Autonomous navigation system for border security unmanned patrol vehicle

An autonomous navigation system, patrol car technology, applied in the control/adjustment system, two-dimensional position/channel control, vehicle position/route/altitude control and other directions, can solve the problem that the autonomous navigation system cannot satisfy high-speed, two-way and safe autonomy at the same time problems such as driving, to achieve the effect of eliminating blind spots for environmental detection, meeting the needs of large-scale patrol operations, and shortening the mapping cycle

Pending Publication Date: 2020-07-28
CHINA NORTH VEHICLE RES INST +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The technical problem to be solved by the present invention is: how to overcome the defect that the existing autonomous navigation system cannot satisfy the high-speed, two-way and safe autonomous driving at the same time, and how to simultaneously satisfy the autonomous driving application of the unmanned vehicle along the fixed-enclosed road patrol operation and linkage operation need

Method used

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  • Autonomous navigation system for border security unmanned patrol vehicle
  • Autonomous navigation system for border security unmanned patrol vehicle
  • Autonomous navigation system for border security unmanned patrol vehicle

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Experimental program
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Embodiment 1

[0091] This embodiment provides an autonomous navigation system for an unmanned patrol vehicle for perimeter security, and the specific technical solution is as follows:

[0092] The system is composed of man-machine interface module, environment perception module, positioning and orientation module, decision-making planning module and tracking control module. The hardware configuration includes perception sensor, high-precision positioning device and control computer. The software components of each module are deployed on the control computer. The software adopts a distributed architecture. If necessary, the software components of different modules exchange information through the subscription / publishing mechanism of the communication middleware.

[0093] The human-machine interface module realizes the information interaction between the autonomous navigation system and the remote control system. On the one hand, it receives the mission path from the remote control system, and...

Embodiment 2

[0105] like figure 1 As shown, the autonomous navigation system of the perimeter security unmanned patrol vehicle provided in this embodiment is composed of five functional modules, including a man-machine interface module, an environment perception module, a positioning and orientation module, a decision-making and planning module, and a tracking and control module. The system is upwardly connected with the remote control system of the perimeter security unmanned patrol car, and downwardly connected with the chassis controller of the patrol car maneuvering system.

[0106] like figure 2 As shown, the hardware configuration of the autonomous navigation system includes perception sensors, control computers and high-precision positioning devices.

[0107] like image 3 As shown, the autonomous navigation system software adopts a distributed architecture, including man-machine interface, pose data acquisition, front-end single-line radar data acquisition, front-end multi-line ...

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Abstract

The invention belongs to the field of autonomous navigation of unmanned vehicles, and particularly relates to an autonomous navigation system for a border security unmanned patrol vehicle. The systemcomprises a man-machine interface module, an environment sensing module, a positioning and orientating module, a decision planning module and a tracking control module, wherein the environment sensingmodule adopts a calculation lightweight mapping algorithm, is short in mapping period, can support the rapid operation of an autonomous navigation system and the high-speed driving of an unmanned vehicle, and meets the requirements of large-range patrol operation; in addition, the environment sensing sensor suites are symmetrically arranged at the front end and the rear end of the unmanned vehicle body respectively, and the unmanned vehicle is supported to have forward and backward two-way autonomous driving capacity under the condition that the unmanned vehicle does not turn around; a single-line radar and a multi-line radar are arranged, so that an environment detection blind area is eliminated; an RTK differential base station is configured, so that the positioning precision is improved; an electronic fence is overlaid on a cost map, path planning is carried out in a road surface range in a constrained mode, and the measures and methods improve the safety of autonomous driving of the unmanned vehicle.

Description

technical field [0001] The invention belongs to the field of autonomous navigation of unmanned vehicles, and in particular relates to an autonomous navigation system of an unmanned patrol vehicle for perimeter security. Background technique [0002] In the traditional security system, a combination of fixed camera surveillance and security personnel patrolling along the route is usually used. Under the double effects of the continuous increase in the employment cost of security personnel and the rapid development of artificial intelligence technology, the use of unmanned patrol vehicles to replace security personnel on duty has become an important development trend in the security field. The perimeter security unmanned patrol vehicle has the ability to autonomously maneuver along the perimeter road, intelligently monitor and identify targets, and handle accidents in an emergency. It is suitable for performing perimeter patrol tasks in large areas such as airports and warehou...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/027G05D1/0278G05D1/0231
Inventor 苏治宝陶进李兆冬安旭阳项燊李冀川
Owner CHINA NORTH VEHICLE RES INST
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