An indoor police security patrol robot suitable for airports

Abstract

The present invention discloses an indoor police security patrol robot suitable for airports, belonging to the field of robot technology. The indoor police security patrol robot suitable for airports includes a walking drive device, an environmental monitoring module, a patrol navigation module and a remote monitoring module. Communication connections are established among the walking drive device, the environmental monitoring module, the patrol navigation module and the remote monitoring module; the environmental monitoring module includes a sensor unit, a monitoring unit and a processing unit. The processing unit is used to receive image information captured by multiple cameras in the monitoring unit, and fuse the two together with the data collected by the sensor unit, and judge the danger level of the current environment according to the fusion result. The present invention effectively controls the scene of the accident through the environmental monitoring module, patrol navigation module and remote monitoring module, so as to avoid the accident from happening again.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an indoor police security patrol robot suitable for airports. Background Art

[0002] With the development of social economy, the flow of people in airports is increasing day by day, and the increase in the number of people in activities is likely to lead to various accidents. Therefore, the traditional fixed camera monitoring method can no longer effectively deter and stop crime, and cannot meet the increasingly complex security needs. As a result, patrol robots came into being.

[0003] Although traditional patrol robots have surveillance cameras and can provide video recording and storage functions, this simple video recording and storage function is mainly used as a tool for investigating and collecting evidence after an accident occurs, and cannot play an effective role at the scene of the accident.

[0004] Therefore, there is an urgent need to provide an indoor police security patrol robot suitable for airports to solve the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings that although the above-mentioned prior art patrol robots have monitoring cameras and can provide video recording and storage functions, such simple video recording and storage functions are mainly used as tools for investigation and evidence collection after an accident occurs, and cannot play an effective role at the scene of the accident. The present invention provides an indoor police security patrol robot suitable for airports.

[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide an indoor police security patrol robot suitable for airports, comprising a walking drive device, an environment monitoring module, a patrol navigation module and a remote monitoring module, wherein communication connections are established among the walking drive device, the environment monitoring module, the patrol navigation module and the remote monitoring module; An environment monitoring module, the environment monitoring module includes a sensor unit, a monitoring unit and a processing unit, the processing unit is used to receive the image information captured by multiple cameras in the monitoring unit, and fuse the two together with the data collected by the sensor unit, and judge the danger level of the current environment according to the fusion result; A patrol navigation module, which autonomously plans patrol routes according to preset paths or real-time mission requirements, and quickly adjusts the paths according to the danger level of the current environment; A remote monitoring module is used to transmit the image information captured by the monitoring unit to a remote monitoring platform in real time through wireless transmission technology according to the danger level of the current environment, and supports two-way voice and video calls.

[0007] The present invention is further configured as follows: the walking drive device includes a driving unit and a positioning unit connected to each other, the positioning unit is used to obtain the real-time position information of the patrol robot and send it to the patrol navigation module, the patrol navigation module performs real-time path planning according to the real-time position information, and drives the patrol robot to move through the driving unit.

[0008] The present invention is further configured as follows: the fusion processing of the data collected by the sensor unit and the image information captured by the monitoring unit in the environmental monitoring module includes the following steps: S1, the sensor unit collects environmental information and transmits the environmental information to the processing unit, and the multiple cameras in the monitoring unit collect image information in real time and transmit the real-time collected image information to the processing unit; S2, the processing unit marks the environmental information that has undergone abnormal changes, and extracts features from the image information collected in real time by the monitoring unit according to the marking time; S3, the processing unit extracts a first texture feature map and a first edge feature map from the image information collected in real time by a certain camera during the marking time, and determines the corresponding second texture feature map and second edge feature map in the image information collected in real time by the remaining cameras; S4, determining a texture feature fusion map according to the first texture feature map and the second texture feature map, and determining an edge feature fusion map according to the first edge feature map and the second edge feature map; S5. Perform feature processing on the texture feature fusion map and the edge feature fusion map respectively through a preset channel attention mechanism to obtain a target texture fusion map and a target edge fusion map in sequence; S6. The input target texture fusion image and the input target edge fusion image are fused through a preset image fusion model. If the similarity of the fused target fusion images is greater than a set threshold, it is determined that the current environment is in a dangerous state. If the similarity of the fused target fusion images is less than the set threshold, it is determined that the current environment is temporarily in a safe state.

[0009] The present invention is further configured as follows: in step S5, feature processing is performed on the texture feature fusion map by a preset channel attention mechanism to obtain a target texture fusion map, which specifically includes the following steps: S51, determining a plurality of feature matrix channels corresponding to the texture feature fusion map, and for each feature matrix fusion, globally averaging the feature matrix channels to obtain a global feature; S52, performing local cross-channel interaction on the multiple global features to obtain the attention weight of each feature matrix channel; S53. Determine a target texture fusion map corresponding to the texture feature fusion map according to the attention weight and the feature matrix channel.

[0010] The present invention is further configured as follows: the specific contents of the patrol navigation module autonomously planning the patrol route include the following steps: Q1. Set the global path trajectory of the patrol robot and select alternative path trajectories according to the patrol robot's obstacle avoidance and lane changing requirements; Q2. Perform path trajectory validity detection on the candidate paths, eliminate invalid path trajectories, and obtain local path trajectories; Q3. The patrol robot patrols according to the local path trajectory, and receives in real time during the patrol the information from the environmental monitoring module to determine the danger level of the current environment, and adjusts the patrol path in real time according to the danger level.

[0011] The present invention is further configured such that: after the remote monitoring module transmits the image information to the remote monitoring platform in real time, if the manager fails to take timely action, the patrol robot will send an alarm signal to the manager's terminal via GSM.

[0012] The present invention is further configured as follows: the remote monitoring module also includes a control unit, which is used to access the server through a monitoring platform or a terminal, monitor the airport environment in real time, and send instructions to the patrol robot remotely through the monitoring platform.

[0013] The beneficial effects of the present invention are as follows: The present invention marks abnormal time through the set environment monitoring module, patrol navigation module and remote monitoring module, analyzes the image information collected by multiple cameras within the marked time one by one, extracts common features, determines the key person information, judges the person as a dangerous person, locks the person, and transmits the locked person information to the patrol navigation module. The patrol navigation module locks and tracks the target person in real time according to the locked dangerous person information, thereby effectively controlling the scene of the accident and avoiding the recurrence of the accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a system flow chart of the patrol robot of the present invention; Figure 2 It is a flow chart of the image information fusion processing method of the present invention; Figure 3 This is a flow chart of the method for autonomously planning patrol routes of the present invention.

[0015] In the figure: 100, walking drive device; 200, environmental monitoring module; 300, patrol navigation module; 4000, remote monitoring module. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0017] See also Figure 1 - Figure 3 , an indoor police security patrol robot suitable for an airport, comprising a walking drive device 100, an environment monitoring module 200, a patrol navigation module 300 and a remote monitoring module 400, wherein communication connections are established among the walking drive device 100, the environment monitoring module 200, the patrol navigation module 300 and the remote monitoring module 400; The environment monitoring module 200 includes a sensor unit, a monitoring unit and a processing unit. The processing unit is used to receive the image information captured by multiple cameras in the monitoring unit, and fuse the two together with the data collected by the sensor unit, and judge the danger level of the current environment according to the fusion result; Patrol navigation module 300, patrol navigation module 300 autonomously plans patrol routes according to preset paths or real-time mission requirements, and quickly adjusts the paths according to the danger level of the current environment; The remote monitoring module 400 is used to transmit the image information captured by the monitoring unit to the remote monitoring platform in real time through wireless transmission technology according to the danger level of the current environment, and supports two-way voice and video calls.

[0018] Among them, the walking drive device 100 includes a connected driving unit and a positioning unit. The positioning unit is used to obtain the real-time position information of the patrol robot and send it to the patrol navigation module 300. The patrol navigation module 300 performs real-time path planning based on the real-time position information and drives the patrol robot to move through the driving unit.

[0019] Preferably, the drive unit adopts an advanced drive system, such as a six-wheel six-drive independent suspension system, which has the characteristics of turning on the spot and strong obstacle surmounting ability; the walking drive device supports automatic obstacle avoidance function, which can detect and avoid dynamic obstacles in real time, ensuring the stable operation of the robot in complex environments.

[0020] The fusion processing of the data collected by the sensor unit and the image information captured by the monitoring unit in the environment monitoring module 200 includes the following steps: S1, the sensor unit collects environmental information and transmits the environmental information to the processing unit, and multiple cameras in the monitoring unit collect image information in real time and transmit the real-time collected image information to the processing unit; S2, the processing unit marks the environmental information that has undergone abnormal changes, and extracts features from the image information collected in real time by the monitoring unit according to the marking time; S3, the processing unit extracts a first texture feature map and a first edge feature map from the image information collected in real time by a certain camera during the marking time, and determines the corresponding second texture feature map and second edge feature map in the image information collected in real time by the remaining cameras; S4, determining a texture feature fusion map according to the first texture feature map and the second texture feature map, and determining an edge feature fusion map according to the first edge feature map and the second edge feature map; S5, performing feature processing on the texture feature fusion map and the edge feature fusion map respectively through a preset channel attention mechanism, and obtaining a target texture fusion map and a target edge fusion map in turn; S6. The input target texture fusion image and the target edge fusion image are fused through a preset image fusion model. If the similarity of the fused target fusion images is greater than a set threshold, it is determined that the current environment is in a dangerous state. If the similarity of the fused target fusion images is less than the set threshold, it is determined that the current environment is temporarily in a safe state.

[0021] When the sensor unit detects an abnormality in the airport environment, it will mark the abnormal time and analyze the image information collected by multiple cameras during the marked time one by one, extract common features, determine the key person information, judge them as dangerous people, lock them, and transmit the locked person information to the patrol navigation module 300.

[0022] Among them, in step S5, feature processing is performed on the texture feature fusion map through a preset channel attention mechanism to obtain a target texture fusion map, which specifically includes the following steps: S51, determining multiple feature matrix channels corresponding to the texture feature fusion map, and for each feature matrix fusion, performing global average pooling on the feature matrix channels to obtain global features; S52, perform local cross-channel interaction on multiple global features to obtain the attention weight of each feature matrix channel; S53. Determine a target texture fusion map corresponding to the texture feature fusion map according to the attention weight and the feature matrix channel.

[0023] The specific contents of the patrol navigation module 300 autonomously planning the patrol route include the following steps: Q1. Set the global path trajectory of the patrol robot and select alternative path trajectories according to the patrol robot's obstacle avoidance and lane changing requirements; Q2, perform path trajectory validity check on the alternative paths, eliminate invalid path trajectories, and obtain local path trajectories; The validity of the generated path is checked. Specifically, the curvature is judged. In this example, the patrol robot allows a curvature P. The curvature Q of the generated path is calculated. If the generated path has Q>P, the currently generated path is an invalid path and is deleted. Obstacle collision detection: In this example, the laser radar collects and applies the bounding box technology to cluster obstacle information into convex polygons and provide them to the patrol robot control system; the point on the path S is used as the center point of the patrol robot to calculate the position relationship between the obstacle and the patrol robot; when the obstacle and the patrol robot overlap on the path S, the currently generated path is judged to be an invalid path and deleted; Q3. The patrol robot patrols according to the local path trajectory, and receives information from the environment monitoring module 200 in real time during the patrol to determine the degree of danger of the current environment, and adjusts the patrol path in real time according to the degree of danger.

[0024] The patrol navigation module 300 locks and tracks the target person in real time based on the locked dangerous person information.

[0025] Among them, after the remote monitoring module 400 transmits the image information to the remote monitoring platform in real time, if the management personnel fail to take timely action, the patrol robot will send an alarm signal to the management personnel's terminal via GSM.

[0026] The remote monitoring module 400 also includes a control unit, which is used to access the server through a monitoring platform or terminal, monitor the airport environment in real time, and send instructions to the patrol robot remotely through the monitoring platform.

[0027] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An indoor police security patrol robot suitable for an airport, comprising a walking drive device (100), characterized in that: It also includes an environment monitoring module (200), a patrol navigation module (300) and a remote monitoring module (400), wherein communication connections are established among the travel drive device (100), the environment monitoring module (200), the patrol navigation module (300) and the remote monitoring module (400); An environment monitoring module (200), the environment monitoring module (200) comprising a sensor unit, a monitoring unit and a processing unit, the processing unit being used to receive image information captured by a plurality of cameras in the monitoring unit, and to fuse the two together with the data collected by the sensor unit, and to judge the degree of danger of the current environment according to the fusion result; A patrol navigation module (300), wherein the patrol navigation module (300) autonomously plans a patrol route according to a preset path or real-time task requirements, and quickly adjusts the path according to the danger level of the current environment; A remote monitoring module (400) is used to transmit the image information captured by the monitoring unit to a remote monitoring platform in real time through wireless transmission technology according to the danger level of the current environment, and supports two-way voice and video calls.

2. The indoor police security patrol robot suitable for airports according to claim 1, characterized in that: The walking drive device (100) comprises a driving unit and a positioning unit connected to each other, the positioning unit being used to obtain real-time position information of the patrol robot and send it to the patrol navigation module (300), the patrol navigation module (300) performing real-time path planning according to the real-time position information, and driving the patrol robot to move via the driving unit.

3. The indoor police security patrol robot suitable for airports according to claim 2, characterized in that: The fusion processing of the data collected by the sensor unit and the image information captured by the monitoring unit in the environment monitoring module (200) comprises the following steps: S1, the sensor unit collects environmental information and transmits the environmental information to the processing unit, and the multiple cameras in the monitoring unit collect image information in real time and transmit the real-time collected image information to the processing unit; S2, the processing unit marks the environmental information that has undergone abnormal changes, and extracts features from the image information collected in real time by the monitoring unit according to the marking time; S3, the processing unit extracts a first texture feature map and a first edge feature map from the image information collected in real time by a certain camera during the marking time, and determines the corresponding second texture feature map and second edge feature map in the image information collected in real time by the remaining cameras; S4, determining a texture feature fusion map according to the first texture feature map and the second texture feature map, and determining an edge feature fusion map according to the first edge feature map and the second edge feature map; S5. Perform feature processing on the texture feature fusion map and the edge feature fusion map respectively through a preset channel attention mechanism to obtain a target texture fusion map and a target edge fusion map in sequence; S6. The input target texture fusion image and the input target edge fusion image are fused through a preset image fusion model. If the similarity of the fused target fusion images is greater than a set threshold, it is determined that the current environment is in a dangerous state. If the similarity of the fused target fusion images is less than the set threshold, it is determined that the current environment is temporarily in a safe state.

4. The indoor police security patrol robot suitable for airports according to claim 3, characterized in that: In step S5, feature processing is performed on the texture feature fusion map through a preset channel attention mechanism to obtain a target texture fusion map, which specifically includes the following steps: S51, determining a plurality of feature matrix channels corresponding to the texture feature fusion map, and for each feature matrix fusion, globally averaging the feature matrix channels to obtain a global feature; S52, performing local cross-channel interaction on the multiple global features to obtain the attention weight of each feature matrix channel; S53. Determine a target texture fusion map corresponding to the texture feature fusion map according to the attention weight and the feature matrix channel.

5. The indoor police security patrol robot suitable for airports according to claim 4, characterized in that: The specific contents of the patrol navigation module (300) autonomously planning the patrol route include the following steps: Q1. Set the global path trajectory of the patrol robot and select alternative path trajectories according to the patrol robot's obstacle avoidance and lane changing requirements; Q2. Perform path trajectory validity detection on the candidate paths, eliminate invalid path trajectories, and obtain local path trajectories; Q3. The patrol robot patrols according to the local path trajectory, and during the patrol process receives in real time the information of the danger level of the current environment determined by the environment monitoring module (200), and adjusts the patrol path in real time according to the danger level.

6. The indoor police security patrol robot suitable for airports according to claim 5, characterized in that: After the remote monitoring module (400) transmits the image information to the remote monitoring platform in real time, if the manager fails to take timely action, the patrol robot will send an alarm signal to the manager's terminal via GSM.

7. The indoor police security patrol robot suitable for airports according to claim 6, characterized in that: The remote monitoring module (400) also includes a control unit, which is used to access the server through a monitoring platform or a terminal, monitor the airport environment in real time, and send instructions to the patrol robot remotely through the monitoring platform.

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