An intelligent network capture device, system, control method, and medium

Abstract

The application relates to the security technology field and provides a kind of intelligent net catching equipment, system, control method and medium, wherein the equipment comprises: a quadruped robot provided with a moving mechanism; an electromagnetic net catching module arranged on the quadruped robot; a visual perception module arranged on the quadruped robot; a distance perception module arranged on the quadruped robot; an interaction module arranged on the quadruped robot, the interaction module is used for receiving and feeding back information; a control processing module arranged on the quadruped robot, the control processing module is connected with the moving mechanism, the electromagnetic net catching module, the visual perception module, the distance perception module and the interaction module respectively. Based on the moving ability of the quadruped robot, the visual perception and distance perception are integrated, the identification, tracking and aiming of the captured target can be realized, and then the captured target is captured by launching the capture net autonomously or semi-autonomously, the effect of intelligent net catching is achieved, the operator does not need to approach the captured target, and the safety of the capture is improved.

Description

Technical Field

[0001] This application relates to the field of security technology, and in particular to an intelligent net-catching device, system, control method and medium. Background Technology

[0002] In various public places, such as commercial centers, industrial parks, campuses, and hospitals, there is a need for security measures, including personal safety protection and patrols. To respond to emergencies or potential threats, different types of security equipment are deployed in various application scenarios.

[0003] To restrain the behavior of a target, it is usually necessary for personnel to approach the target and apprehend it through hand-to-hand combat or the use of restraints, which carries certain safety risks, especially when dealing with targets wielding sharp weapons or aggressive animals. While existing technologies include handheld, close-range firing auxiliary capture devices that allow personnel to capture targets non-contactly, these devices have a relatively short firing range, still requiring personnel to approach the target. This close-range capture method carries the risk of the target retaliating, resulting in lower safety.

[0004] Therefore, how to capture the target while ensuring safety is an urgent problem to be solved. Summary of the Invention

[0005] This application provides an intelligent net-catching device, system, control method, and medium to solve the problem that existing net-catching devices require personnel to approach the target for use, resulting in low security.

[0006] This application provides an intelligent net-catching device, comprising: A quadruped robot equipped with a movement mechanism; An electromagnetic net capture module is installed on the quadruped robot, and the electromagnetic net capture module is used to launch a capture net. A visual perception module is installed on the quadruped robot; A distance sensing module is installed on the quadruped robot; An interaction module is provided on the quadruped robot, and the interaction module is used to receive and feedback information; A control processing module is mounted on the quadruped robot, and the control processing module is connected to the movement mechanism, the electromagnetic net capture module, the visual perception module, the distance perception module, and the interaction module respectively. The control processing module is used to identify the target based on the image captured by the visual perception module, and to determine the distance and direction to the target by combining the distance perception module, thereby controlling the moving mechanism and the electromagnetic net capture module.

[0007] According to the present application, an intelligent net-catching device is provided, wherein the interaction module includes an audio interaction unit and / or a wireless communication unit disposed on the quadruped robot, the audio interaction unit and / or the wireless communication unit being connected to the control processing module, and the audio interaction unit being used to receive audio for speech recognition and to play audio.

[0008] According to the present application, an intelligent net-catching device is provided, wherein the electromagnetic net-catching module includes a power supply unit, a boost unit, a capacitor unit, a trigger unit, and a coil. The boost unit is connected to the power supply unit and the capacitor unit respectively. The capacitor unit is connected to the coil through the trigger unit. The control processing module is connected to the controlled terminals of the boost unit and the trigger unit respectively. The trigger unit is used to control the capacitor unit to release electrical energy so that the coil forms an electromagnetic field for emitting the net-catching device.

[0009] According to the intelligent net-catching device provided in this application, the visual perception module includes a binocular camera and a high-definition camera mounted on the quadruped robot, and the binocular camera and the high-definition camera are connected to the control processing module.

[0010] According to the intelligent net-catching device provided in this application, the distance sensing module includes a two-dimensional lidar and a three-dimensional lidar, and the control processing module is connected to the two-dimensional lidar and the three-dimensional lidar respectively.

[0011] This application also provides an intelligent net-catching system, including the aforementioned intelligent net-catching device, and further including a control and interaction device, wherein the control and interaction device is communicatively connected to the interaction module.

[0012] This application also provides an intelligent net-catching control method, applied to the aforementioned intelligent net-catching device, comprising: The system obtains target feature information, captured image information, and distance perception information, wherein the target feature information characterizes the features of the captured target. Based on the target feature information and the captured image information, a target recognition result is obtained through feature matching; When the target recognition result indicates that a target exists, the target distance and direction information is obtained based on the target recognition result and the distance perception information. Based on the target distance and direction information, the movement aiming information and electromagnetic net capture parameter information are obtained; Based on the moving aiming information, the moving mechanism is controlled to move in order to adjust the distance to the target and the firing direction; In response to the launch command, the capture net is launched according to the electromagnetic net capture parameter information; The launch command is generated by the interactive control device, by voice recognition, or by the captured image information when preset triggering conditions are met.

[0013] According to the intelligent net capture control method provided in this application, the step of obtaining a target recognition result based on feature matching according to the target feature information and the captured image information includes: Based on the target feature information, obtain facial feature information, behavioral feature information, human body feature information and / or object feature information; Based on the facial feature information, behavioral feature information, human body feature information and / or object feature information, feature matching processing is performed on the captured image information to obtain the target recognition result.

[0014] According to the intelligent net capture control method provided in this application, after obtaining the target distance and direction information based on the target recognition result and the distance perception information when the target recognition result indicates the presence of a capture target, the method further includes: Based on the captured image information, target image information and launch reminder information are generated, and the target image information and launch reminder information are sent to the control and interaction device; And / or, based on the target distance and direction information, generate and play audio broadcast information.

[0015] According to the intelligent net-catching control method provided in this application, it also includes: Obtain cruise route information; Based on the cruise route information and the distance perception information, the mobile mechanism is controlled to move along the cruise route and avoid obstacles. And / or, in response to a movement command, control the movement mechanism to move according to the movement command; The movement command is generated by a control interaction device or by voice recognition.

[0016] This application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements an intelligent net-catching control method as described above.

[0017] This application provides an intelligent net-catching device, system, control method, and medium, which has at least the following beneficial effects: A quadruped robot serves as a mobile platform, moving via a mobile mechanism. An electromagnetic net-catching module is installed on the quadruped robot, enabling it to capture targets by launching a net. The quadruped robot is equipped with a visual perception module, a distance perception module, an interaction module, and a control processing module. The control processing module, through the visual and distance perception modules, identifies the target and determines its direction and distance, thereby enabling it to track and aim at the target, providing a foundation for controlling the electromagnetic net-catching module to accurately launch the net for capture. Simultaneously, the control processing module, through the interaction module, receives information sent by the operator and provides feedback on relevant status information, allowing the operator to interactively issue control commands to instruct movement or the launch of the net. Upon receiving a launch command or meeting launch conditions, the control processing module controls the electromagnetic net-catching module to launch the net, thereby capturing the target. Therefore, based on the mobility provided by the quadruped robot, and integrating visual perception and distance perception, it can identify, track and aim at the target, and then capture the target autonomously or semi-autonomously by launching a capture net, achieving the effect of intelligent net capture. No operator needs to approach the target, which helps to improve the safety of capture. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram of an intelligent net-catching device provided in this application.

[0020] Figure 2 This is a three-dimensional structural diagram of an intelligent net-catching device provided in this application.

[0021] Figure 3 This is one of the flowcharts of an intelligent net-catching control method provided in this application.

[0022] Figure 4 This is the second flowchart of an intelligent net-catching control method provided in this application.

[0023] Figure label: 100: Quadruped robot; 200: Electromagnetic mesh capture module; 210: Power supply unit; 220: Boost unit; 230: Capacitor unit; 240: Trigger unit; 250: Coil; 300: Visual perception module; 400: Distance perception module; 500: Interaction module; 510: Audio interaction unit; 520: Wireless communication unit; 600: Control processing module. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The following is combined with Figure 1 and Figure 2 This application describes an intelligent net-catching device, comprising: The quadruped robot 100 is equipped with a movement mechanism; An electromagnetic net capture module 200 is mounted on the quadruped robot 100, and the electromagnetic net capture module 200 is used to launch a capture net; A visual perception module 300 is disposed on the quadruped robot 100; A distance sensing module 400 is mounted on the quadruped robot 100; An interaction module 500 is disposed on the quadruped robot 100, and the interaction module 500 is used to receive and provide feedback information; A control processing module 600 is disposed on the quadruped robot 100. The control processing module 600 is connected to the moving mechanism, the electromagnetic net capture module 200, the visual perception module 300, the distance perception module 400, and the interaction module 500. The control processing module 600 is used to identify the target based on the image captured by the visual perception module 300, and to determine the distance and direction to the target by combining the distance perception module 400, thereby controlling the moving mechanism and the electromagnetic net capture module 200.

[0026] The quadruped robot 100 serves as a mobile platform, moving via a mobile mechanism. An electromagnetic net capture module 200 is installed on the quadruped robot 100, which can capture targets by launching a capture net. The quadruped robot 100 is equipped with a visual perception module 300, a distance perception module 400, an interaction module 500, and a control processing module 600. The control processing module 600, through the visual perception module 300 and the distance perception module 400, identifies the target and determines its direction and distance, enabling it to track and aim at the target, thus providing the foundation for controlling the electromagnetic net capture module 200 to accurately launch the capture net. Simultaneously, the control processing module 600, through the interaction module 500, receives information sent by the operator and provides feedback on relevant status information, allowing the operator to interactively issue control commands to instruct movement or launch the capture net. Upon receiving a launch command or when launch conditions are met, the control processing module 600 controls the electromagnetic net capture module 200 to launch the capture net, achieving the capture of the target.

[0027] Therefore, based on the mobility provided by the quadruped robot 100, and integrating visual perception and distance perception, it can identify, track and aim at the target, and then capture the target autonomously or semi-autonomously by launching a capture net, achieving the effect of intelligent net capture. No operator needs to approach the target, which helps to improve the safety of capture.

[0028] It should be noted that, in some embodiments of this application, the control processing module 600 can control the electromagnetic net capture module 200 to launch the capture net when the launch conditions are met. The launch conditions may include the target being within the net capture range, the target making an escape attempt, etc., thereby achieving autonomous capture. In some embodiments of this application, the control processing module 600 needs to receive a launch command from the operator before controlling the electromagnetic net capture module 200 to launch the capture net. The launch command is received and obtained through the interaction module 500, specifically through interactive methods such as wireless communication transmission and voice recognition.

[0029] It should be further emphasized that after the control processing module 600 identifies the target and determines the distance and direction through the visual perception module 300 and the distance perception module 400, it can control the moving mechanism to move closer to the target and track it, thereby increasing the success rate of net capture. At the same time, the movement can also adjust the firing direction of the electromagnetic net capture module 200 to aim at the target. In addition, the control processing module 600 can also adjust the firing power of the electromagnetic net capture module 200 according to the distance to the target, so as to adjust the net capture firing distance to adapt to the distance between the net capture and the target, thereby further improving the success rate of net capture.

[0030] refer to Figure 1In some embodiments of the intelligent net-catching device of this application, the interaction module 500 includes an audio interaction unit 510 and / or a wireless communication unit 520 disposed on the quadruped robot 100. The audio interaction unit 510 and / or the wireless communication unit 520 are connected to the control processing module 600. The audio interaction unit 510 is used to receive audio for speech recognition and to play audio.

[0031] The interaction module 500 includes an audio interaction unit 510 and / or a wireless communication unit 520 disposed on the quadruped robot 100.

[0032] The audio interaction unit 510 is used to receive audio for speech recognition, allowing the operator to issue movement commands, launch commands, etc., via voice input. Simultaneously, the audio interaction unit 510 is also used to play audio, displaying information such as the target recognition status, location, distance, direction, and prompts for launch confirmation. Based on the audio interaction unit 510, interaction with the operator can be achieved via audio, allowing the operator to issue commands without relying on other devices.

[0033] The wireless communication unit 520 can communicate wirelessly with external devices, allowing operators to issue movement and transmission commands via mobile phones, remote controls, backend servers, and other devices through wireless communication. It can also acquire images, identification status, location, distance, and direction information of the captured target. Based on the wireless communication unit 520, operators can interact with external devices via wireless communication, enabling remote control and remote detection of the captured target.

[0034] This enables the intelligent net-trapping device to possess different types of interactive capabilities. The audio interaction unit 510 enables voice control, allowing the operator to directly issue control commands via voice. Simultaneously, by playing audio, real-time feedback, warnings, or command prompts can be provided to the operator or the surrounding environment. The wireless communication unit 520 enables remote control, allowing the operator to remotely issue control commands via wireless communication through external devices. Simultaneously, the operator can obtain information such as the intelligent net-trapping device's operating status and target recognition results.

[0035] In some embodiments of this application, the audio interaction unit 510 may include a microphone and a speaker to receive and play audio; the wireless communication unit 520 may include a wireless communication chip, such as a 4G or 5G communication chip, or a 2.4G radio frequency chip, a WIFI chip, etc.

[0036] refer to Figure 1In some embodiments of the intelligent net-catching device of this application, the electromagnetic net-catching module 200 includes a power supply unit 210, a boost unit 220, a capacitor unit 230, a trigger unit 240, and a coil 250. The boost unit 220 is connected to the power supply unit 210 and the capacitor unit 230 respectively. The capacitor unit 230 is connected to the coil 250 through the trigger unit 240. The control processing module 600 is connected to the controlled terminals of the boost unit 220 and the trigger unit 240 respectively. The trigger unit 240 is used to control the capacitor unit 230 to release electrical energy so that the coil 250 forms an electromagnetic field for emitting the net-catching device.

[0037] Launching a capture net via electromagnetic emission requires the generation of a sufficiently strong electromagnetic field. Power is supplied by a power supply unit 210, and a boost unit 220 increases the output voltage of the power supply unit 210 to the required target voltage and charges the capacitor unit 230. The capacitor unit 230 stores high-voltage energy and is connected to the coil 250 via a trigger unit 240. Under the control of the control processing module 600, the trigger unit 240 releases the high-voltage energy stored in the capacitor unit 230, causing the coil 250 to receive the released energy and generate a sufficiently strong electromagnetic field, thereby electromagnetically launching the capture net. In this way, the capture net can be launched at high speed and in a controllable manner via electromagnetic emission, achieving rapid and non-lethal capture of the target.

[0038] It should be noted that the control processing module 600 is connected to the controlled terminal of the boost unit 220 to control the charging voltage of the boost unit 220 to the capacitor unit 230, thereby adjusting the transmission power to control the transmission distance and speed of the capture net and adapt to different capture distances.

[0039] It is important to emphasize that, compared with spring-driven, compressed air-driven, and gunpowder-driven launch methods, electromagnetic launch methods have advantages such as higher energy conversion efficiency, more controllable launch distance and speed, and less noise and vibration. These advantages help improve the success rate and reliability of net capture, while ensuring the non-lethal nature of net capture.

[0040] In some embodiments of this application, the power supply unit 210 may include devices such as a battery, the boost unit 220 may include implementations such as a boost circuit and a boost chip, the capacitor unit 230 may include devices such as a supercapacitor, and the trigger unit 240 may include devices such as a relay and a switching transistor. In some embodiments, the power supply unit 210 can simultaneously power the quadruped robot 100, that is, the quadruped robot 100 and the electromagnetic net capture module 200 share a power supply; in some embodiments, the power supply unit 210 can also provide power specifically for the launch and capture net.

[0041] In some embodiments of the intelligent net-catching device of this application, the visual perception module 300 includes a binocular camera and a high-definition camera disposed on the quadruped robot 100, and the binocular camera and the high-definition camera are connected to the control processing module 600.

[0042] The visual perception module 300 includes a binocular camera and a high-definition camera mounted on the quadruped robot 100. Both are connected to the control and processing module 600 to provide captured image information. The binocular camera can capture images from two different perspectives by simulating the principles of human vision, thereby calculating the depth information of objects in the scene and realizing stereoscopic vision perception. The high-definition camera can capture high-resolution color images. This enables stereoscopic vision perception and high-resolution image acquisition, helping the control and processing module 600 determine the position, size, and posture of objects in the scene for obstacle avoidance. Simultaneously, the high-resolution images captured by the high-definition camera can be used for accurate facial recognition, behavior recognition, and object feature recognition, providing a foundation for target recognition.

[0043] In some embodiments of this application, binocular cameras and high-definition cameras may be integrated into the quadruped robot 100.

[0044] In some embodiments of an intelligent net-catching device of this application, the distance sensing module 400 includes a two-dimensional lidar and a three-dimensional lidar, and the control processing module 600 is connected to the two-dimensional lidar and the three-dimensional lidar respectively.

[0045] The distance sensing module 400 includes a two-dimensional lidar and a three-dimensional lidar, both of which are connected to the control processing module 600. The two-dimensional lidar acquires distance information on a single plane by emitting laser beams and measuring their return time, enabling rapid distance measurement, which is beneficial for obstacle avoidance during rapid movement. The three-dimensional lidar scans by emitting multiple laser beams, acquiring point cloud data of objects in three-dimensional space, achieving more accurate distance detection, and also assisting in object recognition. Thus, the two-dimensional lidar enables fast and efficient distance measurement, ensuring the efficiency of distance sensing and thus ensuring the reliability of obstacle avoidance during movement. The three-dimensional lidar enables more accurate and reliable distance measurement and object recognition, allowing the control processing module 600 to more accurately locate the target, improving the accuracy and reliability of net capture, and also facilitating more accurate obstacle avoidance.

[0046] In some embodiments of this application, the distance sensing module 400 may also be an implementation including an ultrasonic sensor array, which uses sound wave reflection to measure distance and achieve the effect of distance sensing; the distance sensing module 400 may also be an implementation including devices such as millimeter-wave radar, which uses electromagnetic waves to measure distance and achieve distance sensing.

[0047] It should be emphasized that this application combines the mobility of the robot dog with electromagnetic net capture, and can reuse the visual perception module 300 and the distance perception module 400. While ensuring the movement and obstacle avoidance of the quadruped robot 100, it can also simultaneously realize the identification of the capture target and the determination of the target's distance and direction, which is conducive to improving the utilization efficiency of the hardware.

[0048] In some embodiments of the intelligent net-catching device of this application, the control processing module 600 may include implementations of devices such as processors, microcontrollers, FPGAs, and embedded chips.

[0049] In some embodiments of this application, the control processing module 600 may include a first processing unit and a second processing unit. The first processing unit is used to control the movement mechanism of the quadruped robot 100 to move and acquire captured image information for target recognition. The second processing unit is used to acquire audio for speech recognition and wireless communication transmission. The first processing unit and the second processing unit are connected to each other to cooperate in realizing the intelligent net capture process. Thus, by setting up a structure with two or more processors and dividing them into corresponding responsible functions, the appropriate processor model can be selected based on the functional requirements of the responsible functions. In some embodiments, the first processing unit may include a Nano computing card, and the second processing unit may include an RK3588 chip.

[0050] The following describes an intelligent net-catching system provided in this application. The intelligent net-catching system described below can be referred to in correspondence with the intelligent net-catching device described above.

[0051] This application also provides an intelligent net-catching system, including the aforementioned intelligent net-catching device, and further including a control and interaction device, wherein the control and interaction device is communicatively connected to the interaction module 500.

[0052] The interactive module 500 of the control and interaction device is connected to the intelligent net trapping device, enabling the intelligent net trapping device to be controlled and monitored remotely. The operator can send control commands, such as movement commands and launch commands, to the intelligent net trapping device through the control and interaction device, and receive feedback information from the intelligent net trapping device, such as captured image streams, target recognition results, distance information, and device status.

[0053] In some embodiments of this application, the control and interaction device can be a mobile phone, tablet computer, remote control, backend server, or other devices.

[0054] The following describes an intelligent net-catching control method provided in this application. The intelligent net-catching control method described below can be referred to in correspondence with the intelligent net-catching device described above.

[0055] refer to Figure 3 and Figure 4 This application also provides an intelligent net-catching control method, applied to the aforementioned intelligent net-catching device, comprising: S100: Obtain target feature information, captured image information, and distance perception information, wherein the target feature information characterizes the features of the captured target; S110: Based on the target feature information and the captured image information, obtain the target recognition result based on feature matching; S120: When the target recognition result indicates that a target exists, the target distance and direction information is obtained based on the target recognition result and the distance perception information; S130: Based on the target distance and direction information, obtain the movement aiming information and electromagnetic net capture parameter information; S140: Based on the moving aiming information, control the moving mechanism to move in order to adjust the distance to the target and the firing direction; S150: In response to the launch command, launch the capture net according to the electromagnetic net capture parameter information; The launch command is generated by the interactive control device, by voice recognition, or by the captured image information when preset triggering conditions are met.

[0056] The control processing module 600 obtains captured image information and distance perception information through the visual perception module 300 and the distance perception module 400. Combining this with target feature information, it performs target recognition based on feature matching to determine the presence of a target. When a target is identified, the control processing module 600, based on the distance perception information, determines the distance and direction of the target. It then controls the moving mechanism to adjust its position and direction to track and aim at the target. Simultaneously, the control processing module 600 determines the electromagnetic mesh capture parameter information and, in response to a launch command, controls the launch of the capture net based on the electromagnetic mesh capture parameter information.

[0057] Therefore, based on the mobility provided by the quadruped robot 100, and integrating visual perception and distance perception, it can identify, track and aim at the target, and then capture the target autonomously or semi-autonomously by launching a capture net, achieving the effect of intelligent net capture. No operator needs to approach the target, which helps to improve the safety of capture.

[0058] The launch command can come from various sources. Specifically, it can be generated by the control and interaction device, that is, the operator issues the launch command through the control and interaction device; it can also be generated by voice recognition, that is, the operator issues the launch command through voice; or it can be generated by the intelligent net capture device when preset trigger conditions are met, such as the preset trigger conditions being that the target approaches the capture target and reaches a threshold range, or the capture target makes an escape behavior, etc.

[0059] It should be noted that the target feature information can be generated by the interactive device or by voice recognition. That is, the features of the target are determined based on the operator's interaction. For example, the operator selects a person wearing a blue coat as the target through interaction, and the target feature information includes the blue coat as a feature. In some embodiments, the target feature information can be preset, for example, a person holding a sharp weapon is preset as the target.

[0060] It should be further explained that the target feature information can include multiple types of features, and each type of feature includes multiple specific features. For example, it can include features of types such as face, behavior, physique, and object. The features of the object type can include specific features such as clothing color and whether a hat is being worn.

[0061] The electromagnetic net capture parameter information is used to control the electromagnetic net capture module 200 to adjust the speed and range of the electromagnetic emission capture net. In some embodiments of this application, the electromagnetic net capture parameter information may include parameters such as emission power and capacitor charging voltage.

[0062] In some embodiments of this application, feature matching processing can be achieved through a machine learning model based on target feature information and captured image information to achieve the effect of visual recognition and target capture.

[0063] In some embodiments of the intelligent net-catching control method of this application, step S110 includes: Based on the target feature information, obtain facial feature information, behavioral feature information, human body feature information and / or object feature information; Based on the facial feature information, behavioral feature information, human body feature information and / or object feature information, feature matching processing is performed on the captured image information to obtain the target recognition result.

[0064] Based on target feature information, facial feature information, behavioral feature information, human body feature information, and / or object feature information are obtained. Then, through corresponding feature matching methods such as facial recognition, behavioral recognition, human body feature recognition, and object feature recognition, the target is identified and confirmed, yielding a target recognition result. In this way, by comprehensively identifying the target through multi-dimensional features, the false recognition rate and missed recognition rate can be reduced, improving the accuracy and reliability of target identification, thereby enhancing the precision and security of intelligent net capture. Simultaneously, it can expand the scope of target recognition, not only recognizing people but also animals and other objects, which is beneficial for improving versatility and expanding application scenarios.

[0065] In some embodiments of this application, feature matching processing can be implemented using a recognition model based on a deep neural network.

[0066] In some embodiments of the intelligent net-catching control method of this application, after S120, the method further includes: Based on the captured image information, target image information and launch reminder information are generated, and the target image information and launch reminder information are sent to the control and interaction device; And / or, based on the target distance and direction information, generate and play audio broadcast information.

[0067] When a target is identified, target image information and a launch alert are generated based on the captured image information and sent to the control interaction device. This allows the operator to see the target image and is prompted to launch the capture net for capture. Additionally, audio announcements can be generated and played based on the target's distance and direction information to inform the operator that a target has been identified. These announcements may include the target's distance and direction, and an audio prompt to confirm whether to launch the capture net.

[0068] In this way, through the feedback mechanism of target image information, reminder information, and audio broadcast information, the operator can obtain key decision information in real time, which makes it easier for the operator to issue launch commands in a timely manner to capture the target. Especially when the operator's line of sight is limited or a rapid reaction is required, it can help improve the operator's situational awareness and decision-making efficiency.

[0069] It is understandable that sending launch reminder messages and audio broadcasts is to remind users to issue launch commands.

[0070] In some embodiments of the intelligent net-catching control method of this application, it further includes: Obtain cruise route information; Based on the cruise route information and the distance perception information, the mobile mechanism is controlled to move along the cruise route and avoid obstacles. And / or, in response to a movement command, control the movement mechanism to move according to the movement command; The movement command is generated by a control interaction device or by voice recognition.

[0071] The quadruped robot 100, by acquiring endurance route information, can determine its movement path and, combined with distance perception information, achieve autonomous navigation and obstacle avoidance. This allows it to navigate autonomously as needed, identifying the presence of targets during navigation, enabling timely detection of emergencies and efficient capture of targets. Simultaneously, the operator can issue movement commands to the intelligent net-capturing device at any time to control its movement mechanism as required. This allows the intelligent net-capturing device not only to launch capture nets to capture targets but also to perform routine patrols, improving versatility and utilization. It provides flexible remote control by responding to movement commands in real time, allowing the operator to quickly adjust the position of the intelligent net-capturing device based on real-time conditions.

[0072] It should be noted that during the process of identifying, tracking, and aiming at the target, the operator can also issue movement commands to move the intelligent net-catching device as needed. Understandably, the operator's commands have higher priority than commands generated by the intelligent net-catching device itself.

[0073] On the other hand, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform an intelligent net-catching control method provided by the above methods.

[0074] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An intelligent net-catching device, characterized in that, include: A quadruped robot (100) is equipped with a movement mechanism; An electromagnetic net-catching module (200) is mounted on the quadruped robot (100), and the electromagnetic net-catching module (200) is used to launch a capture net; A visual perception module (300) is disposed on the quadruped robot (100); A distance sensing module (400) is disposed on the quadruped robot (100); An interaction module (500) is disposed on the quadruped robot (100), and the interaction module (500) is used to receive and provide feedback information; A control processing module (600) is disposed on the quadruped robot (100), and the control processing module (600) is connected to the moving mechanism, the electromagnetic net trapping module (200), the visual perception module (300), the distance perception module (400) and the interaction module (500). The control processing module (600) is used to identify the target based on the image captured by the visual perception module (300) and determine the distance and direction to the target by combining the distance perception module (400), thereby controlling the moving mechanism and the electromagnetic net capture module (200).

2. The intelligent net-catching device according to claim 1, characterized in that, The interaction module (500) includes an audio interaction unit (510) and / or a wireless communication unit (520) disposed on the quadruped robot (100). The audio interaction unit (510) and / or the wireless communication unit (520) are connected to the control processing module (600). The audio interaction unit (510) is used to receive audio for speech recognition and to play audio.

3. The intelligent net-catching device according to claim 1, characterized in that, The electromagnetic net capture module (200) includes a power supply unit (210), a boost unit (220), a capacitor unit (230), a trigger unit (240), and a coil (250). The boost unit (220) is connected to the power supply unit (210) and the capacitor unit (230) respectively. The capacitor unit (230) is connected to the coil (250) through the trigger unit (240). The control processing module (600) is connected to the controlled terminals of the boost unit (220) and the trigger unit (240) respectively. The trigger unit (240) is used to control the capacitor unit (230) to release electrical energy so that the coil (250) forms an electromagnetic field for transmitting the capture net.

4. The intelligent net-catching device according to claim 1, characterized in that, The visual perception module (300) includes a binocular camera and a high-definition camera mounted on the quadruped robot (100), and the binocular camera and the high-definition camera are connected to the control processing module (600). And / or, the distance sensing module (400) includes a two-dimensional lidar and a three-dimensional lidar, and the control processing module (600) is connected to the two-dimensional lidar and the three-dimensional lidar respectively.

5. An intelligent net-catching system, characterized in that, The device includes an intelligent net-catching device as described in any one of claims 1 to 4, and further includes a control and interaction device, which is communicatively connected to the interaction module (500).

6. A smart net-catching control method, characterized in that, An intelligent net-catching device as described in any one of claims 1 to 4, comprising: The system obtains target feature information, captured image information, and distance perception information, wherein the target feature information characterizes the features of the captured target. Based on the target feature information and the captured image information, a target recognition result is obtained through feature matching; When the target recognition result indicates the presence of a target, the target distance and direction information are obtained based on the target recognition result and the distance perception information. Based on the target distance and direction information, the movement aiming information and electromagnetic net capture parameter information are obtained; Based on the moving aiming information, the moving mechanism is controlled to move in order to adjust the distance to the target and the firing direction; In response to the launch command, a capture net is launched according to the electromagnetic net capture parameter information; The launch command is generated by the interactive control device, by voice recognition, or by the captured image information when preset triggering conditions are met.

7. The intelligent net-catching control method according to claim 6, characterized in that, The step of obtaining the target recognition result based on feature matching according to the target feature information and the captured image information includes: Based on the target feature information, obtain facial feature information, behavioral feature information, human body feature information and / or object feature information; Based on the facial feature information, behavioral feature information, human body feature information and / or object feature information, feature matching processing is performed on the captured image information to obtain the target recognition result.

8. The intelligent net-catching control method according to claim 6, characterized in that, After obtaining target distance and direction information based on the target recognition result and the distance perception information when the target recognition result indicates the presence of a target, the method further includes: Based on the captured image information, target image information and launch reminder information are generated, and the target image information and launch reminder information are sent to the control and interaction device; And / or, based on the target distance and direction information, generate and play audio broadcast information.

9. The intelligent net-catching control method according to claim 6, characterized in that, Also includes: Obtain cruise route information; Based on the cruise route information and the distance perception information, the mobile mechanism is controlled to move along the cruise route and avoid obstacles. And / or, in response to a movement command, control the movement mechanism to move according to the movement command; The movement command is generated by a control interaction device or by voice recognition.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements an intelligent net-catching control method as described in any one of claims 6 to 9.

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