意图，参考图1和图2，该巡逻机器人包括机器人本体100和设置在机器人本体100上的控制系统200，机器人本体100包括底盘系统110和设置在底盘系统110上的容置腔体120；控制系统200包括主控模块210、图像处理模块220以及图像采集装置230，主控模块210和图像处理模块220设置于容置腔体120内，主控模块210与图像处理模块220电连接，图像处理模块220与图像采集装置230电连接；图像采集装置220包括设置于容置腔体120上的球型摄像机231，图像处理模块220包括行为识别单元221，行为识别单元221设置为根据图像采集装置230采集的环境图像进行行人异常行为识别，生成行人异常行为识别信息，主控模块210设置为发送行人异常行为识别信息给巡逻机器人管理系统。
其中，控制系统200设置在机器人本体100上且进行机器人驱动、信息采集、控制、通讯等，控制系统200包括信息采集装置、控制模块、处理器、传输介质等实体的装置，也包括设置于控制模块和处理器等中的控制程序。图像采集装置230中的球型摄像机231设置为采集巡逻机器人所在区域的环境图像，其可以是视频图像，也可以是环境照片，球型摄像机231可以通过控制实现变焦和转向，即可以采集广视角的环境画面，获取全局信息，也可以通过聚焦获取小视角的图像，从而获取细节信息。设置于图像处理装置220中的行为识别单元221可以对采集的画面中的行人进行识别，在一实施例中，还可以对例如人员聚集、打架斗殴等行人异常行为进行识别，从而生成行人异常行为识别信息，并上报给巡逻机器人的管理系统。
当巡逻机器人在运行过程中，可在任务中预设的位置开启行人异常行为的识别功能，机器人停止运行，球型摄像机开始自动巡航旋转，通过球型摄像机进行图像采集并由行为识别单元开始检测。如果检测到有人员聚集斗殴等异常现象，立即将异常警报消息通过主控模块上传给巡逻机器人的管理系统，管理系统中的后台监控系统可以调取和显示该巡逻机器人的实时画面，后台值守人员可以远程接管巡逻机器人，控制巡逻机器人移动，并可调整球型摄像机的观察角度，放大查看现场情况等。在一实施例中，行为识别单元可针对生活中的 异常行为事件进行有效识别，目前支持的行为包括打架、偷窃、枪击、纵火和交通事故等行为。在一实施例中，首先从图像采集装置中获取视频流，将其分割成时序片段，然后导入预先训练好的3D卷积网络模型中对其进行特征提取，接着通过分数函数计算每一个片段的得分，正常视频片段的得分一般较低，而异常视频片段的得分通常较高，最后通过设置合理的阈值来判断视频中是否存在异常行为。
本公开通过在巡逻机器人的控制系统中设置包括球型摄像机的图像采集装置，并通过包含行为识别单元的图像处理模块进行行人行为分析，判断行人异常行为，从而上报给巡逻机器人管理系统，可以实现对巡逻区域的异常突发事件的自动识别和上报，解决了人力巡逻及定点摄像机的监控网络因为中保安易疲劳、摄像机易出现死角等固有弱点导致无法进行实时有效异常事件的监控的问题，本公开实施例提供的巡逻机器人和巡逻机器人管理系统，可以实时、动态地辅助实现异常事件的识别和监控，能够满足大型人流、物流场所的安保需求。
在一实施例中，继续参考图2，该图像处理模块220还包括人脸识别单元222，人脸识别单元222设置为根据图像采集装置230采集的环境图像进行人脸识别，生成人员身份信息，主控模块210设置为发送人员身份信息给巡逻机器人管理系统。
其中，当球型摄像机进行环境画面采集时，可以针对环境画面中的行人进行识别，在一实施例中，可以对摄像机采集到的人脸图像进行检测和跟踪，并将人脸的识别信息传输到巡逻机器人管理系统，由后台监控系统进行比对甄别，管理人员流动情况，而且可在后台监控系统中设置黑白名单对比功能，即在人脸识别单元将人脸信息发送主控模块，由主控模块上传巡逻机器人管理系统后，后台监控系统则将人脸信息与黑白名单中的人脸信息进行对比，一旦识别到黑名单中的人员，可立即发出异常，并且，后台监控系统可立即显示该巡逻机器人采集的实时画面，后台值守人员可以远程接管巡逻机器人，控制巡逻机器人移动，并调整球型摄像机的观察角度，放大查看现场情况等。
在一实施例中，继续参考图2，该图像处理模块220还包括车牌识别单元223，车牌识别单元223设置为根据图像采集装置230采集的环境图像进行车辆 车牌识别，生成车辆车牌信息和车辆位置信息，主控模块210设置为发送车辆车牌信息和车辆位置信息给巡逻机器人管理系统。
其中，当球型摄像机采集到环境信息时，图像处理模块中的车牌识别单元可以识别车牌并分析获取车牌号，生成车辆车牌信息，并且可根据巡逻机器人所在位置，确定车辆的位置信息。同样地，在主控模块将车牌识别单元识别的车辆车牌信息和车辆位置信息上传至巡逻机器人的管理系统后，后台监控系统会将其与车辆数据库进行对比，并将所有对比结果与车牌图片显示在后台监控系统的显示界面中，其中，车辆数据库也可以设置车辆的黑白名单，如果发现该车牌不在白名单中、发现在黑名单中或者此车辆停放位置与数据库预录入位置不一致，则可立即发出异常，并且可由后台监控系统的显示界面显示该巡逻机器人的实时画面，后台值守人员可以远程接管机器人，控制机器人移动，并调整球型摄像机的观察角度，放大查看现场情况等。
继续参考图1和图2，图像采集装置230还包括枪型摄像机232和多目集成摄像机233，图像采集装置230与主控模块210电连接，主控模块210还设置为将图像采集装置230采集的环境图像发送给巡逻机器人管理系统。在一实施例中，图像采集装置230还可以包括枪型摄像机232和多目集成摄像机233中的一种。
其中，球型摄像机231相对只能针对环境局部进行图像采集，并且要对球型摄像机231进行驱动旋转，以采集全部的环境画面，因此，为了实现360°全角度覆盖的图像采集，本公开实施例提供了枪型摄像机或多目集成相机与球型摄像机结合的视觉解决方案，其还可以支撑枪球联动功能，通过控制球型摄像机转动，定点追踪观察目标。并且，采用枪型摄像机或多目集成相机与球型摄像机结合的图像采集装置，可以更好地获取环境图像的全局信息以及细节信息，获取更加清晰的视频图像，提高行人异常行为识别、行人人脸识别以及车牌识别等功能的准确性。
另外，当进行行人异常行为识别时，图像采集装置尽可能地采集较广的环境画面，以增加行人异常行为识别的可靠性，在一实施例中，可通过抬高图像采集装置的高度，来实现采集较广环境画面，因此，图3是本公开实施例提供的一种升降机构的结构示意图，参考图1和图3，在一实施例中，机器人本体 100还包括设置于容置腔体120上的升降机构130，图像采集装置设置于升降机构130上。
其中，图1所示的球型摄像头231安装在升降机构130的顶端，升降机构130则隐藏设置在机器人本体100的容置腔体120的上部。升降机构130采用螺旋丝杠式升降杆结构，可采用直流电机直接驱动，通过限位挡块131能够实现垂直方向的直线运动。升降时由于线缆较长较粗，容易缠绕和打结，因此采用螺旋管132将线缆约束起来，从而保证线缆升降时的安全性。
示例性地，在会展中心、物流仓库等场所，通常要对人员进行限制，确保该场所中无外来人员，因此通常会对工作人员和参会人员等发放身份卡，以提供身份证明，因此，本公开实施例还针对身份卡的识别提供了一种巡逻机器人，图4是本公开实施例提供的又一种巡逻机器人的控制系统结构图，参考图1和图4，其中，该控制系统还包括射频信息处理模块240和射频信息采集装置250组成，射频信息处理模块240分别与主控模块210和射频信息采集装置250电连接，射频信息处理模块240设置为根据射频信息采集装置250采集的射频信息进行射频卡识别，生成射频卡身份信息和射频卡数量信息；图像处理模块220还包括行人识别单元224，行人识别单元224设置为根据图像采集装置230采集的环境图像进行行人识别，生成行人身份信息和行人数量信息；主控模块210设置为将射频卡身份信息、射频卡数量信息、行人身份信息和行人数量信息发送给巡逻机器人管理系统。
其中，参考图1和图4，射频信息采集装置250可包括射频读卡器天线251，射频信息处理模块240则可包括射频读卡器控制器，在进行射频卡识别过程中，射频读卡器控制器可获取射频卡中的身份信息以及射频卡的数量，对应的，即可获得现场人员的身份信息和数量。当然射频读卡器控制器只能获得佩戴有射频卡的人员的信息，为了同时甄别未佩戴射频卡的人员的信息，可协同设置行人识别单元，同样地，通过分析图像采集装置采集的环境图像，识别图像中的人员的身份信息以及人员数量，因此可对整个场所中人员进行全面的识别和监控。在一实施例中，巡逻机器人在运行过程中，会检测当前画面中的行人数量，当巡逻机器人识别到下列两种状态后，会将异常警报消息上报给后台监控系统进行显示。第一种，综合射频信号的判断结果，如果识别到的行人数量大于射频识别到的射频卡数量，则发出警报；第二种，如果巡逻机器人在规定时间规 定区域应该无人员进入的位置运行，则不考虑射频识别的结果直接发出报警。接收到异常警报后，视频监控界面会立即显示该机器人的实时画面，后台值守人员可以远程接管机器人，控制机器人移动，并调整球型摄像机的观察角度，放大查看现场情况。
在一实施例中，参考图4，控制系统还可设置声音处理模块260和声音采集装置270，声音处理模块260分别与主控模块210和声音采集装置270电连接；声音处理模块260包括异常声音识别单元261，异常声音识别单元261设置为根据声音采集装置270采集的声音信息进行异常声音识别，生成异常声音信息，主控模块210设置为将异常声音信息发送给巡逻机器人管理系统。
其中，声音采集装置270则可包括麦克风271，当识别麦克风采集到声音数据后，由异常声音识别单元进行处理，以识别异常声音，例如尖叫声、爆炸声等，并将异常信息上报给巡逻机器人管理系统。此时管理系统中的后台监控系统可对现场画面进行监控、干预和控制等操作。
除此之外，主控模块还可将声音采集装置采集的声音信息发送给巡逻机器人管理系统；控制系统还包括声音播放装置，主控模块还设置为接收巡逻机器人管理系统发送的声音信息，并将从巡逻机器人管理系统接收的声音信息发送给声音播放装置，即该巡逻机器人还具备双向语音对讲功能，并且可包括两种对讲方式，方式一：巡逻机器人管理系统中的后台监控系统通过下发指令，主动打开语音交互功能；方式二：机器人端按下求助按钮打开语音交互功能。
对于巡逻机器人，其本身最基本的能力为巡逻，为了使该巡逻机器人在巡逻过程中实现导航避障以及按照预设路径巡逻的功能，设置导航避障模块，继续参考图4，该控制系统中还包括导航避障模块280，导航避障模块280与主控模块210电连接，主控模块210设置为根据导航避障模块280获取的定位信息和导航信息驱动机器人本体100移动；导航避障模块280包括2D激光雷达测距单元281、3D激光雷达测距单元282、姿态测量单元283、超声波测距单元284、卫星定位导航单元285及防跌落单元286中的一种或多种。
在一实施例中，可将上述的一个或多个测距单元等结合进行精确地定位测距，其中，2D/3D激光雷达测距单元可获取环境特征信息，陀螺转角仪和航姿参考系统模块等姿态测量单元可获取巡逻机器人的朝向以及位移量。超声波测 距单元可安装在机器人的外壳四周，360度全方向感知周围环境障碍物。卫星定位导航单元可获取全球卫星导航系统信号，获取在户外环境下巡逻机器人的绝对位置和朝向。红外测距传感器和深度相机等防跌落单元可以测量近距离环境信息等，通过多种距离测量及定位的单元，可以精确地获取巡逻机器人的位置信息和环境信息，从而可以根据获取的位置信息和环境信息，进行地图构建以及巡逻路径导航等功能。
其中，卫星定位导航单元能够辅助2D/3D激光雷达测距单元进行室外复杂环境的感知，实现环境面积过大时的远距离测距及定位功能，弥补2D/3D激光雷达测距单元测量距离较短的弊端。防跌落单元则可进行较近距离的环境感知，解决了2D/3D激光雷达的近距离扫描存在盲区问题，并可以识别路面断差，辅助机器人进行避障导航。除此之外，还可利用巡逻机器控制系统的图形采集装置，利用图像进行障碍物识别以及测距等功能，而且，可在巡逻机器人底盘系统的前端及后端设置安全防护触边，以作为机器人的最后一道物理安全防护，在受到碰撞的一瞬间会立即对机器人进行紧急制动，保障人员和财产安全。
另外，本公开实施例提供的巡逻机器人还设置了一种底盘系统，参考图1，其中该巡逻机器人中的底盘系统110包括高度可调悬架(图中未示出)和差分轮系，差分轮系包括车轮111、伺服电机、减速机、驱动器模块，车轮与高度可调悬架连接。
在一实施例中，控制系统中主控模块通过控制驱动器模块，来驱动车轮行走，实现巡逻机器人的巡逻功能。其中，差分轮系与高度可调的独立悬架连接，对于每一个车轮都可单独进行驱动，从而可以实现原地360°转向，高度可调的独立悬架可以调节巡逻机器人的底盘高度，从而适应不同路况进行巡逻，增强机器人对多种地形的适应性以及行驶的稳定性。本公开实施例提供的巡逻机器人可实现最大1.5m/s的移动速度，以及可进行15°的纵坡爬坡以及15°的横坡行驶，可越过100mm高的障碍物等。
本公开实施例还提供了一种巡逻机器人管理系统，图5是本公开实施例提供的一种巡逻机器人管理系统的结构示意图，参考图5，该巡逻机器人管理系统包括至少一个本公开实施例提供的任意一种巡逻机器人301。由于巡逻机器人管理系统中采用了本公开实施例提供的巡逻机器人301，因此巡逻机器人管理系统 同样具有上述巡逻机器人的效果。在一实施例中，本公开实施例提供的巡逻机器人管理系统还可以包括其他用于支持巡逻机器人管理系统正常工作的装置和系统等。
继续参考图5，在一实施例中，本公开实施例提供的巡逻机器人管理系统中，还包括云服务器302、后台监控系统303，云服务器302分别与后台监控系统303和至少一个巡逻机器人301通讯连接；云服务器302设置为存储每个巡逻机器人301上的图像采集装置采集的视频流信息和声音采集装置采集的音频流信息，并根据后台监控系统303的视频查看指令和音频收听指令向后台监控系统303发送视频流信息和音频流信息。云服务器302还可设置为向后台监控系统303发送巡逻机器人采集的环境信息以及其他现场信息。
其中，云服务器302作为前端的巡逻机器人301和后端的后台监控系统303的转发站，设置为将至少一个巡逻机器人采集到的视频流信息和音频流信息等经过压缩的数据进行转发和存储，后台监控系统可实时播放至少一个巡逻机器人采集到的视频和音频，并可调取播放存储在云服务器中的视频和音频。流媒体的云服务器采用分布式架构，当相关服务器的容量或带宽不能满足要求时，可以集群多个媒体服务器，以扩充容量和带宽。除此之外，云服务器还具备命令等其他信息的转发功能，对于后台监控系统针对巡逻机器人发出的命令，可由云服务器负责收集转发至巡逻机器人端，示例性地，后台监控系统在接收到巡逻机器人上传的行人异常行为识别信息后，当存在调整图像采集装置中的球型和枪型摄像机的需求时，可由云服务器转发枪球联动的控制命令给巡逻机器人，以获取较好的视频图像。另外还包括对巡逻机器人行进的控制等命令。云服务器也可将巡逻机器人设置的温湿度信息、图像处理模块生成的视觉检测结果转发给后台监控系统，以实现后台监控系统的监控。
继续参考图5，该巡逻机器人管理系统还包括调度系统304，调度系统分别与后台监控系统303和至少一个巡逻机器人301通讯连接；调度系统304设置为根据后台监控系统303的巡逻任务指令，控制巡逻机器人301根据巡逻任务指令进行巡逻。调度系统304还可设置为向后台监控系统303发送每个巡逻机器人301采集的位置信息等现场信息。
其中，调度系统304对巡逻机器人301的位置信息、导航信息进行管理以 及向巡逻机器人301发布巡逻任务等，实现任务调度、交通调度、充电管理等稳定调度服务，可协调巡逻机器人301及相关设备的有序工作，是用户控制多机器人协调工作的媒介。
巡逻机器人管理系统还包括自动充电站(图中未示出)，后台管理系统303在云服务器发送的巡逻机器人的状态信息满足预设条件时，向调度系统304发送巡逻机器人充电指令，调度系统304控制巡逻机器人301与自动充电站对接充电。
其中，自动充电站包括自动充电屋和自动充电设备。巡逻机器人移动至自动充电屋内的指定位置区域进行充电，自动充电设备通过传感器定位巡逻机器人的位置信息，控制机械臂移动，主动将自动充电设备与巡逻机器人对接，实现自动充电功能。在一实施例中，当一个或多个巡逻机器人电量低于20％，调度系统就会下发充电任务给该一个或多个巡逻机器人，如果该一个或多个巡逻机器人当前任务优先级较高，则会在执行完该任务后运行充电任务；如果该一个或多个巡逻机器人当前任务优先级较低，则立即结束当前任务，运行充电任务。该一个或多个巡逻机器人返回自动充电站，到达指定停放区域后发送到达命令给充电站，充电站通过红外传感器等量测设备确定巡逻机器人上充电极片的位置，然后控制机械臂开始运动，将充电板与充电极片对接，开始充电任务。当巡逻机器人电量达到100％后，代表充电完成，机械臂退回初始位置，巡逻机器人退出充电站，继续执行刚才未完成的任务，如当前无任务，则返回预设初始位置。
继续参考图5，巡逻机器人管理系统中，云服务器302和调度系统304分别与巡逻机器人301和后台监控系统303的通讯，因此可在该管理系统中设置无线通讯系统实现，在一实施例中，该无线通讯系统可采用无线保真(Wireless Fidelity，WIFI)或第四代移动通信技术(The 4th Generation Mobile Communication Technology，4G)通讯方式，以使巡逻机器人管理系统满足部署快捷，场景适应力强的通讯需求。

Claims (16)

  1. 一种巡逻机器人，包括机器人本体和设置在所述机器人本体上的控制系统，所述机器人本体包括底盘系统和设置在所述底盘系统上的容置腔体；
    所述控制系统包括主控模块、图像处理模块以及图像采集装置，所述主控模块和所述图像处理模块设置于所述容置腔体内，所述主控模块与所述图像处理模块电连接，所述图像处理模块与所述图像采集装置电连接；
    所述图像采集装置包括设置于所述容置腔体上的球型摄像机，所述图像处理模块包括行为识别单元，所述行为识别单元设置为根据所述图像采集装置采集的环境图像进行行人异常行为识别，生成行人异常行为识别信息，所述主控模块设置为发送所述行人异常行为识别信息给巡逻机器人管理系统。
  2. 根据权利要求1所述的巡逻机器人，其中，所述图像处理模块还包括人脸识别单元，所述人脸识别单元设置为根据所述图像采集装置采集的环境图像进行人脸识别，生成人员身份信息，所述主控模块还设置为发送所述人员身份信息给所述巡逻机器人管理系统。
  3. 根据权利要求1或2所述的巡逻机器人，其中，所述图像处理模块还包括车牌识别单元，所述车牌识别单元设置为根据所述图像采集装置采集的环境图像进行车辆车牌识别，生成车辆车牌信息和车辆位置信息，所述主控模块还设置为发送所述车辆车牌信息和车辆位置信息给所述巡逻机器人管理系统。
  4. 根据权利要求1所述的巡逻机器人，其中，所述图像采集装置还包括下述至少一项：枪型摄像机和多目集成摄像机；所述图像采集装置与所述主控模块电连接，所述主控模块还设置为将所述图像采集装置采集的环境图像发送给所述巡逻机器人管理系统。
  5. 根据权利要求4所述的巡逻机器人，其中，所述机器人本体还包括设置于所述容置腔体上的升降机构，所述图像采集装置设置于所述升降机构上。
  6. 根据权利要求1所述的巡逻机器人，其中，所述控制系统还包括射频信息处理模块和射频信息采集装置，所述射频信息处理模块分别与所述主控模块和所述射频信息采集装置电连接，所述射频信息处理模块设置为根据所述射频信息采集装置采集的射频信息进行射频卡识别，生成射频卡身份信息和射频卡数量信息；
    所述图像处理模块还包括行人识别单元，所述行人识别单元设置为根据所述图像采集装置采集的环境图像进行行人识别，生成行人身份信息和行人数量信息；
    所述主控模块还设置为将所述射频卡身份信息、所述射频卡数量信息、所述行人身份信息和所述行人数量信息发送给所述巡逻机器人管理系统。
  7. 根据权利要求1或6所述的巡逻机器人，其中，所述控制系统还包括声音处理模块和声音采集装置，所述声音处理模块分别与所述主控模块和所述声音采集装置电连接；
    所述声音处理模块包括异常声音识别单元，所述异常声音识别单元设置为根据所述声音采集装置采集的声音信息进行异常声音识别，生成异常声音信息，所述主控模块还设置为将所述异常声音信息发送给所述巡逻机器人管理系统。
  8. 根据权利要求7所述的巡逻机器人，其中，所述主控模块还设置为将所述声音采集装置采集的声音信息发送给所述巡逻机器人管理系统；
    所述控制系统还包括声音播放装置，所述主控模块还设置为接收所述巡逻机器人管理系统发送的声音信息，并将从所述巡逻机器人管理系统接收的声音信息发送给所述声音播放装置。
  9. 根据权利要求1所述的巡逻机器人，其中，所述控制系统还包括导航避障模块，所述导航避障模块与所述主控模块电连接，所述主控模块还设置为根据所述导航避障模块获取的定位信息和导航信息驱动所述机器人本体移动；
    其中，所述导航避障模块包括下述至少一项：二维2D激光雷达测距单元、三维3D激光雷达测距单元、姿态测量单元、超声波测距单元、卫星定位导航单元及防跌落单元。
  10. 根据权利要求1所述的巡逻机器人，其中，所述底盘系统包括高度可调悬架和差分轮系，所述差分轮系包括车轮、伺服电机、减速机、驱动器模块，所述车轮与所述高度可调悬架连接。
  11. 一种巡逻机器人管理系统，包括至少一个巡逻机器人，所述巡逻机器人为如权利要求1-10任一项所述的巡逻机器人。
  12. 根据权利要求11所述的巡逻机器人管理系统，还包括：
    云服务器和后台监控系统，所述云服务器分别与所述后台监控系统和所述 至少一个巡逻机器人通讯连接；
    所述云服务器设置为存储每个所述巡逻机器人上的图像采集装置采集的视频流信息和声音采集装置采集的音频流信息，并根据所述后台监控系统的视频查看指令和音频收听指令向所述后台监控系统发送视频流信息和音频流信息。
  13. 根据权利要求12所述的巡逻机器人管理系统，还包括：
    调度系统，所述调度系统分别与所述后台监控系统和所述至少一个巡逻机器人通讯连接；
    所述调度系统设置为根据所述后台监控系统的巡逻任务指令，控制至少一个所述巡逻机器人根据所述巡逻任务指令进行巡逻。
  14. 根据权利要求13所述的巡逻机器人管理系统，其中：
    所述云服务器还设置为向所述后台监控系统发送每个所述巡逻机器人采集的现场信息，所述现场信息包括环境信息；
    所述云服务器还设置为根据所述后台监控系统的控制指令，对一个或多个所述巡逻机器人进行下述至少一项控制：机械结构控制和电气结构控制；其中，所述机械结构包括设置于巡逻机器人容置腔体上的升降机构，所述电气结构包括设置于巡逻机器人本体上的灯光组件；
    所述调度系统还设置为向所述后台监控系统发送每个所述巡逻机器人采集的所述现场信息，所述现场信息包括位置信息。
  15. 根据权利要求13或14所述的巡逻机器人管理系统，还包括：自动充电站；
    所述后台管理系统在所述云服务器发送的所述巡逻机器人的状态信息满足预设条件的情况下，向所述调度系统发送巡逻机器人充电指令，所述调度系统控制状态信息满足预设条件的巡逻机器人与所述自动充电站对接充电。
  16. 根据权利要求13所述的巡逻机器人管理系统，还包括无线通讯系统；
    所述无线通讯系统设置为使所述云服务器和所述调度系统分别与所述至少一个巡逻机器人无线通讯，以及使所述云服务器和所述调度系统分别与所述后台管理系统无线通讯。
PCT/CN2018/121242 2018-12-05 2018-12-14 巡逻机器人和巡逻机器人管理系统 WO2020113660A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP18942087.0A EP3787257A1 (en) 2018-12-05 2018-12-14 Patrol robot and patrol robot management system
US16/972,218 US20210311476A1 (en) 2018-12-05 2018-12-14 Patrol robot and patrol robot management system
SG11202011610UA SG11202011610UA (en) 2018-12-05 2018-12-14 Patrol robot and patrol robot management system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811480933.XA CN109333504A (zh) 2018-12-05 2018-12-05 一种巡逻机器人和巡逻机器人管理系统
CN201811480933.X 2018-12-05

Publications (1)

Publication Number Publication Date
WO2020113660A1 true WO2020113660A1 (zh) 2020-06-11

Family

ID=65320055

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/121242 WO2020113660A1 (zh) 2018-12-05 2018-12-14 巡逻机器人和巡逻机器人管理系统

Country Status (5)

Country Link
US (1) US20210311476A1 (zh)
EP (1) EP3787257A1 (zh)
CN (1) CN109333504A (zh)
SG (1) SG11202011610UA (zh)
WO (1) WO2020113660A1 (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112557076A (zh) * 2020-11-29 2021-03-26 中国航空工业集团公司洛阳电光设备研究所 一种高低温待测产品的自动巡检测试比对系统及方法
CN112757305A (zh) * 2021-01-20 2021-05-07 济南浪潮高新科技投资发展有限公司 一种智能巡检机器人及巡检方法
CN112828913A (zh) * 2021-02-08 2021-05-25 深圳泰豪信息技术有限公司 一种巡检机器人控制方法
CN113084776A (zh) * 2021-03-19 2021-07-09 上海工程技术大学 基于视觉的多传感器融合的智能防疫机器人及系统
CN113110502A (zh) * 2021-05-11 2021-07-13 上海东古智能科技有限公司 一种应用于智慧园区的安防巡逻机器人系统
CN113739850A (zh) * 2021-09-03 2021-12-03 浙江国净净化科技有限公司 一种基于数据自动处理的巡检采样机器人
CN114463968A (zh) * 2021-12-14 2022-05-10 江苏齐物信息科技有限公司 一种基于物联网平台的巡检机器人通讯系统及通讯方法
CN114536356A (zh) * 2022-02-11 2022-05-27 国网宁夏电力有限公司营销服务中心(国网宁夏电力有限公司计量中心) 营业厅5g机器人、高清视频反窃电系统及其巡视方法

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110085034A (zh) * 2019-03-12 2019-08-02 广州小马智行科技有限公司 一种基于智能车辆的监控方法及装置
CN109760072A (zh) * 2019-03-22 2019-05-17 蒙志标 银行远程监控异地值守机器人
TWI742352B (zh) * 2019-03-28 2021-10-11 合作金庫商業銀行股份有限公司 機器人
CN110231180A (zh) * 2019-06-21 2019-09-13 浙江神汽电子商务有限公司 一种智能检修机器人
CN110370284A (zh) * 2019-08-07 2019-10-25 北京凌天世纪控股股份有限公司 一种防爆自主巡检机器人的自动化控制系统
CN111008922A (zh) * 2019-12-04 2020-04-14 南京轩世琪源软件科技有限公司 一种慧治安综合管理治安机器人及其操作方法
CN114868167A (zh) * 2019-12-13 2022-08-05 大和通信株式会社 安全系统和监控方法
CN111007528A (zh) * 2019-12-17 2020-04-14 深圳市优必选科技股份有限公司 巡检机器人
CN111338242A (zh) * 2019-12-31 2020-06-26 重庆科卫机器人技术有限公司 一种基于巡逻机器人的智慧小区管理系统及其方法
CN111400687B (zh) * 2020-03-09 2024-02-09 京东科技控股股份有限公司 鉴权方法、装置和机器人
CN111696292A (zh) * 2020-06-23 2020-09-22 海南科技职业大学 一种人工智能预警系统
CN112000050A (zh) * 2020-09-09 2020-11-27 杭州安森智能信息技术有限公司 一种机器人集群智能化状态监测与告警方法
CN112130510B (zh) * 2020-09-28 2021-09-10 江再玉 一种配电离线巡查设备
US11940799B2 (en) * 2021-03-19 2024-03-26 SMP Robotics Systems Corp. Mobile robots and systems with mobile robots
CN113315918B (zh) * 2021-07-28 2021-10-08 湖南涉外经济学院 计算机网络数据处理方法及系统
CN113927567B (zh) * 2021-11-08 2023-05-19 江西太空机器人科技有限公司 一种基于5g通信的园区巡逻机器人
CN114155687A (zh) * 2021-11-10 2022-03-08 深圳市亿联智能有限公司 一种环境适应性强的智能安防系统
CN114131590B (zh) * 2021-11-18 2023-09-08 武汉跨克信息技术有限公司 一种四足机器人智能化装置
CN114155726B (zh) * 2021-12-01 2023-03-03 浙江机电职业技术学院 公路车辆故障报警巡检机器人
CN114211489A (zh) * 2021-12-15 2022-03-22 北京云迹科技股份有限公司 一种分体安防监控机器人
CN114221444A (zh) * 2021-12-22 2022-03-22 山东新一代信息产业技术研究院有限公司 基于iros的变电站巡检系统及巡检方法
CN114434456A (zh) * 2022-01-19 2022-05-06 山东新一代信息产业技术研究院有限公司 一种机房巡检机器人及其巡检方法
CN114526450B (zh) * 2022-02-24 2023-05-12 成都秦川物联网科技股份有限公司 基于物联网的天然气场站报警三维模拟系统
CN114784958B (zh) * 2022-03-24 2023-07-25 国网湖北省电力有限公司宜昌供电公司 基于云-边-端三级构架的变电站远程智能巡视系统
CN114931112B (zh) * 2022-04-08 2024-01-26 南京农业大学 基于智能巡检机器人的母猪体尺检测系统
CN114589718A (zh) * 2022-04-25 2022-06-07 山东阿图机器人科技有限公司 一种侦察防御机器人及其作业方法
CN114640853B (zh) * 2022-05-18 2022-07-29 滨州市人防工程与指挥保障中心 一种无人机巡航图像处理系统
CN115273266A (zh) * 2022-06-20 2022-11-01 驭势（上海）汽车科技有限公司 一种巡逻系统
CN115338884A (zh) * 2022-08-31 2022-11-15 北京佳沃天河智能科技有限公司 一种羊舍巡检机器人
CN115771133B (zh) * 2023-02-10 2023-04-25 中能智旷(北京)科技有限公司 一种基于5g通信远程遥控的巡检机器人
CN116494241A (zh) * 2023-06-01 2023-07-28 上海启丰电子科技有限公司 一种机器人保安控制系统
CN116707133B (zh) * 2023-06-05 2024-02-23 泰州敬道电力工程有限公司 一种基于bim技术的装配变电站智能控制方法与设备
CN116503973B (zh) * 2023-06-20 2023-08-29 厦门星拉科技有限公司 基于电力物联网的电力设备智能巡检系统及方法
CN117134252B (zh) * 2023-09-08 2024-02-13 载荣建设(山东)有限公司 一种输电线智能巡检机器人
CN117133020B (zh) * 2023-10-26 2024-01-19 湖北华中电力科技开发有限责任公司 基于图像大数据的电网设施异常检测与处理方法及系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101786272A (zh) * 2010-01-05 2010-07-28 深圳先进技术研究院 一种用于家庭智能监控服务的多感知机器人
CN105979220A (zh) * 2016-06-21 2016-09-28 南京工业大学 一种家居养老监控智能移动小车、监控系统及其监控方法
CN108297058A (zh) * 2017-11-24 2018-07-20 浙江国自机器人技术有限公司 智能安防机器人及其自动巡检方法
CN108335458A (zh) * 2018-03-05 2018-07-27 李孟星 一种看家看人的家用智能看管系统及其看管方法
CN108356818A (zh) * 2018-01-15 2018-08-03 史聪灵 一种基于机器人的综合管廊巡检系统及交互系统
CN108919809A (zh) * 2018-07-25 2018-11-30 智慧式控股有限公司 智慧式安保机器人及商业模式

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105563488B (zh) * 2016-02-25 2017-08-29 四川阿泰因机器人智能装备有限公司 一种夜巡机器人
CN206871367U (zh) * 2017-06-12 2018-01-12 武汉艾东科技有限公司 一种变电站巡检机器人
CN208020209U (zh) * 2018-03-16 2018-10-30 苏州博众机器人有限公司 一种门卫机器人
CN108765921A (zh) * 2018-04-04 2018-11-06 昆山市工研院智能制造技术有限公司 基于视觉语意分析应用于巡逻机器人的智能巡逻方法
CN108500991B (zh) * 2018-04-09 2020-06-02 中山火炬高新企业孵化器有限公司 一种安防机器人
CN108539858A (zh) * 2018-05-02 2018-09-14 国家电网公司 一种供变电站自动化智能巡检装置
CN108831157A (zh) * 2018-07-27 2018-11-16 中山火炬高新企业孵化器有限公司 一种基于智能机器人的园区安防布控管理系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101786272A (zh) * 2010-01-05 2010-07-28 深圳先进技术研究院 一种用于家庭智能监控服务的多感知机器人
CN105979220A (zh) * 2016-06-21 2016-09-28 南京工业大学 一种家居养老监控智能移动小车、监控系统及其监控方法
CN108297058A (zh) * 2017-11-24 2018-07-20 浙江国自机器人技术有限公司 智能安防机器人及其自动巡检方法
CN108356818A (zh) * 2018-01-15 2018-08-03 史聪灵 一种基于机器人的综合管廊巡检系统及交互系统
CN108335458A (zh) * 2018-03-05 2018-07-27 李孟星 一种看家看人的家用智能看管系统及其看管方法
CN108919809A (zh) * 2018-07-25 2018-11-30 智慧式控股有限公司 智慧式安保机器人及商业模式

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112557076A (zh) * 2020-11-29 2021-03-26 中国航空工业集团公司洛阳电光设备研究所 一种高低温待测产品的自动巡检测试比对系统及方法
CN112757305A (zh) * 2021-01-20 2021-05-07 济南浪潮高新科技投资发展有限公司 一种智能巡检机器人及巡检方法
CN112828913A (zh) * 2021-02-08 2021-05-25 深圳泰豪信息技术有限公司 一种巡检机器人控制方法
CN113084776A (zh) * 2021-03-19 2021-07-09 上海工程技术大学 基于视觉的多传感器融合的智能防疫机器人及系统
CN113110502A (zh) * 2021-05-11 2021-07-13 上海东古智能科技有限公司 一种应用于智慧园区的安防巡逻机器人系统
CN113739850A (zh) * 2021-09-03 2021-12-03 浙江国净净化科技有限公司 一种基于数据自动处理的巡检采样机器人
CN113739850B (zh) * 2021-09-03 2024-01-19 浙江国净净化科技有限公司 一种基于数据自动处理的巡检采样机器人
CN114463968A (zh) * 2021-12-14 2022-05-10 江苏齐物信息科技有限公司 一种基于物联网平台的巡检机器人通讯系统及通讯方法
CN114536356A (zh) * 2022-02-11 2022-05-27 国网宁夏电力有限公司营销服务中心(国网宁夏电力有限公司计量中心) 营业厅5g机器人、高清视频反窃电系统及其巡视方法

Also Published As

Publication number Publication date
US20210311476A1 (en) 2021-10-07
CN109333504A (zh) 2019-02-15
EP3787257A1 (en) 2021-03-03
SG11202011610UA (en) 2020-12-30

Similar Documents

Publication Publication Date Title
WO2020113660A1 (zh) 巡逻机器人和巡逻机器人管理系统
US11790741B2 (en) Drone based security system
WO2021253961A1 (zh) 一种智能视觉感知系统
CN108297059B (zh) 新型智能安防机器人及其自动巡检方法
CN205507540U (zh) 一种带人脸识别和学习功能的智能巡逻机器人
CN103260009B (zh) 影像监视装置、监视系统及监视系统构建方法
CN108297058A (zh) 智能安防机器人及其自动巡检方法
CN203870474U (zh) 一种面向视觉监控的自动导航巡逻机器人
KR102559745B1 (ko) 공항 로봇 및 그를 포함하는 공항 로봇 시스템
KR100835085B1 (ko) 무인교통사고기록장치를 이용한 실시간 교통사고처리시스템 및 방법
CN107585222A (zh) 无人侦察车
KR102335994B1 (ko) 드론 감시를 위한 촬영 감시 장치들의 통합 제어 장치
CN102096413A (zh) 保安巡逻机器人系统及其控制方法
CN103295396A (zh) 交通事故非现场快速取证方法及系统
US20180342153A1 (en) Autonomous traffic managing system
CN114115296A (zh) 一种重点区域智能巡检与预警系统及方法
CN114202886B (zh) 一种矿山爆破安全监控预警系统
CN209928618U (zh) 一种基于面部识别的停车场巡逻机器人
CN206363159U (zh) 一种社区安保巡逻机器人系统
KR20180040255A (ko) 공항 로봇
JP2018111340A (ja) 監視装置
CN209904906U (zh) 一种基于号牌识别的停车场巡逻机器人
CN210173567U (zh) 一种智能安防辅警机器人及其控制系统
CN208897202U (zh) 一种无人监控车
CN103139539A (zh) 一种全景监视系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18942087

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2018942087

Country of ref document: EP

Effective date: 20201123

NENP Non-entry into the national phase

Ref country code: DE