CN113359751A - Unmanned security patrol system - Google Patents
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- CN113359751A CN113359751A CN202110700658.3A CN202110700658A CN113359751A CN 113359751 A CN113359751 A CN 113359751A CN 202110700658 A CN202110700658 A CN 202110700658A CN 113359751 A CN113359751 A CN 113359751A
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- 230000007613 environmental effect Effects 0.000 claims description 8
- 230000004927 fusion Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 238000007726 management method Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
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- 238000003331 infrared imaging Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
Abstract
The invention discloses an unmanned security patrol system, which comprises: the system comprises a task platform, an intelligent scheduling base station and a patrol car group; the task platform is used for generating patrol tasks; the intelligent scheduling base station is respectively in communication connection with the task platform and the patrol car group and is used for issuing the patrol tasks to the patrol car group; the patrol car group comprises a plurality of unmanned security patrol cars, and the unmanned security patrol cars are used for calculating patrol costs required by executing patrol tasks based on a preset algorithm and generating planning paths according to the patrol tasks; the intelligent scheduling base station is further used for determining a target unmanned security patrol trolley with the minimum patrol cost according to the patrol cost and distributing patrol tasks to the target unmanned security patrol trolley; the target unmanned security patrol trolley is used for carrying out unmanned security patrol according to the planned path. The invention improves the diversity of patrol routes of the unmanned patrol car and improves patrol efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned security patrol, in particular to an unmanned security patrol system.
Background
With the accelerated development of modern construction, various large living districts and activity places are increasing, and human activities, logistics transportation and the like become more complicated. A large amount of manpower, material resources and security resources are needed to ensure the safe operation of the system.
The current security technology mainly takes manual patrol assistance and camera monitoring as main parts, however, the mode cannot meet the security requirements of large-scale complex environments nowadays, and a security patrol automation system adopting a security robot to replace human patrol is produced. The security patrol automation system can further improve the stability, safety and real-time performance of the security system, effectively save labor cost and improve the scientific and technological sense of the park. As a novel security robot, the unmanned patrol car can sense the environment and the state of the unmanned patrol car and realize obstacle avoidance through the sensor, shuttle to crowds and various obstacles which are crowded and crowded, and complete autonomous patrol tasks.
However, the intelligent unmanned patrol cars cannot be coordinated with one another at present, so that the patrol route is single, and the patrol efficiency is low.
Disclosure of Invention
In view of this, there is a need for an unmanned security patrol system, which is used to solve the technical problems of single patrol route and low patrol efficiency of an intelligent unmanned patrol car in the prior art.
In a first aspect, the present invention provides an unmanned security patrol system, comprising: the system comprises a task platform, an intelligent scheduling base station and a patrol car group;
the task platform is used for generating patrol tasks;
the intelligent scheduling base station is respectively in communication connection with the task platform and the patrol car group and is used for issuing the patrol tasks to the patrol car group;
the patrol car group comprises a plurality of unmanned security patrol cars, and the unmanned security patrol cars are used for calculating patrol costs required by executing patrol tasks based on a preset algorithm and generating planning paths according to the patrol tasks;
the intelligent scheduling base station is further used for determining a target unmanned security patrol trolley with the minimum patrol cost according to the patrol cost and distributing patrol tasks to the target unmanned security patrol trolley;
the target unmanned security patrol trolley is used for carrying out unmanned security patrol according to the planned path.
In some possible implementation manners, the target unmanned security patrol trolley comprises a trolley body, and an autonomous navigation module, a tracking control module and a chassis execution module which are installed on the trolley body;
the autonomous navigation module is used for sensing motion information of the vehicle body and environment information around the vehicle body and generating a local planning path and pose information according to the planning path, the motion information and the environment information;
the tracking control module is used for generating a control instruction according to the local planning path and the pose information;
and the chassis execution module is used for executing the control instruction so as to realize that the vehicle body runs along the local planned path.
In some possible implementations, the autonomous navigation module includes an environment sensing unit, a positioning and orientation unit, and a decision planning unit;
the environment sensing unit is used for acquiring a local environment map around the vehicle body in real time;
the positioning and orientation unit is used for acquiring pose information of the vehicle body in real time;
and the decision planning unit is used for determining the driving direction of the vehicle body and the local planning path according to the planning path, the local environment map and the pose information.
In some possible implementations, the environment information includes road width information; the decision planning unit is further configured to superimpose an electronic fence on the environmental local map according to the road width information.
In some possible implementations, the environment sensing unit includes at least one lidar sensor, a binocular camera, and an environment modeling component;
the laser radar sensor is used for scanning the periphery of the vehicle body to generate an environment point cloud image;
the binocular camera is used for acquiring local environment information around the vehicle body;
the environment modeling component is used for fusing the local environment information and the environment point cloud image to obtain fusion information, and establishing the local environment map based on a SLAM algorithm according to the fusion information.
In some possible implementations, the positioning and orientation unit includes a GNSS/INS combined positioning apparatus, a GPS differential signal receiving module, a GPS differential signal transmitting module, and an RTK differential base station;
the RTK differential base station is used for providing a differential signal;
the GPS differential signal sending module is used for sending the differential signal to the GPS differential signal receiving module;
and the GNSS/INS combined positioning equipment is used for obtaining the pose information of the target unmanned security patrol car according to the differential signal operation.
In some possible implementations, the autonomous navigation module is further configured to detect whether there is an obstacle on the planned path, and when the height of the obstacle exceeds the maximum crossing height of the target unmanned security patrol trolley, the tracking control module issues a detour instruction to instruct the target unmanned security patrol trolley to detour so as to avoid the obstacle; and when the height of the obstacle does not exceed the maximum crossing height of the target unmanned security patrol trolley, the tracking control module sends a normal driving instruction to instruct the target unmanned security patrol trolley to drive according to the local planned path so as to cross the obstacle.
In some possible implementation manners, the target unmanned security patrol trolley further comprises a communication module, and the communication module is used for sending the local planning path information and the pose information to the intelligent scheduling base station;
the intelligent scheduling base station is further used for displaying the local planning path information and the pose information according to a display request.
In some possible implementation manners, the target unmanned security patrol trolley further comprises a security early-warning module installed on the trolley body, and the security early-warning module is used for generating an early-warning signal when the target unmanned security patrol trolley generates an emergency in a patrol process.
In some possible implementation manners, the security early warning module comprises an image acquisition unit, a face recognition unit and an early warning unit;
the image acquisition unit is used for acquiring a face image;
the face recognition unit is used for comparing the face image with prestored face images of criminal suspects or dangerous molecules in a public safety cloud database to generate similarity;
the early warning unit is used for generating an early warning signal when the similarity is greater than 85%;
and the intelligent scheduling base station is used for alarming according to the early warning signal.
The unmanned security patrol trolley in the unmanned security patrol system calculates patrol cost required by executing patrol tasks based on a preset algorithm, generates a planning path according to the patrol tasks, and can generate different planning paths according to different patrol tasks, so that the diversity of patrol routes is improved, and the patrol efficiency is improved. Furthermore, the intelligent scheduling base station in the embodiment of the invention can determine the target unmanned security patrol trolley with the minimum patrol cost according to the patrol cost, and distribute patrol tasks to the target unmanned security patrol trolley to perform patrol, so that the patrol cost can be reduced, and the patrol efficiency is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of an unmanned security patrol system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a target unmanned security patrol car according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an autonomous navigation module according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of an environment sensing unit provided in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a positioning and orienting unit provided by the embodiment of the invention;
FIG. 6 is a schematic structural diagram of another embodiment of a chassis execution module provided in the embodiments of the present invention;
fig. 7 is a schematic structural diagram of an embodiment of a security early warning module according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The embodiment of the invention provides an unmanned security patrol system, which is explained in detail below.
Fig. 1 is a schematic view of an embodiment of an unmanned security patrol system according to an embodiment of the present invention, and as shown in fig. 1, the unmanned security patrol system 10 includes: the system comprises a task platform 100, an intelligent scheduling base station 200 and a patrol car group 300;
the task platform 100 is used for generating patrol tasks;
the intelligent scheduling base station 200 is respectively in communication connection with the task platform 100 and the patrol car group 300 and is used for issuing patrol tasks to the patrol car group 300;
the patrol car group 300 comprises a plurality of unmanned security patrol cars 310, and the unmanned security patrol cars 310 are used for calculating patrol costs required by executing patrol tasks based on a preset algorithm and generating a planning path according to the patrol tasks;
the intelligent scheduling base station 200 is further configured to determine the target unmanned security patrol trolley 320 with the minimum patrol cost according to the patrol cost, and distribute patrol tasks to the target unmanned security patrol trolley 320;
the target unmanned security patrol trolley 320 is used for unmanned security patrol according to the planned path.
The unmanned security patrol trolley 310 in the unmanned security patrol system 10 provided by the embodiment of the invention calculates patrol costs required for executing patrol tasks based on a preset algorithm, generates a planned path according to the patrol tasks, can generate different planned paths according to different patrol tasks, improves the diversity of patrol routes, and improves patrol efficiency. Further, the intelligent scheduling base station 200 in the embodiment of the present invention may determine the target unmanned security patrol car 320 with the minimum patrol cost according to the patrol cost, and distribute patrol tasks to the target unmanned security patrol car 320 to perform patrol, so that the patrol cost may be reduced, and the patrol efficiency may be further improved.
It should be noted that: in the embodiment of the present invention, the task platform 100 and the intelligent dispatching base station 200 are connected by ethernet communication, and the intelligent dispatching base station 200 and the patrol car group 300 are connected by wireless lan communication.
Specifically, in some embodiments of the present invention, as shown in fig. 1, the task platform 100 includes a management platform 110 and a use platform 120, the management platform 110 is used for generating debugging or management patrol tasks, and the use platform 120 is used for generating daily patrol tasks.
Further, in order to realize the unmanned security patrol of the target unmanned security patrol trolley 320, as shown in fig. 2, the target unmanned security patrol trolley 320 comprises a trolley body 321, and an autonomous navigation module 322, a tracking control module 323 and a chassis execution module 324 which are installed on the trolley body 321;
the autonomous navigation module 322 is configured to sense motion information of the vehicle body 321 and environment information around the vehicle body 321, and generate a local planned path and pose information according to the planned path, the motion information, and the environment information;
the tracking control module 323 is used for generating a control instruction according to the local planning path and the pose information;
the chassis executing module 324 is configured to execute the control command to enable the vehicle body 321 to travel along the locally planned path.
It should be noted that: when the target unmanned security patrol trolley 320 executes patrol tasks, the target unmanned security patrol trolley 320 communicates with other unmanned security patrol trolleys 310 in the patrol trolley group 300 in real time, so that the interference of the other unmanned security patrol trolleys 310 on the patrol tasks of the target unmanned security patrol trolley 320 is avoided.
Further, in order to improve the positioning accuracy of the autonomous navigation module 322, in some embodiments of the present invention, as shown in fig. 3, the autonomous navigation module 322 includes an environment sensing unit 3221, a positioning and orientation unit 3222, and a decision planning unit 3223;
the environment sensing unit 3221 is configured to obtain a local environment map around the vehicle body 321 in real time;
the positioning and orienting unit 3222 is configured to acquire pose information of the vehicle body 321 in real time;
the decision planning unit 3223 is configured to determine the driving direction of the vehicle body 321 and the local planned path according to the planned path, the local environment map, and the pose information.
The local planning path is planned through the planning path, the local environment map and the pose information, and the accuracy of the local planning path can be improved.
Specifically, the decision planning unit 3223 determines the driving direction of the vehicle body 321 and the local planned path according to the planned path, the local environment map and the pose information by using a rapid expansion Random Tree (RRT) algorithm, and the generation time of the local planned path may be increased by the above algorithm. The detailed process of the RRT algorithm is not described herein.
Further, the environment information includes road width information; in order to improve the safety of the vehicle body 321 during driving, the decision planning unit 3223 is further configured to stack electronic fences on the environmental local map according to the road width information.
By superimposing the electronic fence on the environmental map, the route in the planned local route plan can be ensured to be within the road range, thereby improving the safety of the vehicle body 321 in driving.
Further, in some embodiments of the present invention, as shown in fig. 4, the environmental sensing unit 3221 includes at least one lidar sensor 32211, a binocular camera 32212, and an environmental modeling component 32213;
the laser radar sensor 32211 is configured to scan around the vehicle body 321, and generate an environmental point cloud image;
the binocular camera 32212 is used for acquiring local environment information around the vehicle body 321;
the environment modeling component 32213 is configured to fuse the local environment information with the environment point cloud image to obtain fusion information, and establish a local environment map based on a SLAM algorithm according to the fusion information.
By arranging at least one laser radar sensor 32211 and the binocular camera 32212 to sense the environment around the vehicle body 321, an environment detection blind area is eliminated, the reliability of the established local environment map is improved, and further the rationality of path planning is improved.
In some embodiments of the invention, the context awareness unit 3221 includes 3 lidar sensors 32211. And 3 lidar sensors 32211 are mounted above, in front of and behind the vehicle body 321, respectively.
Further, in some embodiments of the present invention, as shown in fig. 5, the positioning and orientation unit 3222 includes a GNSS/INS combined positioning apparatus 32221, a GPS differential signal receiving module 32222, a GPS differential signal transmitting module 32223, and an RTK differential base station 32224;
the RTK differential base station 32224 is configured to provide a differential signal;
the GPS differential signal sending module 32222 is configured to send a differential signal to the GPS differential signal receiving module 32223;
the GNSS/INS combined positioning device 32221 is configured to obtain pose information of the target unmanned security patrol car 320 according to the differential signal operation.
By configuring the RTK differential base station 32224, the positioning accuracy of the target unmanned security patrol car 320 is further improved.
Further, since the target unmanned security patrol car 320 may have an obstacle on the ground in the park or the site where the patrol task is executed, in order to avoid that the target unmanned security patrol car 320 cannot smoothly execute the patrol task due to the obstacle, in some embodiments of the present invention, the autonomous navigation module 322 is further configured to detect whether there is an obstacle on the planned path, and when the height of the obstacle exceeds the maximum crossing height of the target unmanned security patrol car 320, the tracking control module 323 sends a detour instruction to instruct the target unmanned security patrol car 320 to detour to avoid the obstacle; when the height of the obstacle does not exceed the maximum crossing height of the target unmanned security patrol car 320, the tracking control module 323 sends a normal driving instruction to instruct the target unmanned security patrol car 320 to drive according to the local planned path so as to cross the obstacle.
It should be understood that: since there may be a pothole on the ground, the autonomous navigation module 322 is further configured to detect whether there is a pothole on the planned path, and when the depth of the pothole exceeds the maximum crossing depth of the target unmanned security patrol car 320, the tracking control module 323 sends a detour instruction to instruct the target unmanned security patrol car 320 to detour to avoid the pothole; when the depth of the obstacle does not exceed the maximum crossing depth of the target unmanned security patrol car 320, the tracking control module 323 sends a normal driving instruction to instruct the target unmanned security patrol car 320 to drive according to a local planned path so as to cross over the potholes.
It should be understood that: when the target unmanned security patrol car 320 climbs over an obstacle or crosses a pot hole, the chassis execution module 324 controls the car body to travel along the locally planned path again.
Specifically, in order to realize the turning of the target unmanned security patrol car 320, as shown in fig. 6, the chassis executing module 324 includes a first executing unit 3241 and a second executing unit 3242, and traveling directions of the first executing unit 3241 and the second executing unit 3242 are perpendicular to each other.
Further, the first executing unit 3241 and the second executing unit 3242 are respectively a dc brushless servo motor X and a dc brushless servo motor Y, and the power of the dc brushless servo motor X and the power of the dc brushless servo motor Y are adjusted by the tracking control module 323, so that the steering of the target unmanned security patrol car 320 can be realized.
The tracking control module 323 is an FPGA programmable controller.
Further, in order to facilitate the staff to obtain the execution condition of the patrol tasks in the garden, in some embodiments of the present invention, as shown in fig. 2, the target unmanned security patrol car 320 further includes a communication module 325, and the communication module 325 is configured to send the local planning path information and the pose information to the intelligent scheduling base station 200;
the intelligent scheduling base station 200 is further configured to display the local planning path information and the pose information according to the display request.
Through the arrangement, the worker can watch the local planning path information and the pose information displayed on the intelligent scheduling base station 200 to obtain the execution condition of the patrol task, and the worker can conveniently adjust and track the patrol task.
It should be understood that: in order to facilitate the mastering of the position information of all the unmanned security patrol cars 310 in the park, in some embodiments of the present invention, the intelligent scheduling base station 200 is further configured to obtain the position information of all the unmanned security patrol cars 310 and display the position information.
Specifically, the specific process of executing the patrol task by the target unmanned security patrol trolley 320 in the embodiment of the present invention is as follows:
(1) before the unmanned security patrol trolley 320 starts patrol, local planning path and pose information is generated through the autonomous navigation module 322. In the patrol process, the environment sensing unit 3221 performs obstacle detection, and if the information of an obstacle is detected, the tracking control module 323 sends a stop signal to control the chassis execution module 324 to stop working, so that the dc brushless servo motor X and the dc brushless servo motor Y stop working, and wait for the obstacle to be cleared; if no obstacle information is fed back, the tracking control module 323 sends a driving signal to control the chassis execution module 324 to start working, so that the unmanned security patrol trolley 320 starts to start;
(2) after the patrol of the unmanned security patrol car 320 starts, the environment sensing unit 3221 performs real-time environment detection through the three laser radar sensors 322211 and the binocular camera 322212, and the positioning and orienting unit 3222 measures pose information of the target unmanned security patrol car 320 in real time to perform auxiliary positioning on the target unmanned security patrol car 320. The tracking control module 323 adjusts the servo control of the direct-current brushless servo motor X and the direct-current brushless servo motor Y to complete the initial position and initial pose adjustment of the target unmanned patrol trolley 320, so that the target unmanned patrol trolley 320 enters an automatic patrol mode;
(3) when the target unmanned patrol trolley 320 is in the automatic patrol mode, the environment sensing unit 3221 performs real-time environment detection through the three laser radar sensors 32211 and the binocular camera 32212, simultaneously the tracking control module 323 detects speed and acceleration data of the target unmanned patrol trolley 320 in real time, analyzes the speed and the acceleration, determines a real-time position of the target unmanned patrol trolley 320 after analysis, compares the real-time position with a local planned path to determine an offset distance, and then the tracking control module 323 sends out an adjusting signal according to the offset distance to adjust servo control of the dc brushless servo motor X and the dc brushless servo motor Y, so that the target unmanned patrol trolley 320 patrols along the local planned path;
(4) if obstacles exist in the three laser radar sensors 32211 and the binocular camera 32212 in the environment sensing unit 3221 during the running process of the local planned path, the height of the obstacles is fed back to the tracking control module 323, the tracking control module 323 controls the target unmanned patrol car 320 to cross or bypass the obstacles according to the height of the obstacles, and finally the target unmanned patrol car 320 is kept to perform the whole patrol process along the local planned path.
Further, in order to improve the safety in the campus, in some embodiments of the present invention, as shown in fig. 2, the target unmanned security patrol car 320 further includes a security pre-warning module 326 mounted on the car body 321, where the security pre-warning module 326 is configured to generate a pre-warning signal when the target unmanned security patrol car 320 is in an emergency during patrol.
Specifically, as shown in fig. 7, the security early warning module 326 includes an image acquisition unit 3261, a face recognition unit 3262, and an early warning unit 3263;
the image acquisition unit 3261 is used for acquiring a face image;
the face recognition unit 3262 is configured to compare the face image with prestored face images of criminal suspects or dangerous molecules in the public security cloud database, and generate a similarity;
the early warning unit 3263 is configured to generate an early warning signal when the similarity is greater than 85%;
the intelligent scheduling base station 200 is used for alarming according to the early warning signal.
Specifically, in order to be aware of the early warning signal for the staff and management awareness, in some embodiments of the present invention, the intelligent dispatch base station 200 is also used to synchronize the early warning signal to the management platform 110 and the usage platform 120.
Through the arrangement, criminal suspects or dangerous molecules can be intelligently identified, and investigation and case handling are facilitated.
Further, in order to avoid that the image captured by the image acquisition unit 3261 at night is unclear, in some embodiments of the present invention, as shown in fig. 7, the security early warning module 326 further includes an infrared imaging unit 3264, the infrared imaging unit 3264 operates at night, and the image acquisition unit 3261 is assisted to perform image acquisition, so as to improve the reliability of the security early warning module 326.
Further, the target unmanned security patrol trolley 320 further comprises an alarm key 327 and a voice alarm module 328, wherein the alarm key 327 and the voice alarm module 328 are arranged on the trolley body 321, and when being pressed down, the alarm key 327 automatically generates an alarm signal; the voice alarm module 328 is used for automatically generating an alarm signal when recognizing that the words of tourists or workers in the park carry characters such as 'life saving' or 'alarm'.
Through the setting, the diversity of the generation of the alarm signal can be improved, and the safety in the garden is further improved.
Further, after receiving the alarm signal of the target unmanned security patrol car 320, the worker using the platform 120 issues emergency communication to contact with the artificial security personnel according to the circumstances, and meanwhile, the intelligent scheduling base station 200 coordinates other unmanned security patrol cars to assist security, and tracks the situation development. Whether an alarm is needed is judged according to the severity of the situation, meanwhile, early warning broadcast can be set through emergency broadcast, the unmanned security patrol trolley and a broadcast system in the garden are started to carry out emergency broadcast, and other personnel in the garden are reminded to pay attention to corresponding security threats.
Further, the target unmanned security patrol car 320 can shoot along the way through the camera mounted thereon, and can synchronously transmit the shot images or videos to the intelligent scheduling base station 200 for display, so that the staff using the platform 120 can obtain the situation of a remote site in real time. This enables the worker to easily grasp the situation of the site which is not easily accessible and take corresponding measures. Thereby improving the safety of the campus.
The unmanned security patrol trolley 310 in the unmanned security patrol system 10 provided by the embodiment of the invention calculates patrol costs required for executing patrol tasks based on a preset algorithm, generates a planned path according to the patrol tasks, can generate different planned paths according to different patrol tasks, improves the diversity of patrol routes, and improves patrol efficiency. Further, the intelligent scheduling base station 200 in the embodiment of the present invention may determine the target unmanned security patrol car 320 with the minimum patrol cost according to the patrol cost, and distribute patrol tasks to the target unmanned security patrol car 320 to perform patrol, so that the patrol cost may be reduced, and the patrol efficiency may be further improved. Moreover, by configuring a plurality of lidar sensors 32211, environmental detection blind areas are eliminated; an RTK differential base station 32224 is configured, so that the positioning accuracy is improved; and the measures and the methods improve the safety of the autonomous driving of the target unmanned security patrol car 320 by overlapping the electronic fence on the local map of the environment and restricting the path planning within the road surface range. Further, improve the security in garden through setting up security early warning module 326, guarantee the safety of pedestrian in the garden, patrol night through setting up infrared camera unit 3264 can be high-risk simultaneously, ensure the safety in garden.
The unmanned security patrol system provided by the embodiment of the invention is described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An unmanned security patrol system, comprising: the system comprises a task platform, an intelligent scheduling base station and a patrol car group;
the task platform is used for generating patrol tasks;
the intelligent scheduling base station is respectively in communication connection with the task platform and the patrol car group and is used for issuing the patrol tasks to the patrol car group;
the patrol car group comprises a plurality of unmanned security patrol cars, and the unmanned security patrol cars are used for calculating patrol costs required by executing patrol tasks based on a preset algorithm and generating planning paths according to the patrol tasks;
the intelligent scheduling base station is further used for determining a target unmanned security patrol trolley with the minimum patrol cost according to the patrol cost and distributing patrol tasks to the target unmanned security patrol trolley;
the target unmanned security patrol trolley is used for carrying out unmanned security patrol according to the planned path.
2. The unmanned security patrol system of claim 1, wherein the target unmanned security patrol trolley comprises a trolley body, and an autonomous navigation module, a tracking control module and a chassis execution module mounted on the trolley body;
the autonomous navigation module is used for sensing motion information of the vehicle body and environment information around the vehicle body and generating a local planning path and pose information according to the planning path, the motion information and the environment information;
the tracking control module is used for generating a control instruction according to the local planning path and the pose information;
and the chassis execution module is used for executing the control instruction so as to realize that the vehicle body runs along the local planned path.
3. The unmanned security patrol system of claim 2, wherein the autonomous navigation module comprises an environment sensing unit, a positioning and orientation unit, and a decision planning unit;
the environment sensing unit is used for acquiring a local environment map around the vehicle body in real time;
the positioning and orientation unit is used for acquiring pose information of the vehicle body in real time;
and the decision planning unit is used for determining the driving direction of the vehicle body and the local planning path according to the planning path, the local environment map and the pose information.
4. The unmanned security patrol system of claim 3, wherein the environmental information comprises road width information; the decision planning unit is further configured to superimpose an electronic fence on the environmental local map according to the road width information.
5. The unmanned security patrol system of claim 4, wherein the environment sensing unit comprises at least one lidar sensor, a binocular camera, and an environment modeling component;
the laser radar sensor is used for scanning the periphery of the vehicle body to generate an environment point cloud image;
the binocular camera is used for acquiring local environment information around the vehicle body;
the environment modeling component is used for fusing the local environment information and the environment point cloud image to obtain fusion information, and establishing the local environment map based on a SLAM algorithm according to the fusion information.
6. The unmanned security patrol system of claim 3, wherein the positioning and orientation unit comprises a GNSS/INS combined positioning device, a GPS differential signal receiving module, a GPS differential signal sending module and an RTK differential base station;
the RTK differential base station is used for providing a differential signal;
the GPS differential signal sending module is used for sending the differential signal to the GPS differential signal receiving module;
and the GNSS/INS combined positioning equipment is used for obtaining the pose information of the target unmanned security patrol car according to the differential signal operation.
7. The unmanned security patrol system of claim 2, wherein the autonomous navigation module is further configured to detect whether an obstacle is on the planned path, and when the height of the obstacle exceeds the maximum crossing height of the target unmanned security patrol car, the tracking control module issues a detour instruction instructing the target unmanned security patrol car to detour to avoid the obstacle; and when the height of the obstacle does not exceed the maximum crossing height of the target unmanned security patrol trolley, the tracking control module sends a normal driving instruction to instruct the target unmanned security patrol trolley to drive according to the local planned path so as to cross the obstacle.
8. The unmanned security patrol system of claim 2, wherein the target unmanned security patrol car further comprises a communication module configured to send the local planned path information and pose information to the intelligent scheduling base station;
the intelligent scheduling base station is further used for displaying the local planning path information and the pose information according to a display request.
9. The unmanned security patrol system of claim 2, wherein the target unmanned security patrol car further comprises a security pre-warning module mounted on the car body, and the security pre-warning module is configured to generate a pre-warning signal when the target unmanned security patrol car encounters an emergency during patrol.
10. The unmanned security patrol system of claim 9, wherein the security pre-warning module comprises an image acquisition unit, a face recognition unit and a pre-warning unit;
the image acquisition unit is used for acquiring a face image;
the face recognition unit is used for comparing the face image with prestored face images of criminal suspects or dangerous molecules in a public safety cloud database to generate similarity;
the early warning unit is used for generating an early warning signal when the similarity is greater than 85%;
and the intelligent scheduling base station is used for alarming according to the early warning signal.
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