CN216286317U - Intelligent security equipment based on ROS system - Google Patents

Abstract

The utility model provides an intelligent security device based on an ROS system, which comprises a master control computer, a dual-redundancy bus, a system controller and a data recorder, wherein the master control computer is connected with the system controller through the dual-redundancy bus; the master control computer is connected with the dual redundant buses; the dual redundant bus is connected with the system controller and the data recorder; the data recorder comprises a camera, a collector and a magnetic disk array; the controller comprises a vehicle motion perception system controller, an environment perception system controller, a man-machine interaction system controller, an execution system controller and an alarm system controller; the controllers are respectively connected with the dual redundant buses. The utility model constructs a generalized intelligent equipment framework based on an ROS robot operating system. All the devices can be constructed based on the above-mentioned architecture. The device can implement functional requirements in the most economical way by adding or subtracting systems or nodes in hardware and software architectures through functional requirement analysis.

Description

Intelligent security equipment based on ROS system

Technical Field

The utility model relates to a robot operating system, in particular to an intelligent security device based on an ROS robot system.

Background

The robot operating system is a set of computer operating system architecture specially designed for robot software development. It is an open source meta-level operating system (post-os) that provides os-like services including hardware abstraction description, underlying driver management, shared function execution, inter-program messaging, program distribution package management, and it also provides tools and libraries for acquiring, building, writing, and executing multi-machine converged programs.

The existing guarantee equipment has low automation degree and intelligence degree, can only execute simple tasks and cannot adapt to quick response, intelligence and unmanned operation of modern wars.

The utility model constructs a generalized intelligent equipment framework based on an ROS robot operating system. All the devices can be constructed based on the above-mentioned architecture. The device can implement functional requirements in the most economical way by adding or subtracting systems or nodes in hardware and software architectures through functional requirement analysis.

The application number is CN 202020286518.7's chinese utility model application, discloses a metering equipment, in particular to military supply vehicle field measurement support equipment. Including the calibrator, still include intelligent dc-to-ac converter, battery and portable case, the portable case is the cuboid structure, portable case side sets up the activity handle, inside sets up 3 layers from the top down and is the calibrator portion of placing respectively, intelligence inverter portion of placing and battery portion of placing, and place the calibrator in proper order, intelligence inverter and battery are fixed a position and are fixed through fastening screw, separate with the baffle between 3 layers, the calibrator, can dc-to-ac converter and battery carry out wired connection through the line hole, portable case side sets up the calibrator portion of placing respectively, the door of intelligence inverter portion of placing and battery portion of placing, the calibrator portion of placing, the door and the portable case hinged joint of intelligence inverter portion of placing and battery portion of placing. The military power supply vehicle field metering support equipment designed by the utility model can be used for rapidly and accurately supporting power supply vehicle metering support at any time and any place. The utility model discloses an application is mainly to the measurement guarantee of power to not including the guarantee to the intellectuality, moreover with the concrete structure of this scheme different.

The Chinese invention application with the application number of CN201711178488.7 discloses an intelligent networked electric vehicle control system and a control method thereof, and is characterized in that the system comprises a main control processing unit, a V2X information interaction unit, an environment and vehicle state sensing unit, a whole vehicle CAN network, a vehicle motion state control unit and a drive execution unit. The utility model receives environmental information such as roads and the like and other vehicle state information through a V2X information interaction unit; the environment and vehicle state sensing unit detects the surrounding environment and vehicle body state information of the vehicle; all information is provided to the main control processing unit through the whole vehicle CAN network; the vehicle motion state control unit controls the state of the vehicle by controlling the driving execution unit; the intelligent vehicle control system solves the problems of low universality and high cost of the intelligent vehicle control system, and has important practical significance for improving the passing efficiency of the intelligent vehicle, slowing down congestion and reducing the occurrence rate of traffic accidents. The system structure of the utility model is similar to that of the application, but the utility model is mainly used for the control system of the intelligent network-connected electric automobile, and the application direction of the system guarantee of the robot is different from that of the robot system to be solved by the utility model.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an intelligent security device based on an ROS system so as to solve the problems of the existing design.

In order to achieve the purpose, the technical scheme of the utility model is as follows: the intelligent security equipment of the system based on the ROS system comprises a master control computer, a dual redundant bus, a system controller and a data recorder; the master control computer is connected with the dual redundant buses; the dual redundant bus is connected with the system controller and the data recorder. The core of the utility model is a general control computer which is responsible for the intelligent control of the whole equipment, and each subsystem controller is responsible for the acquisition and processing of sensor data in each subsystem and the motion control of an executive device.

The system controller comprises a vehicle motion perception system controller, an environment perception system controller, a man-machine interaction system controller, an execution system controller and an alarm system controller; and the system controllers are respectively connected with the dual redundant buses.

The data recorder is respectively aligned with the camera, the collector and the disk and respectively connected with the camera, the collector and the disk sorting module; by recording the operating parameters of the device and the surrounding environment and being able to read and access the relevant data and video information when required.

The vehicle motion sensing system controller is respectively connected with the inertial navigation module, the speed sensor, the angle sensor and the Beidou positioning module, and is respectively connected with the inertial navigation module, the speed sensor, the angle sensor and the Beidou positioning module; the vehicle motion perception system controller is responsible for collecting corresponding sensor signals, processing and calculating the sensor signals, finally obtaining the movement and motion states of the whole equipment, and providing the movement and motion states to the general control computer for decision making.

The environment perception system controller is respectively connected with the laser radar, the ultrasonic wave, the camera and the millimeter wave; the environment perception system controller is responsible for collecting signals collected by the laser radar, the ultrasonic waves, the camera and the millimeter waves, processing and calculating the collected signals, constructing surrounding environment information of the equipment and providing the surrounding environment information for the general control computer to make decisions.

The human-computer interaction system controller is respectively connected with the remote controller and the local controller; the human-computer interaction system controller is responsible for interaction between the robot and the human, transmits equipment information to an operator, and simultaneously transmits operation information of the operator to the equipment.

The execution system controller is respectively connected with the valve, the motor, the engine, the gearbox, the pump, the motor, the encoder and the displacement sensor; the execution system controller is responsible for executing an execution instruction issued by the general control computer, and controls the actuator to execute to a specified position through the position feedback of the sensor.

The alarm system controller is respectively connected with the horn, the display, the lamp and the vibration motor, and is responsible for sending out an alarm signal to inform an operator when the general control computer finds abnormality.

The general control computer is responsible for receiving and processing the data sent by each subsystem controller and the data recorder, and controls each subsystem to execute corresponding actions after judging all the data.

All the system controllers work cooperatively, and the task allocation is executed by the general control computer. The execution system controller is a main command execution unit, and controls the opening or closing of a valve, the operation of a motor, the starting of an engine or other functions. The execution system controller adjusts the running speed of the device through the controller gearbox.

The Beidou positioning function in the vehicle motion sensing system controller can ensure that the guarantee equipment can acquire the real-time position of the device at any time after completing a task, and the safety is ensured.

The utility model has the beneficial effects that:

the utility model constructs a generalized intelligent equipment framework based on an ROS robot operating system. All the devices can be constructed based on the device architecture. The device can implement functional requirements in the most economical way by adding or subtracting systems or nodes in hardware and software architectures through functional requirement analysis.

Can adapt to the quick response, the intellectualization and the unmanned realization of modern wars.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is an architectural diagram of the present invention.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Example 1

In this embodiment, each system controller and the data recorder send the information acquired by the sensor to the general control computer through the dual-redundancy bus, and the general control computer determines to make an instruction according to the received information and sends the instruction to each controller through the dual-redundancy bus, so that the controllers execute the instruction, and the final intelligent guarantee of the ROS system is achieved.

In this embodiment, the intelligent security device of the system based on the ROS system includes a general control computer, a dual redundant bus, a system controller, and a data recorder; the master control computer is connected with the dual redundant buses; the dual redundant bus is connected with the system controller and the data recorder. The core of the utility model is a general control computer which is responsible for the intelligent control of the whole equipment, and each subsystem controller is responsible for the acquisition and processing of sensor data in each subsystem and the motion control of an executive device.

In this embodiment, the system controller includes a vehicle motion sensing system controller, an environment sensing system controller, a human-computer interaction system controller, an execution system controller, and an alarm system controller; and the system controllers are respectively connected with the dual redundant buses.

In the embodiment, the data recorder is respectively aligned with the camera, the collector and the disk and respectively connected with the camera, the collector and the disk sorting module; by recording the operating parameters of the device and the surrounding environment and being able to read and access the relevant data and video information when required.

In the embodiment, the vehicle motion sensing system controller is respectively connected with the inertial navigation module, the speed sensor, the angle sensor and the Beidou positioning module, and is respectively connected with the inertial navigation module, the speed sensor, the angle sensor and the Beidou positioning module; the vehicle motion perception system controller is responsible for collecting corresponding sensor signals, processing and calculating the sensor signals, finally obtaining the movement and motion states of the whole equipment, and providing the movement and motion states to the general control computer for decision making.

In this embodiment, the environment sensing system controller includes a laser radar, an ultrasonic wave, a camera, and a millimeter wave; the environment perception system controller is responsible for collecting signals collected by the laser radar, the ultrasonic waves, the camera and the millimeter waves, processing and calculating the collected signals, constructing surrounding environment information of the equipment and providing the surrounding environment information for the general control computer to make decisions.

In this embodiment, the human-computer interaction system controller includes a remote controller and a local controller; the human-computer interaction system controller is responsible for interaction between the robot and the human, transmits equipment information to an operator, and simultaneously transmits operation information of the operator to the equipment.

In this embodiment, the execution system controller includes a valve, a motor, an engine, a transmission, a pump, a motor, an encoder, and a displacement sensor; the execution system controller is responsible for executing an execution instruction issued by the general control computer, and controls the actuator to execute to a specified position through the position feedback of the sensor.

In this embodiment, the alarm system controller includes a speaker, a display, a lamp, and a vibration motor, and the alarm system controller is responsible for sending an alarm signal to notify an operator when the general control computer finds an abnormality.

In this embodiment, the general control computer is responsible for receiving and processing the data sent by each subsystem controller and the data recorder, and after determining all the data, controls each subsystem to execute corresponding actions.

The beneficial effects of this embodiment:

a generalized intelligent device architecture is constructed based on an ROS robot operating system. All the devices can be constructed based on the above-mentioned architecture. The device can implement functional requirements in the most economical way by adding or subtracting systems or nodes in hardware and software architectures through functional requirement analysis.

Can adapt to the quick response, the intellectualization and the unmanned realization of modern wars.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims (8)

1. The intelligent security equipment based on the ROS system is characterized by comprising a master control computer, a dual redundant bus, a system controller and a data recorder; the master control computer is connected with the dual redundant buses; the dual redundant bus is connected with the system controller and the data recorder; and the general control computer performs data transmission with each system controller and the data recorder through a dual redundant bus.

2. The ROS system-based intelligent security device of claim 1, wherein the data logger is connected to a camera, a harvester, and a disk alignment module.

3. The ROS system-based smart assurance device of claim 1, wherein the system controller comprises a vehicle motion-sensing system controller, a context-sensing system controller, a human-computer interaction system controller, an execution system controller, and an alert system controller; all system controllers are respectively connected with the dual redundant buses.

4. The ROS system-based smart security device of claim 3, wherein the vehicle motion sensing system controller is connected to inertial navigation, speed sensor, angle sensor, and Beidou positioning, respectively.

5. The ROS system-based smart security device of claim 3, wherein the environmental awareness system controller is connected to lidar, ultrasound, cameras, and millimeter waves, respectively.

6. The ROS system-based smart security device of claim 3, wherein the human interaction system controller is coupled to a remote control and a local controller.

7. The ROS system-based smart assurance device of claim 3, wherein the execution system controller is coupled to valves, motors, engines, transmissions, pumps, motors, encoders, and displacement sensors.

8. The ROS system-based smart security device of claim 3, wherein the alarm system controller is connected to a speaker, a display, a light, and a vibration motor.

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