A method, device and medium for a depot inspection robot to strike a target

Abstract

The application discloses a method and device for striking a target object by an oil depot inspection robot and a medium. The method comprises the following steps: identifying a video image collected in real time during the inspection of the oil depot; determining whether the danger level of a target object that illegally invades the oil depot reaches a strike level according to the identification result; if yes, selecting a target striking mode according to the body information of the target object; and aiming at the target object and striking the target object through the target striking mode. Thus, when the target object that illegally invades the oil depot appears, the danger level of the target object is determined by the inspection robot, and when the danger level reaches the strike level, the inspection robot strikes the target object according to the body information of the target object, so that the illegal behavior is timely stopped, the safety of the oil depot is improved, and the security personnel are prevented from being hurt by striking the illegal invader.

Description

Technical Field

[0001] This application relates to the field of illegal combating technology, and in particular to a method, device and medium for an oil depot inspection robot to strike a target. Background Technology

[0002] The safe and stable development of aviation kerosene depots has a significant impact on the aviation industry. Currently, to ensure the safety of depots, security personnel are required to patrol them 24 hours a day. When an unauthorized intrusion occurs, security personnel are often needed to apprehend the intruder to prevent them from carrying dangerous items such as lighters and posing a safety hazard. However, security personnel may not be able to promptly assess the level of danger posed by the intruder, which could threaten their personal safety.

[0003] Therefore, how to ensure the safety of security personnel while cracking down on illegal intruders and stopping illegal activities in a timely manner, thereby improving the safety of oil depots, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, one aspect of this application provides a method for an oil depot inspection robot to strike a target, the method comprising:

[0005] During the inspection of the oil depot, the collected video images are identified in real time.

[0006] When a target object is identified as illegally intruding into the oil depot based on the recognition results of the video image, it is determined whether the danger level of the target object reaches the strike level;

[0007] If the danger level reaches the strike level, determine the size information of the target object;

[0008] Based on the body size information, select the target attack method from the correspondence between the body size information of different objects and the attack method;

[0009] Aim at the target object and strike the target object using the target strike method.

[0010] Preferably, determining whether the danger level of the target object reaches the strike level includes:

[0011] Based on the identification results, the intrusion behavior of the target object is determined;

[0012] Determine whether the intrusion behavior includes at least one of the following: the target carrying dangerous goods into the key monitoring area of ​​the oil depot, and maliciously damaging the oil depot;

[0013] If so, determine that the danger level reaches the strike level;

[0014] If not, it is determined that the danger level has not reached the strike level.

[0015] Preferably, after determining that the danger level has not reached the strike level, the method further includes:

[0016] Output an alarm signal indicating that the target object has left the oil depot and track the target object.

[0017] If the target object does not leave the oil depot within a preset time period, or if the target object's movement trend is determined to be approaching the key monitoring area of ​​the oil depot, then the steps of determining the target object's size information, selecting a target attack method based on the size information, aiming at the target object, and attacking the target object using the target attack method are executed.

[0018] Preferably, determining the body size information of the target object in order to select the target engagement method based on the body size information includes:

[0019] Based on the recognition results, the body shape information of the target object is determined;

[0020] When the body shape information indicates that the target object is an endoderm or mesomorph, the target strike method is selected as electric shock, laser dazzle, acoustic interference, and net throwing.

[0021] When the body shape information indicates that the target object is an ectomorphic body shape, the target attack method is selected from high-pressure water gun, laser dazzle, acoustic interference, and net throwing.

[0022] Preferably, aiming at the target object includes:

[0023] The distance to the target object is determined based on the distance data collected by the rangefinder;

[0024] Predict the movement direction of the target object based on the video image;

[0025] Based on the distance and the direction of movement, the striking distance and striking angle are calculated to aim at the target object.

[0026] Preferably, the method for the oil depot inspection robot to strike the target further includes:

[0027] When the fire at the oil depot is determined based on the identification results, the geographical location of the fire, temperature data collected by the temperature sensor, smoke data collected by the smoke sensor, and infrared images collected by the infrared imager are obtained.

[0028] When the fire is determined to have reached an emergency level based on the geographical location, temperature data, smoke data, and infrared image, an alarm signal is sent to the fire alarm center and the oil depot's monitoring center, and firefighting is carried out based on the infrared image.

[0029] Preferably, the step of fire suppression based on the infrared image includes:

[0030] Acquire distance data collected by the rangefinder;

[0031] The center location of the fire was determined based on the infrared image;

[0032] Based on the distance data and the center position, calculate the projection distance and projection angle of the fire extinguishing bomb;

[0033] Based on the projection distance and projection angle, the fire extinguishing bomb is delivered to the center position for fire suppression.

[0034] Another aspect of this application provides a device for an oil depot inspection robot to strike a target, the device comprising:

[0035] The video image recognition module is used to recognize the collected video images in real time during the inspection of the oil depot;

[0036] The first determining module is used to determine whether the danger level of the target object reaches the strike level when the identification result of the video image determines that there is a target object illegally intruding into the oil depot.

[0037] The second determining module is used to determine the body size information of the target object if the danger level reaches the strike level, and select the target strike method based on the body size information from the correspondence between the body size information of different objects and the strike method.

[0038] The strike module is used to aim at the target object and strike the target object using the target strike method.

[0039] Another aspect of this application provides an apparatus for an oil depot inspection robot to strike a target, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps of the method for the oil depot inspection robot to strike a target.

[0040] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon, the steps of the method for the oil depot inspection robot to strike a target when the program is executed by a processor.

[0041] The method, apparatus, and medium for a robot to strike targets during an oil depot inspection, as provided in this application, have the following beneficial effects: The robot performs real-time inspections of the oil depot and, upon discovering an unauthorized intruder, assesses the target's danger level. When the danger level reaches the strike threshold, the robot strikes the target based on its size information. This promptly stops unauthorized intruders, improving oil depot security while preventing security personnel from having to strike unauthorized intruders, thus avoiding potential safety risks to security personnel. Attached Figure Description

[0042] Figure 1 A flowchart illustrating a method for an oil depot inspection robot to strike a target, provided in an embodiment of this application;

[0043] Figure 2 A flowchart illustrating a method for an oil depot inspection robot to strike a target, provided as another embodiment of this application;

[0044] Figure 3 A schematic diagram of the structure of a device for an oil depot inspection robot to strike a target, provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of a device for an oil depot inspection robot to strike a target, provided as another embodiment of this application.

[0046] The reference numerals in the attached diagram are as follows: 40 is memory, 41 is processor, 42 is display screen, 43 is input / output interface, 44 is communication interface, 45 is power supply, 46 is communication bus, 401 is computer program, 402 is operating system, and 403 is data. Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0048] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0049] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0050] Figure 1 This is a flowchart illustrating a method for an oil depot inspection robot to strike a target, as provided in an embodiment of this application. Figure 1 As shown, the method includes:

[0051] S10: During the inspection of the oil depot, the collected video images are identified in real time;

[0052] In a specific embodiment, the inspection robots in the oil depot need to perform real-time inspections. This application does not specifically limit the number of inspection robots or their respective inspection areas. During inspections, the inspection robots need to acquire video images in real time and perform image recognition.

[0053] Understandably, the purpose of the inspection robot in collecting video images is to prevent illegal intrusions or dangerous situations such as fires from occurring in the oil depot, which could pose an irreparable safety threat to the oil depot. Therefore, during the inspection process, the inspection robot needs to identify the collected video images in real time to determine whether there are suspicious illegal intruders or potential fire hazards.

[0054] In one alternative embodiment, when a target object illegally enters the oil depot, it may trigger the oil depot's perimeter tension net system or monitoring system. At this time, the tension net system or monitoring system will send an alarm signal to the monitoring center and the inspection robot closest to the illegal intrusion site.

[0055] At this moment, the nearest inspection robot promptly planned its path and drove to the scene of the illegal intrusion to capture and identify the intruder through video images.

[0056] S11: When a target object is identified as having illegally entered the oil depot based on the recognition results of the video image, determine whether the danger level of the target object reaches the level of action required.

[0057] Furthermore, in step S11, it is determined whether there is a target object illegally intruding into the oil depot based on the recognition result of the video image. If there is, it is further determined whether the danger level of the target object reaches the strike level. The strike level refers to the judgment condition that the target object needs to be struck. When the danger level of the target object is high and it needs to be struck, it is considered to have reached the strike level, that is, it is considered to have met the conditions for the strike level.

[0058] In a specific embodiment, the target of the illegal intrusion may be a human, a small animal such as a stray cat, or a non-human intrusion such as a tree branch that triggers the protective netting system or monitoring system around the oil depot. In an optional embodiment, after receiving an alarm signal from the protective netting system or monitoring system and traveling to the scene of the illegal intrusion, the inspection robot collects video images and determines that the target is a non-human. At this time, the corresponding video images are uploaded to the monitoring system of the oil depot.

[0059] It is understandable that when the target is a human, if the intruder is carrying dangerous goods or enters a key monitored area of ​​the oil depot (e.g., the tank area), it may cause serious security problems for the oil depot. Therefore, it is necessary to take timely action against the target to stop their illegal behavior.

[0060] Specifically, if the target is a human, it is necessary to determine whether the danger level of the target reaches the strike level based on the recognition results of the video image.

[0061] S12: If the danger level reaches the strike level, determine the size information of the target object;

[0062] S13: Based on body size information, select the target attack method from the correspondence between body size information and attack methods for different objects;

[0063] S14: Aim at the target object and strike it using the target engagement method.

[0064] Furthermore, if the danger level of the target object is determined to be at a strike level, the target object's body shape information is determined, which may include height, build, etc. Specifically, this body shape information can be determined through video image recognition.

[0065] It is understandable that when the target is relatively tall or muscular, the strength will be relatively greater, and a stronger attack method is required. Therefore, after determining the target's body size information, the target attack method is selected based on the correspondence between the body size information of different targets and the attack method.

[0066] Furthermore, the target is targeted and attacked to stop the target's illegal activities.

[0067] Therefore, the method for targeting oil depots using an inspection robot provided in this application involves the inspection robot conducting real-time inspections of the oil depot. When an unauthorized intruder is detected, the robot assesses the danger level of the target. When the danger level reaches the threshold for action, the inspection robot strikes the target based on its body size information, promptly stopping the unauthorized intruder's actions. This improves the safety of the oil depot while preventing security personnel from having to strike unauthorized intruders, thus avoiding potential safety risks to security personnel.

[0068] Figure 2 This is a flowchart illustrating a method for an oil depot inspection robot to strike a target, provided as another embodiment of this application. In an optional embodiment, such as... Figure 2 As shown, determining whether the danger level of the target object reaches the strike level includes:

[0069] S20: Based on the identification results, determine the intrusion behavior of the target object;

[0070] like Figure 2 As shown, in a specific embodiment, when determining whether the danger level of the target object reaches the strike level, real-time video images of the target object are collected in real time and identified, and the intrusion behavior of the target object is determined based on the identification results.

[0071] In one optional embodiment, when determining the intrusion behavior of a target object, facial recognition, limb recognition, and identification of carried items can be performed on the target object in the video image, and the intrusion behavior of the target object can be predicted based on the recognition results. That is to say, the intrusion behavior here can be a behavior that has already occurred or a predicted behavior.

[0072] S21: Determine whether the intrusion behavior includes at least one of the following: the target carrying dangerous goods, entering the key monitoring area of ​​the oil depot, or maliciously damaging the oil depot; if yes, proceed to step S22; if no, proceed to step S23.

[0073] S22: The danger level has been determined to reach the strike level;

[0074] S23: The danger level has not reached the level required for an attack.

[0075] Furthermore, in step S21, it is determined whether the intrusion behavior of the target object includes at least one of the following: carrying dangerous goods, entering the key monitoring area of ​​the oil depot, or maliciously damaging the oil depot. Dangerous goods include sources of ignition, flammable and explosive materials, and knives, etc. The key monitoring area of ​​the oil depot includes the tank area and the monitoring room, etc. In fact, in specific embodiments, this application does not limit the classification of the monitoring area of ​​the oil depot.

[0076] Furthermore, it should be noted that malicious damage can include destruction of items or buildings within the oil depot, and this application does not specifically limit this. Of course, intrusion can also include theft, and this application does not specifically limit illegal intrusion.

[0077] In a specific embodiment, if the intrusion behavior of the target object includes at least one of carrying dangerous items, entering the key monitoring area of ​​the oil depot, and maliciously damaging the oil depot, then the danger level of the target object is determined to reach the strike level, and steps S12 to S14 are executed to strike the target object.

[0078] If the target object's intrusion behavior does not include any of the above behaviors, it is determined that the target object's danger level has not reached the attack level. In this case, an alarm signal should be output to prompt the target object to leave the oil depot.

[0079] It is worth noting that, in one optional embodiment, when the predicted intrusion behavior reaches the strike level, an alarm signal to stop the current behavior is first output, and the target object is prompted to leave the oil depot. Afterwards, the target object is tracked in real time until it leaves the oil depot. If the target object does not leave the oil depot, and illegal behavior is confirmed, the target object is immediately struck.

[0080] In an optional embodiment, the method for the oil depot inspection robot to strike the target after determining that the danger level has not reached the strike level further includes:

[0081] Output an alarm signal indicating that the vehicle has left the oil depot and track the target object.

[0082] If the target does not leave the oil depot within the preset time period, or if the target's movement trend is determined to be approaching the key monitoring area of ​​the oil depot, then the steps of determining the target's size information, selecting the target strike method based on the size information, aiming at the target, and striking the target using the target strike method will be executed.

[0083] In a specific embodiment, when the intrusion behavior of the target does not include any of the following: carrying dangerous items, entering the key monitoring area of ​​the oil depot, or maliciously damaging the oil depot, it is determined that the danger level of the target does not reach the strike level. In this case, the target will not be struck. However, in order to avoid causing safety hazards to the oil depot, an alarm signal is output to warn the target to leave the oil depot and the target will be tracked.

[0084] It should be noted that the alarm signal to leave the oil depot can be output through a speaker set on the inspection robot, such as "Please leave the oil depot within 10 minutes". This application does not limit the form and specific content of the alarm signal.

[0085] Of course, while outputting the alarm signal, it is also sent to the oil depot's monitoring center so that security personnel are aware of the unauthorized intrusion. Furthermore, during real-time tracking of the target, its real-time location is reported to the monitoring center, and its future movement is predicted based on its existing route.

[0086] Furthermore, during the tracking process, the movement of the target object is tracked in real time. If it is found that the target object has not left the oil depot within a preset time period (e.g., within 10 minutes), or if the movement trend of the target object is to address the key monitoring area of ​​the oil depot (e.g., the oil tank area), it is determined that the target object poses a safety hazard. At this time, steps S12 to S14 are executed to take action against the target object.

[0087] In one optional embodiment, determining the body size information of the target object to select a target engagement method based on the body size information includes:

[0088] Based on the recognition results, determine the body shape information of the target object;

[0089] When the body shape information indicates that the target is an endoderm or mesomorph, the target strike method should be selected from electric shock, laser dazzle, acoustic interference, and net throwing.

[0090] When the body shape information indicates that the target object is an ectomorphic body shape, the target attack method should be selected from high-pressure water gun, laser dazzle, acoustic interference, and net throwing.

[0091] In a specific embodiment, when determining the shape information of the target object, it can be identified and analyzed through the collected video images. When the body shape information represents the target object as an endoderm body shape or a mesomorph body shape, the endoderm body shape refers to a body shape in which all parts of the body are relatively soft and rounded, digestive organs are enlarged, and fat deposition is abundant. The mesomorph body shape refers to a body shape in which mesomorphic tissues are dominant, muscles, bones and connective tissues are well-developed, the body is strong and solid, and has a robust appearance.

[0092] It is understandable that targets with endoderm or mesomorph body types have a higher risk factor and therefore require a higher strike intensity. In this case, the strike method can be electric shock, laser dazzle, sonic interference, or net throwing. That is, electric shock can be combined with any one of these methods to strike the target.

[0093] When the body type information indicates that the target is an ectodermal body type, where ectodermal tissues are dominant, the body is slender and thin, and muscle and subcutaneous tissues are underdeveloped, it can be understood that the target of an ectodermal body type has a lower risk factor. Therefore, the corresponding attack method can be a lower intensity method. Specifically, a high-pressure water gun can be selected, along with any one of laser dazzle, sonic interference, or net throwing. That is, a combination of high-pressure water gun and any one of laser dazzle, sonic interference, or net throwing can be used to attack the target.

[0094] It should be noted that, in specific embodiments, body shape can be classified based on the Sheldon body classification system or based on body fat percentage. This application does not limit the classification in this regard, nor does it limit the correspondence between body shape information and striking methods.

[0095] In one alternative embodiment, targeting the target object includes:

[0096] The distance to the target object is determined based on the distance data collected by the rangefinder;

[0097] Predict the movement direction of the target object based on video images;

[0098] Based on distance and direction of movement, the strike distance and strike angle are calculated to aim at the target.

[0099] In a specific embodiment, when the inspection robot aims at a target object, it can collect distance data between itself and the target object using a rangefinder mounted on the inspection robot, thereby determining the specific distance to the target object based on the collected distance data.

[0100] In one alternative embodiment, the distance to the target object can also be determined by calculation using point cloud data collected by radar, and this application does not limit this method.

[0101] Furthermore, by acquiring real-time video images of the target object and recognizing the video images, the movement direction of the target object is predicted. Then, based on the distance to the target object and the movement direction of the target object, the striking distance and striking angle are calculated to aim at the target.

[0102] It is worth noting that, in one optional embodiment, the stun gun can be mounted on the inspection robot. When the striking method is electric shock, the stun gun can be controlled to extend at the calculated striking distance and angle to reach the target object. When the striking distance exceeds the maximum extension distance of the stun gun, the moving parts of the inspection robot are controlled to move closer to the target object until the striking distance is no greater than the maximum extension distance of the stun gun.

[0103] In another optional embodiment, the high-pressure water gun can be mounted on the inspection robot or distributed in different areas of the oil depot. After the inspection robot calculates the impact distance and impact angle of the target object, it further calculates the spray angle of the high-pressure water gun outlet and the driving force given to the high-pressure water gun, thereby achieving the impact on the target object.

[0104] In another optional embodiment, when the target attack method is net throwing, the angle of net throwing and the driving force provided to the net throwing can be further calculated based on the calculated attack distance and attack angle of the target object, thereby controlling the net throwing component on the inspection robot to throw the net.

[0105] In one optional embodiment, if the target attack method is laser dazzle and acoustic interference, the state of the target object can be analyzed based on real-time acquired video images to adjust the intensity of laser dazzle and acoustic interference.

[0106] In an optional embodiment, the method for the oil depot inspection robot to strike a target provided in this application further includes:

[0107] Based on the identification results, when the fire occurred at the oil depot, the geographical location of the fire, temperature data collected by the temperature sensor, smoke data collected by the smoke sensor, and infrared images collected by the infrared imager were obtained.

[0108] When the fire is determined to have reached the emergency level based on geographical location, temperature data, smoke data, and infrared images, an alarm signal is sent to the fire alarm center and the oil depot's monitoring center, and firefighting is carried out based on the infrared images.

[0109] In a specific embodiment, fire monitoring is crucial to further enhance the safety of the oil depot. During the inspection process, if the inspection robot determines that a fire has occurred at the oil depot based on the collected video images (i.e., when the fire is determined based on the video image recognition results), it obtains the geographical location of the fire and reports this location to the oil depot's monitoring center, and outputs a fire alarm signal. This fire alarm signal can be a buzzer or it can be transmitted via voice; this application does not limit the specific method.

[0110] Furthermore, the temperature sensor collects temperature data, the smoke sensor collects smoke data, and the infrared imager collects infrared images. It should be noted that the temperature sensor, smoke sensor, and infrared imager are all mounted on the inspection robot, and these components can be used to collect fire-related information.

[0111] In a specific embodiment, after collecting fire-related information, the emergency level of the fire is determined based on the fire-related information. That is, the fire level is determined based on geographical location, temperature data, smoke data, and infrared images. If the fire level is reached, an alarm signal is sent to the fire alarm center and the oil depot's monitoring center to remind security personnel and firefighters to extinguish the fire in time. In addition, in order to control the fire in time, the inspection robot uses infrared images to fight the fire.

[0112] Based on the above embodiments, in order to control the fire in a timely manner, in an optional embodiment, fire suppression is carried out based on infrared images, including:

[0113] Acquire distance data collected by the rangefinder;

[0114] Determine the center of the fire based on infrared images;

[0115] Based on the distance data and center position, calculate the projection distance and projection angle of the fire extinguishing bomb;

[0116] Based on the projection distance and angle, fire extinguishing bombs are delivered to the center position for fire suppression.

[0117] In a specific embodiment, distance data collected by a rangefinder is acquired, and the center position of the fire is determined based on the infrared image. Thus, the center position of the fire and the distance data between the inspection robot and the fire are determined. Furthermore, based on the distance data and the center position, the projection distance and projection angle of the fire extinguishing bomb are calculated. Then, based on the projection distance and projection angle, the fire extinguishing bomb is delivered to the center position for fire suppression.

[0118] When delivering fire extinguishing bombs, the driving force required to be provided to the delivery component is calculated based on the projection distance and projection angle, and this driving force is used to deliver the fire extinguishing bombs to the fire site for firefighting.

[0119] It should be noted that the fire extinguishing bomb is mounted on the inspection robot and contains fire extinguishing materials. This application does not specify the specific materials.

[0120] In one optional embodiment, during firefighting operations, it is necessary to collect video images of the fire, as well as real-time temperature data collected by temperature sensors, smoke data collected by smoke sensors, and infrared images collected by infrared imagers. This information is used to determine changes in the fire situation in real time and to adjust the firefighting position and status accordingly.

[0121] In the above embodiments, the method for an oil depot inspection robot to strike a target has been described in detail. This application also provides an embodiment of a device for an oil depot inspection robot to strike a target. It should be noted that this application describes the embodiment of the device from two perspectives: one is based on functional modules, and the other is based on hardware structure.

[0122] Figure 3 This is a schematic diagram of the structure of a device for an oil depot inspection robot to strike a target, provided in an embodiment of this application. Figure 3 As shown, the device includes:

[0123] The video image recognition module 30 is used to recognize the collected video images in real time during the inspection of the oil depot;

[0124] The first determining module 31 is used to determine whether the danger level of the target object reaches the strike level when the target object is determined to exist as an illegal intrusion into the oil depot based on the recognition result of the video image.

[0125] The second determining module 32 is used to determine the body size information of the target object if the danger level reaches the strike level, and select the target strike method based on the body size information from the correspondence between the body size information of different objects and the strike method.

[0126] The strike module 33 is used to aim at the target object and strike the target object through a target strike method.

[0127] In addition, the equipment used by the oil depot inspection robot to strike targets also includes:

[0128] The intrusion behavior determination module is used to determine the intrusion behavior of the target object based on the identification results.

[0129] The judgment module is used to determine whether the intrusion behavior includes at least one of the following: the target carrying dangerous goods, entering the key monitoring area of ​​the oil depot, and maliciously damaging the oil depot; if so, it determines that the danger level reaches the strike level; if not, it determines that the danger level does not reach the strike level.

[0130] The first processing module is used to output an alarm signal indicating that the target object has left the oil depot and to track the target object.

[0131] The second processing module is used to determine the size information of the target object if the target object does not leave the oil depot within a preset time period, or if the target object's movement trend is determined to be approaching the key monitoring area of ​​the oil depot. This allows for the selection of a target strike method based on the size information, as well as aiming at the target object and striking it using the target strike method.

[0132] The body shape information determination module is used to determine the body shape information of the target object based on the recognition results;

[0133] The target strike method selection module is used to select electric shock, laser dazzle, acoustic interference, and net throwing as the target strike method when the body size information indicates that the target object is an endoderm or mesomorphic body type; and to select high-pressure water cannon, laser dazzle, acoustic interference, and net throwing as the target strike method when the body size information indicates that the target object is an ectodermic body type.

[0134] The distance determination module is used to determine the distance to the target object based on the distance data collected by the rangefinder.

[0135] The prediction module is used to predict the movement direction of a target object based on video images;

[0136] The third processing module is used to calculate the strike distance and strike angle based on the distance and direction of movement in order to aim at the target object.

[0137] The fire information acquisition module is used to determine the geographical location of the fire, temperature data collected by the temperature sensor, smoke data collected by the smoke sensor, and infrared images collected by the infrared imager when the fire occurs in the oil depot based on the identification results.

[0138] The fourth processing module is used to send alarm signals to the fire alarm center and the oil depot monitoring center when the fire is determined to have reached the emergency fire level based on geographical location, temperature data, smoke data and infrared images, and to carry out firefighting based on infrared images.

[0139] The distance data acquisition module is used to acquire distance data collected by the rangefinder;

[0140] The center location determination module is used to determine the center location of the fire based on infrared images;

[0141] The calculation module is used to calculate the projection distance and projection angle of the fire extinguishing projectile based on the distance data and the center position.

[0142] The delivery module is used to deliver fire extinguishing bombs to the center position based on the projection distance and projection angle for fire suppression.

[0143] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0144] Figure 4 A schematic diagram of a device for an oil depot inspection robot to strike a target, provided in another embodiment of this application, is shown below. Figure 4 As shown, the device for the oil depot inspection robot to strike targets includes: a memory 40 for storing computer programs;

[0145] The processor 41 is used to execute a computer program to implement the steps of the method for the oil depot inspection robot to strike a target as described in the above embodiments.

[0146] The processor 41 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 41 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 41 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 41 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 41 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0147] The memory 40 may include one or more computer-readable storage media, which may be non-transitory. The memory 40 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 40 is used to store at least the following computer program 401, which, after being loaded and executed by the processor 41, is capable of implementing the relevant steps of the method for the oil depot inspection robot to strike a target disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 40 may also include an operating system 402 and data 403, and the storage method may be temporary or permanent storage. The operating system 402 may include Windows, Unix, Linux, etc. The data 403 may include, but is not limited to, relevant data involved in the method for the oil depot inspection robot to strike a target.

[0148] In some embodiments, the device for the oil depot inspection robot to strike a target may further include a display screen 42, an input / output interface 43, a communication interface 44, a power supply 45, and a communication bus 46.

[0149] Those skilled in the art will understand that Figure 4 The structure shown does not constitute a limitation on the device by which the oil depot inspection robot strikes a target, and may include more or fewer components than shown.

[0150] The apparatus for an oil depot inspection robot to strike a target provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the method for the oil depot inspection robot to strike a target described in the above embodiments.

[0151] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0152] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0153] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0154] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0155] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for an oil depot inspection robot to strike a target, characterized in that, The method includes: During the inspection of the oil depot, the collected video images are identified in real time. When a target object is identified as illegally intruding into the oil depot based on the recognition results of the video image, it is determined whether the danger level of the target object reaches the strike level; If the danger level reaches the strike level, determine the size information of the target object; Based on the body size information, select the target attack method from the correspondence between the body size information of different objects and the attack method; Aim at the target object and strike the target object using the target strike method; Determining whether the danger level of the target object reaches the strike level includes: Based on the identification results, the intrusion behavior of the target object is determined; Determine whether the intrusion behavior includes at least one of the following: the target carrying dangerous goods into the key monitoring area of ​​the oil depot, and maliciously damaging the oil depot; If so, determine that the danger level reaches the strike level; If not, it is determined that the danger level has not reached the strike level; Determining the body size information of the target object, so as to select the target engagement method based on the body size information, includes: Based on the recognition results, the body shape information of the target object is determined; When the body shape information indicates that the target object is an endoderm or mesomorph, the target strike method is selected as electric shock, laser dazzle, acoustic interference, and net throwing. When the body shape information indicates that the target object is an ectomorphic body shape, the target attack method is selected from high-pressure water gun, laser dazzle, acoustic interference, and net throwing.

2. The method for the oil depot inspection robot to strike a target as described in claim 1, characterized in that, After determining that the danger level has not reached the strike level, the method further includes: Output an alarm signal indicating that the target object has left the oil depot and track the target object. If the target object does not leave the oil depot within a preset time period, or if the target object's movement trend is determined to be approaching the key monitoring area of ​​the oil depot, then the steps of determining the target object's size information, selecting a target attack method based on the size information, aiming at the target object, and attacking the target object using the target attack method are executed.

3. The method for the oil depot inspection robot to strike a target as described in claim 1, characterized in that, Aiming at the target object includes: The distance to the target object is determined based on the distance data collected by the rangefinder; Predict the movement direction of the target object based on the video image; Based on the distance and the direction of movement, the striking distance and striking angle are calculated to aim at the target object.

4. The method for the oil depot inspection robot to strike a target as described in claim 1, characterized in that, The method further includes: When the fire at the oil depot is determined based on the identification results, the geographical location of the fire, temperature data collected by the temperature sensor, smoke data collected by the smoke sensor, and infrared images collected by the infrared imager are obtained. When the fire is determined to have reached an emergency level based on the geographical location, temperature data, smoke data, and infrared image, an alarm signal is sent to the fire alarm center and the oil depot's monitoring center, and firefighting is carried out based on the infrared image.

5. The method for an oil depot inspection robot to strike a target as described in claim 4, characterized in that, The step of fire suppression based on the infrared image includes: Acquire distance data collected by the rangefinder; The center location of the fire was determined based on the infrared image; Based on the distance data and the center position, calculate the projection distance and projection angle of the fire extinguishing bomb; Based on the projection distance and projection angle, the fire extinguishing bomb is delivered to the center position for fire suppression.

6. A device for an oil depot inspection robot to strike a target, characterized in that, The device includes: The video image recognition module is used to recognize the collected video images in real time during the inspection of the oil depot; The first determining module is used to determine whether the danger level of the target object reaches the strike level when the identification result of the video image determines that there is a target object illegally intruding into the oil depot. The second determining module is used to determine the body size information of the target object if the danger level reaches the strike level, and select the target strike method based on the body size information from the correspondence between the body size information of different objects and the strike method. The strike module is used to aim at the target object and strike the target object using the target strike method; An intrusion behavior determination module is used to determine the intrusion behavior of the target object based on the identification result; The judgment module is used to determine whether the intrusion behavior includes at least one of the following: the target object carrying dangerous goods into the key monitoring area of ​​the oil depot, and maliciously damaging the oil depot; if yes, it determines that the danger level reaches the strike level; if no, it determines that the danger level does not reach the strike level. A body shape information determination module is used to determine the body shape information of the target object based on the recognition result; The target strike method selection module is used to select electric shock, laser dazzle, acoustic interference, and net throwing as the target strike method when the body shape information indicates that the target object is an endoderm or mesomorphic body shape; and to select high-pressure water gun, laser dazzle, acoustic interference, and net throwing as the target strike method when the body shape information indicates that the target object is an ectoderm body shape.

7. A device for an oil depot inspection robot to strike a target, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method for the oil depot inspection robot to strike a target as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method for the oil depot inspection robot to strike the target as described in any one of claims 1 to 5.

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