Patrol system with multiple unmanned platforms and implementation method thereof

Abstract

The invention provides a multi-unmanned-platform patrol system and an implementation method thereof, and relates to the technical field of unmanned systems, the multi-unmanned-platform patrol system comprises an unmanned platform system, an application service system and a communication system, the unmanned platform system comprises a plurality of unmanned platforms, a control terminal and a communication system access terminal, and the communication system access terminal accesses each unmanned platform to the communication system. The communication system realizes communication between the unmanned platform system and the application service system and reserves a standby communication means; the application service system comprises a cloud platform server, a cloud management and control platform and a mobile handheld terminal; the cloud platform server is used for constructing an unmanned platform list; and the cloud management and control platform, the mobile handheld terminal and the control terminal are respectively used for controlling and / or scheduling at least one unmanned platform in the unmanned platform list according to the default control authority or the switched control authority. Various control devices are arranged for the unmanned platform, and flexible control of the unmanned platform and improvement of the survivability of the system are realized through a multi-service interaction mode.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned systems, and in particular to a multi-unmanned platform patrol system and an implementation method thereof. Background Art

[0002] The regional security integration platform integrates multiple security systems and equipment, and manages and monitors them through a unified cloud platform to improve the efficiency and effectiveness of regional security management. The unmanned platform patrol system is equipped with an unmanned platform (such as unmanned vehicles, drones, etc.), which has the characteristics of active monitoring, flexibility and efficiency, and all-weather operation. It is the key to the regional security integration platform. The unmanned platform has three-dimensional perception and intelligent information processing functions, and conducts panoramic dynamic monitoring of roads, houses and surrounding conditions in the region. It comprehensively collects on-site information and accurately detects, intelligently identifies, and responds quickly to the environment, providing real-time data for the regional security integration platform, realizing unmanned security patrols, disaster alarms and other functions.

[0003] At present, users manage and monitor unmanned platforms through a unified cloud platform. In complex and harsh environments, the system deployment and control methods are not flexible. Failure of a node in the cloud platform may result in the inability to control the unmanned platform and the system's anti-destruction performance is weak. Summary of the invention

[0004] The present invention provides a multi-unmanned platform patrol system and an implementation method thereof, so as to solve the defects that users need to use and view the background data content of the unmanned platform through a cloud platform, the system deployment and control methods are inflexible in complex environments, and the system has weak anti-destruction performance.

[0005] The present invention provides a multi-unmanned platform patrol system, including an unmanned platform system, an application service system and a communication system, wherein the unmanned platform system includes multiple unmanned platforms, a control terminal and a communication system access terminal, wherein the communication system access terminal is used to connect each of the unmanned platforms to the communication system, and the communication system is used to realize communication between the unmanned platform system and the application service system; the application service system includes a cloud platform server, a cloud-based control platform and a mobile handheld terminal, wherein the cloud platform server is used to construct an unmanned platform list; the cloud-based control platform, the mobile handheld terminal and the control terminal are respectively used to control and / or dispatch at least one of the unmanned platforms in the unmanned platform list according to default control authority or switched control authority.

[0006] As an embodiment, the default control authority of the cloud control platform includes controlling and / or dispatching multiple unmanned platforms at the same time, the default control authority of the mobile handheld terminal includes dispatching video surveillance information of multiple unmanned platforms and / or controlling multiple unmanned platforms to execute preset emergency instructions, and the default control authority of the control terminal includes controlling and / or dispatching a single unmanned platform; The control authority of the cloud-based control platform after switching is the default control authority of the mobile handheld terminal or the default control authority of the control terminal. The control authority of the mobile handheld terminal after switching is the default control authority of the cloud-based control platform or the default control authority of the control terminal. The control authority of the control terminal after switching is the default control authority of the cloud-based control platform or the default control authority of the mobile handheld terminal.

[0007] As an embodiment, the unmanned platform includes a standby mode, a remote control mode and an autonomous control mode. The remote control mode is used to perform tasks according to instructions from the cloud management and control platform, the mobile handheld terminal or the control terminal, and the autonomous control mode is used to perform tasks according to a preset patrol route.

[0008] As an embodiment, the communication system access terminal includes a broadband access terminal, the unmanned platform system also includes a first backup radio station, the communication system includes a broadband access network and a second backup radio station, and the unmanned platform is used to access the broadband access network based on the broadband access terminal within the signal coverage range of the broadband access network so as to perform encrypted communication with the application service system, and to perform point-to-point communication based on the first backup radio station and the second backup radio station in the signal coverage blind area of ​​the broadband access network so as to perform encrypted communication with the application service system.

[0009] As an embodiment, the hardware structure of the unmanned platform includes a driving layer at the bottom layer, a communication and electronic control layer at the middle layer, and a superstructure monitoring layer at the top layer. The driving layer is used to drive the unmanned platform to patrol autonomously along a designated route in the mission area or patrol in response to instructions from the cloud management and control platform, the mobile handheld terminal or the control terminal; the communication and electronic control layer is used to control the driving layer, access the communication system to communicate with the application service system and obtain environmental perception parameters; the superstructure monitoring layer is used to obtain monitoring videos of different horizontal planes, detect environmental gases and abnormal alarms.

[0010] As an embodiment, the driving layer includes a chassis frame, wheels arranged on the chassis frame, and a wheel driving system electrically connected to the wheels, and the wheel driving system is used to drive the vehicle to rotate and / or turn.

[0011] As an embodiment, the communication system access terminal is arranged in the communication electronic control layer, and the communication electronic control layer also includes a battery power supply and distribution system, an environmental perception system and a chassis controller. The battery power supply and distribution system is used to supply power to the driving layer, the communication electronic control layer and the upper body monitoring layer. The environmental perception system includes at least one radar sensor and a front camera, and the radar sensor and the front camera are used to cooperate to determine the environmental perception parameters; the chassis controller is electrically connected to the driving layer so as to control the driving layer.

[0012] As an embodiment, the upper monitoring layer includes a lifting platform, a dual-light pan-tilt camera, an audible and visual alarm, and a gas detector. The dual-light pan-tilt camera is arranged on the lifting platform to cooperate in obtaining monitoring videos of different horizontal planes. The gas detector is used to detect environmental gases, and the audible and visual alarm is used for abnormal alarms.

[0013] As an embodiment, the software structure of the unmanned platform includes an unmanned mobile platform functional module, a safety and monitoring functional module and a communication link functional module. The unmanned mobile platform functional module is deployed on the unmanned platform, and is used to control the perception, planning, decision-making and control of the unmanned platform's driving, and accept remote control and / or scheduling of the application service system through the communication link functional module, and upload data to the application service system; the safety and monitoring functional module is deployed on the unmanned platform, and is used to collect environmental perception parameters of the task area according to multi-dimensional sensors, and identify, analyze and warn the environmental perception parameters based on edge computing, or upload the environmental perception parameters to the application service system so that the application service system can identify, analyze and warn the environmental perception parameters.

[0014] The present invention also provides a method for implementing a multi-unmanned platform patrol system, comprising: An unmanned platform system, an application service system and a communication system are set up. The unmanned platform system includes multiple unmanned platforms, a control terminal and a communication system access terminal. The communication system access terminal is used to connect each of the unmanned platforms to the communication system. The communication system is used to realize communication between the unmanned platform system and the application service system. The application service system includes a cloud platform server, a cloud management and control platform and a mobile handheld terminal. The cloud platform server is used to build an unmanned platform list. According to the default control authority or the switched control authority, the cloud control platform, the mobile handheld terminal and the control terminal are controlled to respectively control and / or dispatch at least one of the unmanned platforms in the unmanned platform list.

[0015] The multi-unmanned platform patrol system and implementation method provided by the present invention, the cloud control platform, the mobile handheld terminal and the control terminal are respectively used to control and / or dispatch at least one of the unmanned platforms in the unmanned platform list according to the default control authority or the switched control authority. The present invention sets a variety of control devices for the unmanned platform, and each control device can switch permissions to achieve flexible control, which solves the defects of inflexible system deployment and control methods in complex environments and weak system anti-destruction performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of the multi-unmanned platform patrol system provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the system architecture of the multi-unmanned platform patrol system provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the communication interaction link of the unmanned platform provided by the present invention.

[0020] Figure 4a This is one of the hardware structure diagrams of the unmanned platform provided by the present invention. Figure 4b This is the second schematic diagram of the hardware structure of the unmanned platform provided by the present invention.

[0021] Figure 5 It is a schematic diagram of the software structure of the unmanned platform provided by the present invention.

[0022] Figure 6 It is a schematic diagram of the chassis protocol parsing process of the unmanned platform provided by the present invention.

[0023] Figure 7a This is one of the schematic diagrams of the local path planning results of the Open Planner algorithm. Figure 7b This is the second schematic diagram of the local path planning results of the Open Planner algorithm.

[0024] Figure 8a is one of the schematic diagrams of the local path planning results provided by the present invention. Figure 8b This is the second schematic diagram of the local path planning result provided by the present invention.

[0025] Fig. 9 a- Fig. 9d is one of four local path schematic diagrams of the unmanned vehicle autonomous navigation and obstacle avoidance process provided by the present invention.

[0026] Fig.10 It is a schematic diagram of the search process of the optimal path provided by the present invention.

[0027] Fig.11 It is a schematic diagram of the overall flow of the path planning algorithm provided by the present invention.

[0028] Fig.12 It is a flow chart of a method for implementing a multi-unmanned platform patrol system provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The existing unmanned patrol system does not take user levels into consideration. All users use and view the background data content of the unmanned platform through the cloud platform. At the same time, the unmanned platform is only deployed in areas with good 5G network coverage signals, or only point-to-point communication is performed in 5G coverage blind areas. The scene usage is single and the control method is not flexible. In the 5G network environment, the security of important data transmission is not considered carefully or even not considered at all, and a certain node is damaged, resulting in the inability to control.

[0031] In this regard, the present invention provides a technical solution for a multi-unmanned platform patrol system and an implementation method thereof, which at least solves the problems of inflexible control mode and system anti-destruction performance, and is described in detail below with reference to the accompanying drawings.

[0032] Figure 1 FIG. 1 is a schematic diagram of the structure of the multi-unmanned platform patrol system provided by the present invention. Figure 1 As shown, the present invention provides a multi-unmanned platform patrol system, which is an intelligent system for controlling multiple unmanned platforms to realize regional security patrol, including an unmanned platform system 100, an application service system 200 and a communication system 300. In the embodiment of the present invention, the unmanned platform is explained by taking an unmanned vehicle as an example. In other embodiments, the unmanned platform can also be an intelligent unmanned device such as a drone, an unmanned surface vessel, or an unmanned submarine.

[0033] The unmanned platform system 100 includes multiple unmanned platforms, a control terminal and a communication system 300 access terminal, and the communication system 300 access terminal is used to connect each of the unmanned platforms to the communication system 300 .

[0034] The communication system 300 is used to realize the communication between the unmanned platform system 100 and the application service system 200; the communication system 300 is a broadband private network communication system 300, which has the characteristics of high bandwidth, low latency and high reliability. The unmanned platform establishes a link with the application service system 200 through the communication system 300 access terminal and the communication system 300, accesses the application service system 200, and reports the unique identifier (such as the unmanned platform ID number) to the application service system 200.

[0035] The application service system 200 includes a cloud platform server, a cloud management and control platform and a mobile handheld terminal. The cloud platform server is used to build an unmanned platform list based on the unique identifier of the unmanned platform and forward business and command data between each unmanned platform and the cloud management and control platform and the mobile handheld terminal, thereby providing hardware support for the cloud management and control platform.

[0036] The cloud control platform, the mobile handheld terminal and the control terminal are all deployed with control software, and the control software is used to set different control permissions for the cloud control platform, the mobile handheld terminal and the control terminal. The cloud control platform, the mobile handheld terminal and the control terminal are respectively used to control and / or dispatch at least one of the unmanned platforms in the unmanned platform list according to the default control permission or the switched control permission. The control terminal can directly interact with the unmanned platform for business and command data through backup communication means.

[0037] Figure 2 Schematic diagram of the system architecture of the multi-unmanned platform patrol system provided by the present invention. Figure 2 As shown in the figure, in order to realize real-time autonomous cruising / remote control and intelligent monitoring of multiple unmanned platforms, the system architecture of the multi-unmanned platform patrol system is constructed in an "end-cloud" manner.

[0038] The end refers to the unmanned platform. Taking the unmanned vehicle as an example, the unmanned vehicle conducts dynamic patrols, conducts three-dimensional real-time perception of the environment inside and outside the mission area, and intelligently detects, identifies and analyzes the perceived information based on the computing resources of the unmanned vehicle. At the same time, based on the onboard high-performance computing equipment, it can detect and track suspicious targets around the park and sensitive areas, and can efficiently and accurately collect training data, thereby improving the three-dimensional patrol, rapid response, and training support capabilities of the mission area.

[0039] The cloud refers to the application service system 200, which provides dynamic security inspection and monitoring services for the resident, and supports storage of monitoring information, comprehensive information processing, query, command and dispatch services. The cloud control platform, mobile handheld terminal and portable control terminal can freely access the application service system 200 within the network coverage, and can control the unmanned platform by switching permissions, and can realize the multi-platform scenario application of unmanned platform-cloud platform server-cloud platform / mobile handheld terminal, and can also realize the point-to-point scenario application of unmanned platform-portable control terminal, and the combined application method is more flexible.

[0040] It is understandable that the present invention sets up a variety of control devices for the unmanned platform. The cloud control platform, mobile handheld terminal and portable control terminal can correspond to the user level. Each control device can switch permissions to achieve flexible control. At the same time, each business interaction mode can achieve system deployment flexibility and anti-destruction. The present invention provides different business interaction modes, which can realize point-to-point data interaction between the control terminal and the unmanned platform, and can also realize cloud server data forwarding to improve the system anti-destruction; it can also log in to the control software according to different levels of authority devices such as the control terminal, mobile handheld terminal, and cloud control platform, and realize different permissions of the control of the unmanned vehicle. After a connection is established and registered between any device and the unmanned vehicle, the unmanned vehicle can be set to standby mode / remote control mode / autonomous mode. In standby mode, the unmanned vehicle cannot be controlled, and only the data information reported by the unmanned vehicle can be viewed; in remote control mode, the unmanned vehicle can be remotely controlled and the information reported by the unmanned vehicle can be viewed at the same time. The control terminal has the highest authority and can seize the control rights of the mobile handheld terminal and the cloud control platform. The mobile handheld terminal and the cloud control platform have the same level of authority and need to apply for control authority. The unmanned vehicle can only be controlled after the other party releases the authority; in autonomous mode, patrol tasks are issued and patrols can be carried out along the specified route. Any other device can seize the control authority of the unmanned platform and switch to remote control mode.

[0041] Based on the above embodiments, as an optional embodiment, the default control authority of the cloud management and control platform includes simultaneously controlling and / or dispatching multiple unmanned platforms, the default control authority of the mobile handheld terminal includes dispatching video surveillance information of multiple unmanned platforms and / or controlling multiple unmanned platforms to execute preset emergency instructions, and the default control authority of the control terminal includes controlling and / or dispatching a single unmanned platform.

[0042] The control authority of the cloud-based control platform after switching is the default control authority of the mobile handheld terminal or the default control authority of the control terminal. The control authority of the mobile handheld terminal after switching is the default control authority of the cloud-based control platform or the default control authority of the control terminal. The control authority of the control terminal after switching is the default control authority of the cloud-based control platform or the default control authority of the mobile handheld terminal.

[0043] Optionally, different control permissions are assigned to the cloud control platform, mobile handset and intelligent control terminal according to the user level. By default, the cloud control platform can control and dispatch multiple unmanned platforms at the same time according to the unmanned platform ID number. The mobile handset only supports dispatching multiple unmanned platform video surveillance information and executing emergency commands. The intelligent control terminal only supports controlling and dispatching a single unmanned platform. In other embodiments, the cloud office platform, mobile handset and intelligent control terminal have permission switching functions, which are more flexible to use.

[0044] In a park with good conditions, a cloud platform system and a communication system 300 are built in the park. The cloud management and control platform and the mobile handheld terminal can control / dispatch the unmanned vehicle through the cloud server, or directly use the control terminal to control / dispatch the unmanned vehicle, solve the equipment permission problem, and enable different users to control or view the unmanned platform; in a harsh environment, a mobile launch vehicle is used for communication. Within the communication coverage range, the unmanned platform and the control terminal can access the communication launch vehicle through the mobile communication terminal to conduct business interaction and realize the control of the unmanned platform.

[0045] It is understandable that the cloud management and control platform, mobile handheld terminals and portable control terminals have permission switching functions, which can provide users with solutions for various complex usage scenarios and achieve flexible deployment.

[0046] Based on the above embodiment, as an optional embodiment, the unmanned platform includes a standby mode, a remote control mode and an autonomous control mode. The remote control mode is used to perform tasks according to instructions from the cloud management and control platform, the mobile handheld terminal or the control terminal, and the autonomous control mode is used to perform tasks according to a preset patrol route.

[0047] Optionally, the working mode of the unmanned platform can be quickly adjusted according to the mission tasks proposed by the user. The unmanned platform mainly has three states: standby, control and autonomy. The control state can realize manual remote control of the unmanned platform in all areas, and the autonomous state mainly performs tasks according to the preset patrol routes.

[0048] It is understandable that based on different mission tasks, the unmanned platform can switch between manual remote control and autonomous patrol modes. For example, in areas where the positioning signal is not interfered with, the patrol route can be recorded, patrol tasks can be issued, and the platform can travel along the designated patrol route. If there is no recorded patrol route or the positioning signal is poor, the unmanned platform can only be driven by remote control, providing users with solutions for various complex usage scenarios.

[0049] Figure 3 is a schematic diagram of the communication interaction link of the unmanned platform provided by the present invention, such as Figure 3As shown, based on the above embodiment, as an optional embodiment, the communication system 300 access terminal includes a broadband access terminal, the unmanned platform system 100 also includes a first backup radio station, the communication system 300 includes a broadband access network and a second backup radio station, and the unmanned platform is used to access the broadband access network based on the broadband access terminal within the signal coverage of the broadband access network so as to perform encrypted communication with the application service system 200, and to perform point-to-point communication based on the first backup radio station and the second backup radio station in the signal coverage blind area of ​​the broadband access network so as to perform encrypted communication with the application service system 200.

[0050] Optionally, the unmanned platform at the front end encrypts the data, and the application service system 200 at the back end decrypts the data. A remote control and return transmission system is built between the end and the cloud based on the high bandwidth, low latency, and high reliability characteristics of the broadband access transmission network, providing integrated real-time remote patrol and environmental monitoring services coordinated by the three-dimensional transmission network at the unmanned platform end and the back-end processing platform.

[0051] It is understandable that the unmanned platform can patrol autonomously along the designated route in the mission area, and has functions such as information collection, image recognition, security inspection, disaster alarm, navigation and obstacle avoidance. Under normal circumstances, the unmanned platform can be remotely monitored or finely controlled based on the broadband access network, and various types of on-site information transmitted back by the unmanned platform in real time can be intelligently identified and early-warning processed. When the broadband access network cannot work or is limited in work, the operator can remotely control the unmanned platform through the dedicated radio network. The dedicated radio network can be deployed according to the hierarchical allocation of resident users, and can be directly connected to the portable control terminal or connected to the cloud office system through the local area network. According to the complex network environment, the present invention can quickly and flexibly switch the communication mode of the unmanned platform. The unmanned platform is equipped with a broadband access terminal and a backup radio at the same time. Within the coverage range of the broadband access network signal, the broadband access communication link is used for transmission. In the blind area of ​​the broadband access network signal coverage, point-to-point communication is carried out through the backup radio. Both communication modes encrypt the data information. When the control terminal can access the network at will within any coverage range, the entire system is more secure. The present invention improves the control quality and security of the system through the transmission security mechanism of the dedicated network communication link.

[0052] Based on the above embodiment, as an optional embodiment, the hardware structure of the unmanned platform is a layered structure, including a driving layer at the bottom layer, a communication and electronic control layer at the middle layer, and a superstructure monitoring layer at the top layer.

[0053] The driving driving layer is used to drive the unmanned platform to patrol autonomously along a designated route in the mission area or to patrol in response to instructions from the cloud management and control platform, the mobile handheld terminal or the control terminal.

[0054] Optionally, the driving layer includes a chassis frame, wheels arranged on the chassis frame, and a wheel driving system electrically connected to the wheels, and the wheel driving system is used to drive the vehicle to rotate and / or turn.

[0055] The communication and electronic control layer is used to control the driving layer, access the communication system 300 to communicate with the application service system 200, and obtain environmental perception parameters.

[0056] Optionally, the communication system 300 access terminal is arranged in the communication electronic control layer, and the communication electronic control layer also includes a battery power supply and distribution system, an environmental perception system and a chassis controller. The battery power supply and distribution system is used to supply power to the driving layer, the communication electronic control layer and the upper monitoring layer. The environmental perception system includes at least one radar sensor and a front camera, and the radar sensor and the front camera are used to cooperate to determine the environmental perception parameters; the chassis controller is electrically connected to the driving layer so as to control the driving layer.

[0057] The upper monitoring layer is used to obtain monitoring videos of different horizontal planes, detect environmental gases and issue abnormal alarms.

[0058] Optionally, the upper monitoring layer includes a lifting platform, a dual-light pan-tilt camera, an audible and visual alarm and a gas detector. The dual-light pan-tilt camera is arranged on the lifting platform to cooperate in obtaining monitoring videos of different horizontal planes. The gas detector is used to detect environmental gases, and the audible and visual alarm is used for abnormal alarms.

[0059] Figure 4a This is one of the hardware structure diagrams of the unmanned platform provided by the present invention. Figure 4b This is the second schematic diagram of the hardware structure of the unmanned platform provided by the present invention, such as Figure 4a and Figure 4bAs shown, the unmanned platform is an unmanned vehicle. The charging pile automatically charges the unmanned vehicle through the charging pile brush head 101, and manually charges the unmanned vehicle through the manual charging handle 102. The front end of the unmanned vehicle is provided with a charging brush block 103 corresponding to the charging pile brush head 101, and the side is provided with a manual charging port 104 corresponding to the manual charging handle 102. The upper monitoring layer of the unmanned vehicle includes a lifting platform 105, a dual-light pan-tilt camera 106, an audible and visual alarm 107, a gas detector 108, an inertial navigation 109, a laser radar 110 and a speaker 111. The pan-tilt camera 106 is arranged on the top of the lifting platform 105, the speaker 111 is arranged at the front end of the lifting platform 105, a camera 112 is arranged on each side of the lifting platform 105, a 5G antenna 113 is arranged at the rear end of the lifting platform 105, and the rear end of the unmanned vehicle is also provided with a 5G Beidou antenna 114 and a radio antenna 115 belonging to the communication and electronic control layer. The sound and light alarm 107, gas detector 108, inertial navigation 109 and laser radar 110 are arranged at the front end of the unmanned vehicle. The unmanned vehicle also includes radar sensors 116 arranged at the front and rear ends.

[0060] It can be understood that the hardware structure of the unmanned platform provided by the present invention adopts a layered setting, and the hardware of each layer can work independently. If a certain layer fails, the other layers can still maintain basic functions, thereby improving the reliability of the system.

[0061] Figure 5 It is a schematic diagram of the software structure of the unmanned platform provided by the present invention, such as Figure 5 As shown, based on the above embodiment, as an optional embodiment, the software structure of the unmanned platform includes an unmanned aerial vehicle function module, an unmanned aerial vehicle platform function module, a safety and monitoring function module and a communication link function module.

[0062] The unmanned mobile platform function module is deployed on the unmanned platform, and is used to control the perception, planning, decision-making and control of the unmanned platform. It accepts remote control and / or scheduling of the application service system 200 through the communication link function module, and uploads data to the application service system 200. In general, the unmanned mobile platform function module is connected to the broadband network through the communication link function module to interconnect with the application service system 200. When the broadband network communication is disconnected or does not work well, the operator can use the backup radio communication link to remotely control the unmanned platform, thereby improving the communication environment adaptability of the unmanned platform.

[0063] The safety monitoring function module is deployed on the unmanned platform, and is used to collect environmental perception parameters of the task area according to multi-dimensional sensors, identify, analyze and warn the environmental perception parameters based on edge computing, or upload the environmental perception parameters to the application service system 200 so that the application service system 200 can identify, analyze and warn the environmental perception parameters.

[0064] The application service system 200 can be deployed in a monitoring room and is aimed at human-computer interaction applications, including: control of unmanned vehicles and mission payloads, and identification, analysis, and early warning of data collected and returned by sensors.

[0065] Optionally, the unmanned aerial vehicle maneuvering function module includes an action decision module and a trajectory tracking module. The action decision module receives information from the perception module and the trajectory planning module to determine the final behavior mode, such as starting, detouring, and stopping for obstacles. The trajectory tracking module controls the movement of the vehicle according to the trajectory output by the trajectory planning module in an operational state.

[0066] Figure 6 It is a schematic diagram of the chassis protocol parsing process of the unmanned platform provided by the present invention, such as Figure 6 As shown, each module of the unmanned vehicle dynamic function module transmits messages based on the topic mode of the ROS operating system. According to the chassis control protocol, the upper-level software module only needs to shift the data of each frame or synthesize the data bits to correctly obtain the chassis status data. The ROS node will read the yaml configuration file at startup, obtain the basis for fault level judgment, determine the fault level of the state according to the status information reported by the chassis, and encapsulate it into a ROS topic to report it to the management node. The main purpose of the unmanned vehicle dynamic function module is to ensure that the unmanned vehicle remains in the drivable area (middle of the road) during autonomous maneuvers, that is, to determine the relative position of the unmanned vehicle in the current environment and the drivable area, especially for the situation where the GNSS positioning used by the current unmanned platform deviates from the global path or the longitude and latitude of the global path itself is not in the middle of the road.

[0067] The planning algorithm proposed in the present invention is based on the global path. First, discrete sampling is performed to obtain sampling points within a certain range of the global path. Then, a connected graph based on the sampling points is constructed according to cost functions with different priorities. Finally, the Dijkstra algorithm is used to search for the path with the lowest cost and perform smoothing to obtain a local feasible path.

[0068] In order to verify the advantages of the algorithm, the present invention uses the commonly used Open Planner local path planning algorithm and this algorithm for comparative experiments. When there are no obstacles in the local environment, both methods can obtain a reasonably smooth local path, such as Figure 7a and Figure 8a When there are many obstacles in the local environment, the Open Planner algorithm cannot plan a more curved path due to its limitations. In the end, all sampled paths are considered impassable, as shown in Figure 7b As shown in FIG. 1 , the algorithm proposed in the present invention can still use the graph search method to obtain a smooth path that avoids all obstacles when there are many obstacles. Figure 8b shown.

[0069] Fig. 9 a- Fig. 9 d shows the obstacle avoidance path planned by the unmanned vehicle during autonomous navigation. It can be seen that the unmanned vehicle of the present invention can plan a smooth obstacle avoidance path in real time, so that the unmanned vehicle avoids obstacles. The specific steps of planning a smooth obstacle avoidance path for the unmanned vehicle are described in detail below: 1) Discrete sampling: This invention adopts a discrete sampling algorithm similar to Open Planner. First, the current position of the unmanned platform and the set maximum planning distance are used to intercept the corresponding partial path from the global path. Then, sampling is performed based on the partial path. The sampling is divided into three parts: the first is the Car Tip part, from the center of the vehicle to the starting point of the lateral sampling, which determines the switching smoothness between different trajectories; the second part is Roll In, from the end of the Car Tip to the starting point of the parallel sampling, and the Roll In length is proportional to the robot speed; the third part is Roll Out, from the end of Roll In to the end of the intercepted path, and the sampling points are obtained by directly moving vertically from the path. Finally, the sampling points are smoothed to a certain extent.

[0070] 2) Construction of a connectivity graph based on cost: After obtaining the sampling points, a connectivity graph needs to be constructed before performing a graph search. The present invention constructs three different cost functions for calculating the cost of connecting points. By calculating the cost of each sampling point and the surrounding 8 points, those that meet the conditions are connected as neighbors of the sampling point. Each neighbor contains three costs. According to the sampling point and the surrounding neighbors, the algorithm sets each sampling point to correspond to a node, which includes the sampling point's own position, the cost of different priorities from the initial node to the node, the parent node used for path backtracking, and the connectable neighbors and other information, thus constructing a graph. The cost functions used in the present invention include obstacle cost, global path cost, and lane change cost function.

[0071] The obstacle cost function is shown in formula (1): The cost function is calculated based on the grid map, and the obstacles in the map are expanded. represents the sampling point, express The ith of the 8 surrounding sampling points, let and There exists grids, Indicates A grid. It means the The cost of the grid of the grid. The cost of the obstacle between the sampling points can be calculated by this formula. At the same time, when there is an obstacle body instead of an expansion area between two sampling points, it is considered that the two points are impassable and the connection between the two points is not performed.

[0072] The global path cost function is shown in formula (2): As shown in the formula, when the sampling point and the points around it If there is a point that is not on the global path, the distance between the two points is calculated as the sampling point. and neighbors When both points are on the global path, the connection cost is 0.

[0073] The lane change cost function is shown in formula (3): In the formula Indicate point The corresponding sampling path number, express The sampling path number of the corresponding point, the cost of the line between two points is expressed by the absolute value of the difference between the path numbers of the two points. The sampling path number is determined by discrete sampling, usually n sampling paths, numbered 0 n.

[0074] Based on the above three cost functions, the relationship between the sampling points can be constructed. Each sampling node is connected to the surrounding accessible points through neighbors to obtain a connected graph containing costs.

[0075] 3) Dijkstra-based path search: In order to achieve path planning in a multi-obstacle environment and avoid situations similar to Open Planner being unable to plan a path, there are too many obstacles around the global path. Open Planner directly selects the optimal path from the multiple paths obtained by sampling based on the cost function evaluation, and cannot plan a curved path that avoids all obstacles ahead.

[0076] like Fig.10 As shown, the present invention aims at the above problems and uses a method combining Dijkstra and cost evaluation to search for the optimal path. First, according to the three cost functions designed when constructing the graph, when using Dijkstra to search for the path, when selecting the optimal neighbor node according to the current optimal path point, three costs are considered: obstacle risk cost, cost of deviating from the global path, and lane change cost.

[0077] like Fig.11As shown, the overall process of the path planning algorithm provided by the present invention includes the following steps: First, the system is initialized to receive the global path and the real-time position of the unmanned platform in real time. The nearest point on the global path is found according to the position of the unmanned platform. A part of the global path is intercepted as the sampling basis according to the expected planned path length. Whether the local path needs to be updated is determined based on the length of the local path, whether the global path is updated, and the distance between the unmanned platform and the previous local path. If not, the nearest point of the unmanned platform on the local path is found and the second half of the local path is intercepted as the final result; otherwise, subsequent path updates are performed.

[0078] Car Tip, Roll In, and Roll Out sampling is performed based on the global path and the position of the unmanned platform according to the preset parameters to obtain a series of sampling points; According to the three cost functions, the sampling points are connected through the neighbor method to construct a connectivity graph; Perform Dijkstra-based path search based on cost functions of different priorities and store the path by saving the parent node; Starting from the target point, backtrack according to the parent node to find the optimal path. If the target node is not passable, find the passable node farthest from the robot on the intercepted global path, and backtrack the parent node to find the farthest passable local path.

[0079] It is understandable that the unmanned platform function module enables the unmanned platform to have the transmission service and video service capabilities interconnected with the application service system, and can accept remote control through the broadband network and upload comprehensive safety monitoring data to the application service system. The safety monitoring function module enables the unmanned platform to collect environmental information of the mission area through visual, sound, gas and other sensors, and monitor fire alarms, foreign objects, non-compliant behaviors, and abnormal sounds. The collected data can be identified, analyzed, and warned based on edge computing, and can also be directly uploaded to the application service system as needed.

[0080] In summary, the present invention provides a multi-unmanned platform patrol system in a complex environment, including: an unmanned platform system, an application service system and a private network communication system, the unmanned platform system and the application service system exchange information through the broadband access private network communication system; the application service system is used for remote control of the unmanned platform and dispatching the unmanned platform to return audio and video information, and can simultaneously control and dispatch multiple unmanned platforms, with tasks planning, remote control and telemetry, information processing, time synchronization and other functions; the unmanned platform is used for close reconnaissance, covert surveillance, emergency raids, alert duty and other tasks, and adopts the intelligent control terminal control mode outside the coverage of the wireless broadband access private network signal, and the unmanned platform and the intelligent control terminal exchange information through the backup radio. The present invention encrypts data in a broadband access network environment by comprehensively integrating the private network communication subsystem, the application service subsystem and the unmanned platform subsystem, supports remote control of the unmanned platform and the dispatching and storage of audio and video services, supports point-to-point usage mode outside the coverage of the wireless broadband access network signal, and can effectively support the combined application mode of multiple scenarios in a complex environment.

[0081] The following is a description of the implementation method of the multi-unmanned platform patrol system provided by the present invention. The implementation method of the multi-unmanned platform patrol system described below and the multi-unmanned platform patrol system described above can be referenced to each other.

[0082] Fig.12 FIG. 1 is a flow chart of a method for implementing a multi-unmanned platform patrol system provided by the present invention. Fig.12 As shown, the present invention also provides a method for implementing a multi-unmanned platform patrol system, comprising the following steps.

[0083] Step S1, setting up an unmanned platform system, an application service system and a communication system. The unmanned platform system includes multiple unmanned platforms, a control terminal and a communication system access terminal. The communication system access terminal is used to connect each of the unmanned platforms to the communication system. The communication system is used to realize communication between the unmanned platform system and the application service system. The application service system includes a cloud platform server, a cloud management and control platform and a mobile handheld terminal. The cloud platform server is used to build an unmanned platform list. Step S2, controlling the cloud control platform, the mobile handheld terminal and the control terminal to respectively control and / or dispatch at least one of the unmanned platforms in the unmanned platform list according to the default control authority or the switched control authority.

[0084] To sum up, the multi-unmanned platform patrol system implemented by the multi-unmanned platform patrol system implementation method has the same technical effect as the multi-unmanned platform patrol system, and will not be repeated here.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-unmanned platform patrol system, characterized in that: It includes an unmanned platform system, an application service system and a communication system. The unmanned platform system includes multiple unmanned platforms, a control terminal and a communication system access terminal. The communication system access terminal is used to connect each of the unmanned platforms to the communication system, and the communication system is used to realize communication between the unmanned platform system and the application service system; the application service system includes a cloud platform server, a cloud management and control platform and a mobile handheld terminal. The cloud platform server is used to build an unmanned platform list; the cloud management and control platform, the mobile handheld terminal and the control terminal are respectively used to control and / or dispatch at least one of the unmanned platforms in the unmanned platform list according to the default control authority or the switched control authority.

2. The multi-unmanned platform patrol system according to claim 1 is characterized in that: The default control authority of the cloud control platform includes controlling and / or dispatching multiple unmanned platforms at the same time, the default control authority of the mobile handheld terminal includes dispatching video surveillance information of multiple unmanned platforms and / or controlling multiple unmanned platforms to execute preset emergency instructions, and the default control authority of the control terminal includes controlling and / or dispatching a single unmanned platform; The control authority of the cloud-based control platform after switching is the default control authority of the mobile handheld terminal or the default control authority of the control terminal. The control authority of the mobile handheld terminal after switching is the default control authority of the cloud-based control platform or the default control authority of the control terminal. The control authority of the control terminal after switching is the default control authority of the cloud-based control platform or the default control authority of the mobile handheld terminal.

3. The multi-unmanned platform patrol system according to claim 1, characterized in that: The unmanned platform includes a standby mode, a remote control mode and an autonomous control mode. The remote control mode is used to perform tasks according to instructions from the cloud management and control platform, the mobile handheld terminal or the control terminal, and the autonomous control mode is used to perform tasks according to a preset patrol route.

4. The multi-unmanned platform patrol system according to claim 1, characterized in that: The communication system access terminal includes a broadband access terminal, the unmanned platform system also includes a first backup radio station, the communication system includes a broadband access network and a second backup radio station, and the unmanned platform is used to access the broadband access network based on the broadband access terminal within the signal coverage range of the broadband access network so as to perform encrypted communication with the application service system, and to perform point-to-point communication based on the first backup radio station and the second backup radio station in the signal coverage blind area of ​​the broadband access network so as to perform encrypted communication with the application service system.

5. The multi-unmanned platform patrol system according to any one of claims 1 to 4, characterized in that: The hardware structure of the unmanned platform includes a driving layer at the bottom layer, a communication and electronic control layer at the middle layer, and a superstructure monitoring layer at the top layer. The driving layer is used to drive the unmanned platform to patrol autonomously along a designated route in the mission area or patrol in response to instructions from the cloud management and control platform, the mobile handheld terminal or the control terminal; the communication and electronic control layer is used to control the driving layer, access the communication system to communicate with the application service system and obtain environmental perception parameters; the superstructure monitoring layer is used to obtain monitoring videos of different horizontal planes, detect environmental gases and alarm abnormalities.

6. The multi-unmanned platform patrol system according to claim 5, characterized in that: The driving layer includes a chassis frame, wheels arranged on the chassis frame, and a wheel driving system electrically connected to the wheels, wherein the wheel driving system is used to drive the vehicle to rotate and / or turn.

7. The multi-unmanned platform patrol system according to claim 5, characterized in that: The communication system access terminal is arranged in the communication electronic control layer, and the communication electronic control layer also includes a battery power supply and distribution system, an environmental perception system and a chassis controller. The battery power supply and distribution system is used to supply power to the driving layer, the communication electronic control layer and the upper monitoring layer. The environmental perception system includes at least one radar sensor and a front camera, and the radar sensor and the front camera are used to cooperate to determine the environmental perception parameters; the chassis controller is electrically connected to the driving layer so as to control the driving layer.

8. The multi-unmanned platform patrol system according to claim 7, characterized in that: The upper monitoring layer includes a lifting platform, a dual-light pan-tilt camera, an audible and visual alarm and a gas detector. The dual-light pan-tilt camera is arranged on the lifting platform to cooperate in obtaining monitoring videos of different horizontal planes. The gas detector is used to detect environmental gases, and the audible and visual alarm is used for abnormal alarms.

9. The multi-unmanned platform patrol system according to claim 1, characterized in that: The software structure of the unmanned platform includes an unmanned mobile platform functional module, a safety and monitoring functional module and a communication link functional module. The unmanned mobile platform functional module is deployed on the unmanned platform and is used to control the perception, planning, decision-making and control of the unmanned platform's driving, accept remote control and / or scheduling of the application service system through the communication link functional module, and upload data to the application service system; the safety and monitoring functional module is deployed on the unmanned platform and is used to collect environmental perception parameters of the task area according to multi-dimensional sensors, identify, analyze and warn the environmental perception parameters based on edge computing, or upload the environmental perception parameters to the application service system so that the application service system can identify, analyze and warn the environmental perception parameters.

10. A method for implementing a multi-unmanned platform patrol system, characterized in that: include: An unmanned platform system, an application service system and a communication system are set up. The unmanned platform system includes multiple unmanned platforms, a control terminal and a communication system access terminal. The communication system access terminal is used to connect each of the unmanned platforms to the communication system. The communication system is used to realize communication between the unmanned platform system and the application service system. The application service system includes a cloud platform server, a cloud management and control platform and a mobile handheld terminal. The cloud platform server is used to build an unmanned platform list. According to the default control authority or the switched control authority, the cloud control platform, the mobile handheld terminal and the control terminal are controlled to respectively control and / or dispatch at least one of the unmanned platforms in the unmanned platform list.

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