CN115285100A - Intelligent security patrol robot system supporting multi-mode driving control - Google Patents
Intelligent security patrol robot system supporting multi-mode driving control Download PDFInfo
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- CN115285100A CN115285100A CN202210792644.3A CN202210792644A CN115285100A CN 115285100 A CN115285100 A CN 115285100A CN 202210792644 A CN202210792644 A CN 202210792644A CN 115285100 A CN115285100 A CN 115285100A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
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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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
- B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
Abstract
The invention discloses an intelligent security patrol robot system supporting multi-mode driving control, which relates to the technical field of robots and comprises the following components: the robot comprises a robot body, a remote control station and a remote handheld remote control terminal; the robot body includes: a drive-by-wire chassis and an apparatus main body; the wire control chassis adopts a CAN bus interface and is used for receiving a control instruction to drive the robot to run and simultaneously feeding back chassis state data; the apparatus main body includes: the system comprises a comprehensive controller, a touch display screen, sensors, an automatic driving controller and a vehicle-mounted control unit; the integrated controller collects the ambient environment parameters and audio-video data detected by each sensor in real time, receives a human-computer interaction instruction sent by the touch display screen, receives and sends interaction instructions of the remote control station and the remote handheld remote control terminal, and receives and sends data of the automatic driving controller; the invention has stronger mobility on complex terrains and can realize the conversion of people and nobody.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent security patrol robot system supporting multi-mode driving control.
Background
The intelligent security patrol robot is a robot which can complete safety protection work semi-autonomously, autonomously or under the complete control of human beings, collects, analyzes and then judges and alarms peripheral video, audio and various environmental data by carrying various intelligent sensors, and can transmit various data to a remote control system; the method is used for solving the problems of potential safety hazards, patrol monitoring, disaster warning and the like based on the requirements of actual production and life, not only solves the problems in actual life, but also is the requirement of time development.
With the increasing requirements of people on safety patrol, the traditional safety protection system mainly realized by civil defense can not meet the requirements gradually, in order to improve the safety protection level and reduce the influence caused by the rise of labor cost, the safety protection patrol robot industry is in the development opportunity under the support of relevant good policies, however, in the starting stage of industrial development, the existing safety protection patrol robot still has a plurality of places to be improved, such as relatively single function, insufficient intellectualization and limited performance, can not meet the safety protection tasks of urban patrol and major activities, can not replace soldiers to patrol in important meeting places, major activity sites, peripheries of important facilities and peripheries of prisons, and can not effectively assist task troops to maintain regional order, and can monitor, alarm and emergency treatment on the destructive behaviors of illegal criminals, disasters and the like.
Disclosure of Invention
The invention aims to: aiming at the problems that the existing security patrol robot has relatively single function, insufficient intellectualization and limited performance, cannot meet the security and defense tasks of urban patrol and major activities, cannot replace the patrol of soldiers in important meeting places, major activity sites, the periphery of important facilities and around prisons, cannot effectively assist task forces to maintain regional order, and can monitor, alarm and emergently treat destructive behaviors of illegal criminals, disaster accidents and the like, the intelligent security patrol robot system supporting multi-mode driving is provided, the defects of the prior art are overcome and solved, the intelligent security patrol robot system has strong complex terrain mobility, can be rapidly deployed to relevant regions under emergency conditions, and can complete task preparation, emergency conversion and conversion between people and no people.
The technical scheme of the invention is as follows:
the utility model provides a support intelligent security patrol robot system that multi-mode was controlled, specifically includes: the robot comprises a robot body, a remote control station and a remote handheld remote control terminal, wherein information interaction is realized through a network;
the robot body includes: a drive-by-wire chassis and an apparatus main body disposed above the drive-by-wire chassis; preferably, the drive-by-wire chassis is a drive-by-wire 4-wheel chassis;
the wire control chassis adopts a CAN bus interface and is used for receiving a control instruction to drive the robot to run and simultaneously feeding back chassis state data to the equipment main body; preferably, the control instruction includes: accelerator, brake, steering signal quantity and equipment main body signal quantity; the chassis status data includes: chassis speed, driving state, braking state, steering state data;
the apparatus main body includes: the system comprises a comprehensive controller, a touch display screen, sensors, an automatic driving controller and a vehicle-mounted control unit;
the integrated controller collects the ambient environment parameters and audio-video data detected by each sensor in real time, receives a human-computer interaction instruction sent by the touch display screen, receives and sends interaction instructions of the remote control station and the remote handheld remote control terminal, and receives and sends data of the automatic driving controller; preferably, the integrated controller receives and transmits interactive instructions of a remote control station and a remote handheld remote control terminal through a wireless communication module, and receives and transmits data of the automatic driving controller through a network port;
the vehicle-mounted control unit generates a control instruction according to a driving instruction of the integrated controller or the manual driving device; preferably, the manual driving device is a vehicle faucet, an accelerator handle, a brake handle, a turn light button and the like; the integrated controller can generate a control instruction according to a driving instruction sent by the automatic driving controller, a driving instruction sent by a remote control station or a driving instruction collected by manual driving equipment, and sends the control instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the steering controller, the driving motor, the brake controller and the steering lamp to operate, wherein the driving motor provides driving force for the robot; simultaneously feeding back the chassis state data to the integrated controller; the driving motor adopts a middle-arranged high-power permanent magnet synchronous motor, a high-efficiency FOC vector controller is combined, powerful guarantee is provided for robot power, and the high-capacity lithium battery with a quick-release structure enables the robot to have the characteristics of long-time endurance and quick battery replacement.
Further, each of the sensors includes: panoramic camera, two optical pan tilt cameras, camera lifter, adapter, harmful gas monitor, sound source positioning equipment.
Furthermore, the camera modules of the panoramic camera and the double-optical pan-tilt camera are arranged above the camera lifting rod, and the camera lifting rod is connected with the integrated controller, receives a lifting or descending instruction and is used for dynamically adjusting the height of the camera modules, so that the visual field range of video pictures in each environment can be effectively improved, and an operator can be assisted in remotely controlling the motion of the robot; the panoramic camera and the double-optical pan-tilt camera are connected with the integrated controller, and video data are transmitted to the remote control station and the remote handheld remote control terminal; preferably, the camera module of the panoramic camera consists of 5 cameras, video pictures of the 5 cameras are spliced into a complete panoramic picture through a software algorithm, and video data are output to a remote control station and a remote handheld remote control terminal through a wireless communication module by connecting a network switch and passing through an integrated controller; the double-optical pan-tilt camera consists of a 1-path visible light camera and a 1-path infrared camera, all video data are multiplexed and processed by the integrated controller through H.264 coding, and then are sent to the remote control station and the remote handheld remote control terminal by the ad hoc network wireless communication module for decoding and displaying; meanwhile, the cradle head of the double-optical cradle head camera receives the control of pitching and horizontal angles of the remote control station and the remote handheld remote control terminal through the integrated controller to realize transfer.
The sound pick-up is connected with the integrated controller, and transmits the collected audio data to the remote control station and the remote handheld remote control terminal through the integrated controller; specifically, the integrated controller performs PCM sampling on an analog sound signal input by the sound pick-up to convert the analog sound signal into a digital audio signal, codes the digital audio signal, sends the coded digital audio signal to a remote control station and a remote handheld remote control terminal through an ad hoc network wireless communication module, and decodes the coded digital audio signal to play sound;
the harmful gas monitor is connected with the integrated controller, and transmits the detected harmful gas data to the remote control station and the remote handheld remote control terminal through the integrated controller; preferably, the harmful gas data includes: carbon monoxide, carbon dioxide, hydrogen sulfide, methane data; the harmful gas data are transmitted in real time through a modbus protocol;
the sound source positioning equipment is connected with the integrated controller, and positioned suspicious sound positioning data are transmitted to the remote control station and the remote handheld remote control terminal through the integrated controller; preferably, the sound source positioning device adopts a circular array of 6 microphones as a data acquisition platform, is connected with the integrated controller, performs algorithm calculation on sound data to complete specific voice password recognition or specific event recognition and angle estimation, and outputs a recognition result to the touch display screen or the remote control station or the remote handheld remote control terminal through the integrated controller.
Further, the apparatus main body further includes: the rechargeable battery and the power supply control module provide a basic power supply for the system; preferably, the rechargeable battery supplies power to the integrated controller, the driving motor, the touch display screen, each sensor, the automatic driving related equipment and the like, i.e. supplies stable power for each equipment;
the apparatus main body further includes: the wireless communication module is connected with the integrated controller; the remote control station and the remote hand-held remote control terminal are both provided with wireless communication modules; the communication between the integrated controller and a remote control station and between the integrated controller and a remote handheld remote control terminal is realized through a wireless communication module; preferably, all the wireless communication modules are ad hoc network wireless communication modules; in order to ensure smooth transmission of signals, the wireless communication module is positioned above the tail part of the robot.
Furthermore, a ros computing node is deployed on the automatic driving controller, and is connected with the integrated controller through a network port, and is connected with the binocular depth camera, the laser radar, the satellite inertial navigation combined positioning equipment and the stay wire sensor through a serial port/network port; wherein satellite is used to lead combination positioning device includes: a GPS/Beidou differential module, an IMU sensor and the like; preferably, the binocular depth camera is arranged at the front part of the robot body, provides vision fusion positioning, vision loop correction data and target tracking data, and when the robot is set to a target following motion mode, the binocular depth camera detects the position of a target, controls the robot to follow the target and keeps a certain safe distance.
The automatic driving controller completes accurate sensing of self attitude, position and peripheral obstacles by fusing a depth image of a binocular depth camera, point cloud data of a laser radar, attitude data of satellite inertial navigation combined positioning equipment and angle and distance data of a stay wire sensor, and performs motion planning by combining a map, a driving route and operator control instruction information, a planning instruction is converted into bus data by the integrated controller and is output to a vehicle-mounted control unit to realize automatic driving, and state data of the automatic driving controller is reported to a remote control station and a remote handheld remote control terminal in real time by the integrated controller; specifically, in the automatic driving map construction stage and the autonomous patrol stage, the automatic driving controller calculates the real-time position of the robot by fusing data of the binocular depth camera, the satellite inertial navigation combined positioning device and the pull wire sensor, can realize stable and drift-free continuous position output in an outdoor environment, corresponds to real-world geographic coordinates, realizes real-time update of the position and the posture of the robot in the real-world map, generates a control instruction by combining information such as an electronic map, a preset route and the like, controls the drive-by-wire chassis to autonomously patrol according to the preset route or the following target, and can avoid and bypass temporary obstacles in the route.
Furthermore, the remote control station comprises a control station host, a driving rocker and an operation console;
the wireless communication module is connected with the control station host through a network port and is constructed with the integrated controller and the remote handheld remote control terminal to form a wireless local area network;
the driving rocker is connected with the control station host, driving data of the driving rocker is transmitted to the integrated controller through the control station host, a control instruction is formed and sent to the wire control chassis, and remote control driving is achieved;
the operation console is connected with the control station host, and the user-defined key state of the operation console is transmitted to the integrated controller through the control station host to realize system state control; preferably, the custom key comprises: the system comprises a strong sound control switch, a strong light control switch, a robot remote control request switch, a robot standby control switch, a robot parking brake switch, a robot emergency state control switch, a warning light control switch, a left steering light control switch, a right steering light control switch and an illuminating lamp control switch;
furthermore, the remote handheld remote control terminal comprises two driving rockers and a plurality of user-defined keys;
and the integrated controller and the remote handheld remote control terminal are constructed to form a wireless local area network through the wireless communication module.
Furthermore, the driving rocking bars are respectively positioned at the left side and the right side of the remote handheld remote control terminal, the data of the rocking bar at the left side is transmitted to the integrated controller through the wireless communication module and is used for controlling the tripod head direction of the double-optical tripod head camera, the data of the rocking bar at the right side is transmitted to the integrated controller through the wireless communication module, a control instruction is formed and sent to the wire control chassis, and remote control driving is realized;
the user-defined keys are respectively positioned at two sides and above the remote handheld remote control terminal, and the key states of the user-defined keys are transmitted to the integrated controller through the wireless communication module and are used for controlling the focal length of the double-optical pan-tilt camera and the emergency brake of the line control chassis; preferably, the key for controlling the focal length of the dual-optical pan-tilt camera is a control knob.
Furthermore, the integrated controller is also connected with a lighting lamp, an intense sound generator, an intense light generator and a warning lamp through a numerical control plate; the control of the light is realized, and the light state is fed back to the integrated controller.
Furthermore, the touch display screen is connected with the integrated controller and is used for displaying the working mode, the state information and the position information of the system; preferably, the size of the touch display screen is 8 inches, the resolution is 1024 × 768, and the touch display screen is used for displaying the state information of the robot and receiving the control instruction of an operator;
the working modes comprise: manual driving, automatic driving and remote control driving;
the state information includes: real-time movement speed, rotating speed of a driving motor, gear positions, residual battery capacity, temperature of the driving motor, braking state, abnormal sound content and direction and harmful gas concentration data;
the location information includes: mapping real-time longitude and latitude of the robot on an off-line map;
meanwhile, the touch display screen can also receive control instructions of an operator, so that the switching of working modes, the on-off control of the illuminating lamp, the strong sound generator, the strong light generator and the warning lamp and the configuration operation related to automatic driving are realized.
Compared with the prior art, the invention has the beneficial effects that:
an intelligent security patrol robot system supporting multi-mode driving control is suitable for driving modes of various patrol scenes, and comprises manned local driving, remote control driving and autonomous patrol driving modes; integrate each load equipment data in real time at the in-process that traveles and include audio frequency, panorama video, two light videos, geographical position, harmful gas, suspicious sound positioning data, through wireless communication module propelling movement to remote control station and long-range handheld remote control terminal, the distal end system also possesses simultaneously and issues cloud platform control, pronunciation are shout, high-field optical drive scattered order.
Drawings
Fig. 1 is a structural connection diagram of an intelligent security patrol robot system supporting multi-mode driving control.
Detailed Description
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
Example one
With the increasing requirements of people on safety patrol, the traditional safety protection system mainly realized by civil defense can not meet the requirements gradually, in order to improve the safety protection level and reduce the influence caused by the rise of labor cost, the safety protection patrol robot industry is in the development opportunity under the support of relevant good policies, however, in the starting stage of industrial development, the existing safety protection patrol robot still has a plurality of places to be improved, such as relatively single function, insufficient intellectualization and limited performance, can not meet the safety protection tasks of urban patrol and major activities, can not replace soldiers to patrol in important meeting places, major activity sites, peripheries of important facilities and peripheries of prisons, and can not effectively assist task troops to maintain regional order, and can monitor, alarm and emergency treatment on the destructive behaviors of illegal criminals, disasters and the like.
In view of the above problems, the present embodiment provides an intelligent security patrol robot system supporting multi-mode driving control, which overcomes and solves the disadvantages of the prior art, has a strong mobility in complex terrain, and can be rapidly deployed to a relevant area in an emergency to complete task preparation, emergency switching, and manned/unmanned switching.
Referring to fig. 1, an intelligent security patrol robot system supporting multi-mode driving control specifically includes: the robot comprises a robot body, a remote control station and a remote handheld remote control terminal, wherein the remote control station and the remote handheld remote control terminal realize information interaction through a network;
the robot body includes: the drive-by-wire device comprises a drive-by-wire chassis and a device main body arranged above the drive-by-wire chassis; preferably, the drive-by-wire chassis is a 4-wheel drive-by-wire chassis;
the wire control chassis adopts a CAN bus interface and is used for receiving a control command to drive the robot to run and simultaneously feeding back chassis state data to the equipment main body; preferably, the control instructions include: accelerator, brake, steering signal quantity and equipment main body signal quantity; the chassis status data includes: chassis speed, driving state, braking state, steering state data;
the apparatus main body includes: the system comprises a comprehensive controller, a touch display screen, sensors, an automatic driving controller and a vehicle-mounted control unit;
the integrated controller collects the ambient environment parameters and audio-video data detected by each sensor in real time, receives a human-computer interaction instruction sent by the touch display screen, receives and sends interaction instructions of the remote control station and the remote handheld remote control terminal, and receives and sends data of the automatic driving controller; preferably, the integrated controller receives and transmits interactive instructions of a remote control station and a remote handheld remote control terminal through a wireless communication module, and receives and transmits data of the automatic driving controller through a network port;
the vehicle-mounted control unit generates a control instruction according to a driving instruction of the integrated controller or the manual driving device; preferably, the manual driving device is a vehicle faucet, an accelerator handle, a brake handle, a turn light button and the like; the integrated controller can generate a control instruction according to a driving instruction sent by the automatic driving controller, a driving instruction sent by a remote control station or a driving instruction collected by manual driving equipment, and send the control instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the steering controller, the driving motor, the brake controller and the steering lamp to operate, wherein the driving motor provides driving force for the robot; simultaneously feeding back the chassis state data to the integrated controller; the driving motor adopts a middle-arranged high-power permanent magnet synchronous motor, a high-efficiency FOC vector controller is combined, powerful guarantee is provided for robot power, and the high-capacity lithium battery of the quick-release structure enables the robot to have the characteristics of long-time endurance and quick battery replacement.
In this embodiment, specifically, each of the sensors includes: panoramic camera, double-optical pan-tilt camera, camera lifting rod, sound pick-up, harmful gas monitor and sound source positioning equipment.
In this embodiment, specifically, the camera modules of the panoramic camera and the dual-optical pan-tilt camera are both arranged above the camera lifting rod, and the camera lifting rod is connected with the integrated controller, receives a lifting or lowering command, and is used for dynamically adjusting the height of the camera modules, so that the visual field range of video pictures in various environments can be effectively improved, and an operator can be assisted in remotely controlling the motion of the robot; the panoramic camera and the double-optical pan-tilt camera are connected with the integrated controller, and video data are transmitted to the remote control station and the remote handheld remote control terminal; preferably, the camera module of the panoramic camera consists of 5 cameras, video pictures of the 5 cameras are spliced into a complete panoramic picture through a software algorithm, and video data are output to a remote control station and a remote handheld remote control terminal through a wireless communication module by connecting a network switch and passing through an integrated controller; the double-optical pan-tilt camera consists of a 1-path visible light camera and a 1-path infrared camera, and all video data are multiplexed and processed by the H.264 coding through the integrated controller and then sent to the remote control station and the remote handheld remote control terminal through the ad hoc network wireless communication module for decoding and displaying; meanwhile, the cradle head of the double-optical cradle head camera receives the control of pitching and horizontal angles of the remote control station and the remote handheld remote control terminal through the integrated controller to realize transfer.
The sound pick-up is connected with the integrated controller, and transmits the collected audio data to the remote control station and the remote handheld remote control terminal through the integrated controller; specifically, the integrated controller performs PCM sampling on an analog sound signal input by the sound pick-up to convert the analog sound signal into a digital audio signal, codes the digital audio signal, sends the coded digital audio signal to the remote control station and the remote handheld remote control terminal through the ad hoc network wireless communication module, and decodes the digital audio signal to play sound;
the harmful gas monitor is connected with the integrated controller, and transmits the detected harmful gas data to the remote control station and the remote handheld remote control terminal through the integrated controller; preferably, the harmful gas data includes: carbon monoxide, carbon dioxide, hydrogen sulfide, methane data; the harmful gas data are transmitted in real time through a modbus protocol;
the sound source positioning equipment is connected with the integrated controller, and positioned suspicious sound positioning data are transmitted to the remote control station and the remote handheld remote control terminal through the integrated controller; preferably, the sound source positioning device adopts a circular array of 6 microphones as a data acquisition platform, is connected with the integrated controller, performs algorithm calculation on sound data to complete specific voice password recognition or specific event recognition and angle estimation, and outputs a recognition result to the touch display screen or the remote control station or the remote handheld remote control terminal through the integrated controller.
In this embodiment, specifically, the apparatus main body further includes: the rechargeable battery and the power supply control module provide a basic power supply for the system; preferably, the rechargeable battery supplies power to the integrated controller, the driving motor, the touch display screen, each sensor, the automatic driving related equipment and the like, i.e. supplies stable power for each equipment;
the apparatus main body further includes: the wireless communication module is connected with the integrated controller; the remote control station and the remote handheld remote control terminal are both provided with wireless communication modules; the communication between the integrated controller and a remote control station and between the integrated controller and a remote handheld remote control terminal is realized through a wireless communication module; preferably, all the wireless communication modules in the embodiment are ad hoc network wireless communication modules; in order to ensure smooth transmission of signals, the wireless communication module is positioned above the tail part of the robot.
In this embodiment, specifically, the autopilot controller is deployed with ros computing nodes, and is connected with the integrated controller through a network port, and is connected with the binocular depth camera, the laser radar, the satellite inertial navigation combined positioning device, and the pull line sensor through a serial port/network port; wherein satellite is used to lead combination positioning device includes: a GPS/Beidou differential module, an IMU sensor and the like; preferably, the binocular depth camera is arranged at the front part of the robot body, provides vision fusion positioning, vision loop correction data and target tracking data, and when the robot is set to a target following motion mode, the binocular depth camera detects the position of a target, controls the robot to follow the target and keeps a certain safe distance.
The automatic driving controller completes accurate sensing of self attitude, position and peripheral obstacles by fusing a depth image of a binocular depth camera, point cloud data of a laser radar, attitude data of satellite inertial navigation combined positioning equipment and angle and distance data of a stay wire sensor, and performs motion planning by combining a map, a driving route and operator control instruction information, a planning instruction is converted into bus data by the integrated controller and is output to a vehicle-mounted control unit to realize automatic driving, and state data of the automatic driving controller is reported to a remote control station and a remote handheld remote control terminal in real time by the integrated controller; specifically, in the automatic driving map construction stage and the autonomous patrol stage, the automatic driving controller calculates the real-time position of the robot by fusing data of the binocular depth camera, the satellite inertial navigation combined positioning device and the pull wire sensor, can realize stable and drift-free continuous position output in an outdoor environment, corresponds to real-world geographic coordinates, realizes real-time update of the position and the posture of the robot in the real-world map, generates a control instruction by combining information such as an electronic map, a preset route and the like, controls the drive-by-wire chassis to autonomously patrol according to the preset route or the following target, and can avoid and bypass temporary obstacles in the route.
In this embodiment, specifically, the remote control station includes a control station host, a driving rocker, and an operation console;
the wireless communication module is connected with the control station host through a network port and is constructed with the integrated controller and the remote handheld remote control terminal to form a wireless local area network;
the driving rocker is connected with the control station host, and driving data of the driving rocker is transmitted to the integrated controller through the control station host to form a control instruction and send the control instruction to the wire control chassis so as to realize remote control driving;
the operation console is connected with the control station host, and the user-defined key state of the operation console is transmitted to the integrated controller through the control station host to realize system state control; preferably, wherein the custom key comprises: the system comprises a strong sound control switch, a strong light control switch, a robot remote control request switch, a robot standby control switch, a robot parking brake switch, a robot emergency state control switch, a warning light control switch, a left steering light control switch, a right steering light control switch and an illuminating lamp control switch;
in this embodiment, specifically, the remote handheld remote control terminal includes two driving rockers and a plurality of user-defined keys;
and the integrated controller and the remote hand-held remote control terminal are assembled to form a wireless local area network through the wireless communication module.
In this embodiment, specifically, the driving rockers are respectively located on the left side and the right side of the remote handheld remote control terminal, data of the left rocker is transmitted to the integrated controller through the wireless communication module and used for controlling the pan-tilt orientation of the dual-optical pan-tilt camera, data of the right rocker is transmitted to the integrated controller through the wireless communication module, a control instruction is formed and sent to the wire control chassis, and remote control driving is achieved;
the user-defined keys are respectively positioned at two sides and above the remote handheld remote control terminal, and the key states of the user-defined keys are transmitted to the integrated controller through the wireless communication module and are used for controlling the focal length of the double-optical pan-tilt camera and the emergency brake of the line control chassis; preferably, the button for controlling the focal length of the dual-optical pan-tilt camera is a control knob.
In this embodiment, specifically, the integrated controller is further connected to an illuminating lamp, an intense sound generator, an intense light generator, and a warning lamp through a numerical control board; the control of the light is realized, and the light state is fed back to the integrated controller.
In this embodiment, specifically, the touch display screen is connected to the integrated controller, and is configured to display a working mode, state information, and position information of the system; preferably, the size of the touch display screen is 8 inches, the resolution is 1024 × 768, and the touch display screen is used for displaying the state information of the robot and receiving the control instruction of an operator;
the working modes comprise: manual driving, automatic driving and remote control driving;
the state information includes: real-time movement speed, rotating speed of a driving motor, gear positions, residual battery capacity, temperature of the driving motor, braking state, abnormal sound content and direction and harmful gas concentration data;
the location information includes: mapping real-time longitude and latitude of the robot on an off-line map;
meanwhile, the touch display screen can also receive control instructions of an operator, so that the switching of working modes, the on-off control of the illuminating lamp, the strong sound generator, the strong light generator and the warning lamp and the related configuration operation related to automatic driving are realized.
The above-mentioned embodiments only express the specific embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which are all within the protection scope of the present application.
Claims (10)
1. The utility model provides a support intelligent security who accuse drives patrols robot system, its characterized in that includes: the robot comprises a robot body, a remote control station and a remote handheld remote control terminal, wherein the remote control station and the remote handheld remote control terminal realize information interaction through a network;
the robot body includes: a drive-by-wire chassis and an apparatus main body disposed above the drive-by-wire chassis;
the wire control chassis adopts a CAN bus interface and is used for receiving a control instruction to drive the robot to run and simultaneously feeding back chassis state data to the equipment main body;
the apparatus main body includes: the system comprises a comprehensive controller, a touch display screen, sensors, an automatic driving controller and a vehicle-mounted control unit;
the integrated controller collects the ambient environment parameters and audio-video data detected by each sensor in real time, receives a human-computer interaction instruction sent by the touch display screen, receives and sends interaction instructions of the remote control station and the remote handheld remote control terminal, and receives and sends data of the automatic driving controller;
and the vehicle-mounted control unit generates a control instruction according to a driving instruction of the integrated controller or the manual driving equipment.
2. The intelligent security patrol robot system supporting multi-mode driving control according to claim 1, wherein each sensor comprises: panoramic camera, double-optical pan-tilt camera, camera lifting rod, sound pick-up, harmful gas monitor and sound source positioning equipment.
3. The intelligent security patrol robot system supporting multi-mode driving control according to claim 2, wherein the camera modules of the panoramic camera and the dual pan-tilt-zoom camera are arranged above a camera lifting rod, the camera lifting rod is connected with the integrated controller and receives a lifting or descending command for dynamically adjusting the height of the camera modules, and the panoramic camera and the dual pan-tilt-zoom camera are connected with the integrated controller and transmit video data to a remote control station and a remote handheld remote control terminal;
the sound pick-up is connected with the integrated controller, and transmits the collected audio data to the remote control station and the remote handheld remote control terminal through the integrated controller;
the harmful gas monitor is connected with the integrated controller, and the detected harmful gas data are transmitted to the remote control station and the remote handheld remote control terminal by the integrated controller;
the sound source positioning equipment is connected with the integrated controller, and positioned suspicious sound positioning data are transmitted to the remote control station and the remote handheld remote control terminal through the integrated controller.
4. The intelligent security patrol robot system supporting multi-mode driving control according to claim 3, wherein the device body further comprises: the rechargeable battery and the power supply control module provide a basic power supply for the system;
the apparatus main body further includes: the wireless communication module is connected with the integrated controller; the remote control station and the remote handheld remote control terminal are both provided with wireless communication modules; and the communication between the integrated controller and the remote control station and the remote hand-held remote control terminal is realized through the wireless communication module.
5. The intelligent security patrol robot system supporting multi-mode driving control according to claim 4, wherein the automatic driving controller is provided with a ros computing node, is connected with the integrated controller through a network port, and is connected with the binocular depth camera, the laser radar, the satellite inertial navigation combined positioning equipment and the stay wire sensor through a serial port/network port;
the automatic driving controller completes the accurate sensing of self postures, positions and peripheral obstacles by fusing the depth image of the binocular depth camera, the point cloud data of the laser radar, the posture data of the satellite inertial navigation combined positioning equipment and the angle and distance data of the stay wire sensor, and meanwhile, the automatic driving controller performs motion planning by combining a map, a driving route and operator control instruction information, a planning instruction is converted into bus data through the integrated controller and is output to the vehicle-mounted control unit, the automatic driving is realized, and meanwhile, the state data of the automatic driving controller is reported to a remote control station and a remote handheld remote control terminal in real time through the integrated controller.
6. The intelligent security patrol robot system supporting multi-mode driving control according to claim 5, wherein the remote control station comprises a control station host, a driving rocker and an operation console;
the wireless communication module is connected with the control station host through a network port and is constructed with the integrated controller and the remote handheld remote control terminal to form a wireless local area network;
the driving rocker is connected with the control station host, and driving data of the driving rocker is transmitted to the integrated controller through the control station host to form a control instruction and send the control instruction to the wire control chassis so as to realize remote control driving;
the operation console is connected with the control station host, and the user-defined key state of the operation console is transmitted to the integrated controller through the control station host, so that the system state control is realized.
7. The intelligent security patrol robot system supporting multi-mode driving control according to claim 6, wherein the remote handheld remote control terminal comprises two driving rockers and a plurality of self-defined keys;
and the integrated controller and the remote handheld remote control terminal are constructed to form a wireless local area network through the wireless communication module.
8. The intelligent security patrol robot system supporting multi-mode driving control according to claim 7, wherein the driving rockers are respectively located on the left side and the right side of the remote handheld remote control terminal, data of the left rocker is transmitted to the integrated controller through the wireless communication module and used for controlling the pan-tilt orientation of the dual-optical pan-tilt camera, data of the right rocker is transmitted to the integrated controller through the wireless communication module, a control instruction is formed and sent to the wire control chassis, and remote control driving is achieved;
the user-defined keys are respectively positioned on two sides and above the remote handheld remote control terminal, and the key states of the user-defined keys are transmitted to the integrated controller through the wireless communication module and are used for controlling the focal length of the double-light holder camera and the emergency braking of the line control chassis.
9. The intelligent security patrol robot system supporting multi-mode driving control according to claim 8, wherein the integrated controller is further connected with a lighting lamp, an intense sound generator, an intense light generator and a warning lamp through a numerical control board.
10. The intelligent security patrol robot system supporting multi-mode driving control according to claim 9, wherein the touch display screen is connected with the integrated controller and used for displaying the working mode, the state information and the position information of the system;
the working modes comprise: manual driving, automatic driving and remote control driving;
the state information includes: real-time movement speed, rotating speed of a driving motor, gear positions, residual battery capacity, temperature of the driving motor, braking state, abnormal sound content and direction and harmful gas concentration data;
the location information includes: mapping real-time longitude and latitude of the robot on an off-line map;
meanwhile, the touch display screen can also receive control instructions of an operator, so that the switching of working modes, the on-off control of the illuminating lamp, the strong sound generator, the strong light generator and the warning lamp and the related configuration operation related to automatic driving are realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210792644.3A CN115285100A (en) | 2022-07-07 | 2022-07-07 | Intelligent security patrol robot system supporting multi-mode driving control |
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| CN202210792644.3A CN115285100A (en) | 2022-07-07 | 2022-07-07 | Intelligent security patrol robot system supporting multi-mode driving control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220137617A1 (en) * | 2020-11-04 | 2022-05-05 | Hyundai Motor Company | Integrated control apparatus for autonomous vehicle |
| CN115657645A (en) * | 2022-11-16 | 2023-01-31 | 北京理工大学 | Intelligent vehicle chassis and task load integrated control method and system |
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2022
- 2022-07-07 CN CN202210792644.3A patent/CN115285100A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220137617A1 (en) * | 2020-11-04 | 2022-05-05 | Hyundai Motor Company | Integrated control apparatus for autonomous vehicle |
| US11945307B2 (en) * | 2020-11-04 | 2024-04-02 | Hyundai Motor Company | Integrated control apparatus for autonomous vehicle |
| CN115657645A (en) * | 2022-11-16 | 2023-01-31 | 北京理工大学 | Intelligent vehicle chassis and task load integrated control method and system |
| CN115657645B (en) * | 2022-11-16 | 2023-04-11 | 北京理工大学 | Intelligent vehicle chassis and task load integrated control method and system |
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