Monitoring method and device for mobile target, monitoring system and mobile robot

A mobile robot, comprising:

• a movement device, configured to control movement of the mobile robot according to received control instruction;
• an image acquisition device, configured to capture multiple-frame images under an operating state of the movement device;
• and
• a monitoring device, the monitoring device comprises:
• at least one processing device;
• at least one storage device, configured to store images captured by the image acquisition device under an operating state of the movement device;
• at least one program, wherein the at least one program is stored in the at least one storage device, and is invoked by the at least one processing device such that the monitoring device performs a monitoring method for a mobile target;
• the monitoring method for a mobile target comprises the following steps:
• acquiring multiple-frame images captured by the image acquisition device under the operating state of the movement device;
• and
• outputting monitoring information containing a mobile target which moves relative to a static target according to a result of performing comparison between at least two-frame images selected from the multiple-frame images;
• wherein the at least two-frame images are images captured by the image acquisition device within partially overlapped field of view, and a position of the mobile target in each of the at least two-frame images has an attribute of indefinite change, the mobile target and the static target are both contained in each of the two-fame images.

A monitoring system, comprising:

• a cloud server;
• and
• a mobile robot, connected with the cloud server;
• wherein the mobile robot performs the following steps:
• acquiring multiple-frame images during movement of the mobile robot;
• outputting detection information containing a mobile target which moves relative to a static target according to a result of performing comparison between at least two-frame images selected from the multiple-frame images;
• uploading the captured images or videos containing images to the cloud server based on the detection information;
• and outputting monitoring information based on a result of object recognition received from the cloud server;
• or, wherein the mobile robot performs the following steps:
• acquiring multiple-frame images during movement of the mobile robot, and uploading the multiple-frame images to the cloud server;
• and the cloud server performs the following steps:
• outputting detection information containing a mobile target which moves relative to a static target according to a result of performing comparison between at least two-frame images selected from the multiple-frame images;
• and outputting an object recognition result of the mobile target to the mobile robot according to a result of performing object recognition on the mobile target in multiple-frame images, such that the mobile robot outputs monitoring information.