A vehicle anti-collision system and method based on multi-robot collaboration

Abstract

The present invention discloses a vehicle anti-collision system and method based on multi-robot cooperation, including a front patrol robot and a front dangerous goods detection robot arranged at the forefront of the vehicle prohibited passage area, a flat tire robot and a blocking robot arranged behind the front patrol robot and the front dangerous goods detection robot, and a on-site control center arranged behind all the robots; the front patrol robot is responsible for monitoring the driving status of passing vehicles, the front dangerous goods detection robot is responsible for detecting the dangerous goods characteristic signals of vehicles, the flat tire robot is responsible for releasing a flat tire net to dangerous vehicles, the blocking robot is responsible for releasing blocking road spikes to dangerous vehicles, and the on-site control center is responsible for monitoring and dispatching all the robots and identifying dangerous vehicles according to the obtained detection information. The present invention forms a coherent multi-level anti-collision process through multi-robot cooperation, with accurate identification, fast response speed, high interception accuracy, and greatly improves the reliability of the anti-collision system.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a vehicle anti-collision system and method based on multi-robot collaboration. Background Art

[0002] At present, some vehicles on the market are already equipped with vehicle active anti-collision systems. The vehicle active anti-collision system focuses on detecting and sensing through various sensors to achieve active anti-collision warning and braking of the vehicle. The existing vehicle active anti-collision systems mainly include radar detection systems, camera vision systems, ultrasonic sensing systems, and infrared detection systems. The specific advantages and disadvantages are as follows:

[0003] Radar detection system: It uses electromagnetic waves to detect surrounding objects, and determines the distance and speed of objects by measuring the time difference of reflected waves. It can work stably under different weather conditions and monitor obstacles around the vehicle in real time. For example, the radar in the vehicle adaptive cruise control system will automatically adjust the vehicle speed to maintain a safe distance when detecting that the vehicle ahead decelerates or there are obstacles. Its disadvantages are relatively high cost, limited detection accuracy for close-range objects, and susceptibility to interference from other electromagnetic waves, which may affect the accuracy of detection results.

[0004] Camera vision system: Generally installed at the front of the vehicle, it captures images of the road ahead and uses image processing technology to identify potential obstacles such as pedestrians and vehicles. Once a danger is identified, the system will issue a warning or automatically take braking measures. For example, the forward collision warning system and lane departure warning system of some vehicles rely on cameras to identify lane lines and vehicles, pedestrians, etc. ahead. Its disadvantages are that the image recognition accuracy will drop significantly or even fail under special lighting conditions such as strong light, backlight, night, low light, and tunnels; the judgment of distance is not as accurate as that of radar, and it is difficult to accurately obtain the three-dimensional information and depth information of objects from two-dimensional images, with a large amount of data processing and high requirements for hardware performance.

[0005] Ultrasonic sensor system: It detects obstacles around the vehicle by sending and receiving ultrasonic signals and is commonly used for short-distance detection. For example, in the parking assist system, when the vehicle is reversing or driving at a low speed, it helps the driver detect the distance of obstacles behind or on the side and issues an alarm reminder. Its disadvantages are short detection distance and large influence from environmental factors. In high-temperature, humid, or dusty environments, the propagation and reflection of ultrasonic waves will be interfered, affecting the detection effect.

[0006] Infrared detection system: It uses infrared radiation to perceive the surrounding environment and is sensitive to heat sources. It performs excellently at night or under low-light conditions and can assist the driver in discovering potential dangers when the light is insufficient. Its disadvantages are limited detection range and accuracy, susceptibility to environmental temperature influence, and possible misjudgment in high-temperature environments; it cannot identify the specific type and shape of objects, and its function is relatively single.

[0007] The vehicle active collision avoidance system belongs to the protection system for the vehicle owner himself, and its core protection targets are the vehicle owner and the vehicle body. However, when facing scenarios and events outside the coverage of the vehicle active collision avoidance system, it is difficult for this system to perform emergency avoidance operations or take corresponding protective measures. Correspondingly, there are a large number of fixed-place anti-collision facilities on the market to make up for such deficiencies and cope with related risks, such as fully automatic hydraulic lifting columns, flip-type roadblock machines, etc. The specific advantages and disadvantages are as follows:

[0008] Fully automatic hydraulic lifting column: It forms a solid obstacle by raising the column body, effectively preventing unauthorized vehicles from breaking in forcefully, ensuring the safety of personnel and important facilities, and minimizing the property losses and personal injuries caused by malicious ramming behaviors. It can be used to control the passing direction and route of vehicles, strictly manage and control the vehicle passing at various entrances and exits, and realize self-service management modes such as one vehicle per position and parked according to the number, improving the safety and management efficiency of the place and reducing the labor input cost. It can be linked with the barrier gate, parking lot system, access control system, traffic light system, etc. to achieve intelligent traffic management and security prevention. Its disadvantage is that it needs to be buried and reinforced to a certain depth underground, the construction process is relatively complex, the construction period is relatively long, increasing the installation difficulty and cost.

[0009] Flip-type roadblock machine: It consists of a base, a flipping body, a hydraulic power system or an electromechanical power system, and an electrical control system. When the flip board is raised, it can block vehicles and is commonly used in areas where strict vehicle control is required. Its disadvantage is that the overall volume is relatively large, installation requires a certain amount of space and basic conditions, and it may cause certain damage to the ground during use.

[0010] From the above introduction, it can be seen that most of the existing means of preventing collisions of transportation tools are independent working devices or facilities. Either it is a vehicle active collision avoidance system that focuses on vehicle active warning and braking, or it is a fixed-place anti-collision facility that relies on physical blocking. The system protection level is single. For example, anti-collision barriers and lifting columns just passively wait for vehicles to hit, without pre-set links such as patrol monitoring and synchronous detection, and there is no coherent working process among the facilities to quickly respond to potential dangers.

[0011] The detection and recognition technology of some existing transportation tool anti-collision systems is weak, relying only on simple sensors to obtain a small amount of information, resulting in insufficient basis for judging potential dangers. In addition, there is a lack of accurate analysis methods to judge dangerous driving behaviors. The existing transportation tool anti-collision systems may simply give warnings based on distance or speed thresholds, thus prone to misjudgment or missed judgment of dangerous situations.

[0012] The interception methods of many existing anti-collision facilities for transportation vehicles are relatively passive and fixed. The common anti-collision guardrails only provide a physical barrier, but for some high-speed vehicles determined to break in, this interception may not effectively stop their advance. Moreover, the communication between the control center and the interception facilities in the anti-collision systems on the market may not be timely enough to quickly transmit instructions, resulting in the interception equipment not being able to respond in time when facing dangerous situations, reducing the timeliness of interception and the interception effect is not good.

[0013] Multi-robot technology has made rapid progress in today's era. Its characteristics such as autonomy, cooperation, and flexibility have shown great application value in many fields. If the multi-robot cooperation technology is applied to the safety protection field of important facilities, equipment, and places, with the information interaction, task cooperation, and intelligent judgment among multiple robots, it is expected to achieve comprehensive monitoring of the operating status of these important areas, timely warning of potential dangers, and effective avoidance of security threats, thereby greatly improving the safety protection level and ensuring the safety and stability of important facilities, equipment, and places. Summary of the Invention

[0014] Aiming at the problems existing in the prior art, the present invention provides a transportation vehicle anti-collision system and method based on multi-robot cooperation, which forms a coherent anti-collision process through multi-robot cooperation to improve the detection and recognition ability of dangerous vehicles and the interception effect.

[0015] To solve the above technical problems and achieve the above technical effects, the present invention is realized through the following technical solutions:

[0016] A transportation vehicle anti-collision system based on multi-robot cooperation, comprising:

[0017] A front patrol robot, arranged at the outermost warning line of the vehicle prohibited passage area, responsible for patrolling along the warning line and monitoring the driving status of passing vehicles outside the warning line, and obtaining driving status detection information;

[0018] A front dangerous goods detection robot, arranged at the outermost warning line of the vehicle prohibited passage area, responsible for patrolling along the warning line and detecting the dangerous goods characteristic signals of vehicles parked outside the warning line, and obtaining dangerous goods detection information;

[0019] A flat tire robot, arranged behind the front patrol robot and the front dangerous goods detection robot, responsible for releasing a flat tire net to the wheels of dangerous vehicles crossing the warning line to intercept the dangerous vehicles;

[0020] A blocking robot, arranged behind the front patrol robot and the front dangerous goods detection robot, responsible for releasing blocking road spikes in front of dangerous vehicles crossing the warning line to intercept the dangerous vehicles;

[0021] The on-site control center is deployed behind the flat tire robot and the blocking robot, responsible for monitoring and dispatching the front patrol robot, the front dangerous goods detection robot, the flat tire robot and the blocking robot, and responsible for identifying dangerous vehicles according to the obtained driving state detection information and / or dangerous goods detection information, and generating a dangerous vehicle identification result.

[0022] The front patrol robot and the front dangerous goods detection robot serve as an early warning network at the front end of the vehicle prohibited area, the flat tire robot and the blocking robot serve as an interception network in the middle section of the vehicle prohibited area, and the on-site control center serves as a control center at the end of the vehicle prohibited area.

[0023] Further, the front patrol robot includes a first robotic dog, a high-definition camera, a distance sensor, a speed sensor, a first processor and a first wireless data transmission module; wherein, the first robotic dog serves as a mobile vehicle, responsible for carrying the high-definition camera, the distance sensor, the speed sensor, the first processor and the first wireless data transmission module for movement; the high-definition camera is arranged on the head of the first robotic dog, and is used for capturing vehicle images in real time; the distance sensor is arranged around the body of the first robotic dog, and is used for monitoring the distance between the vehicle and the warning line; the speed sensor is arranged around the body of the first robotic dog, and is used for monitoring the vehicle speed; the first processor is arranged inside the body of the first robotic dog, on the one hand, responsible for receiving the patrol instruction sent by the on-site control center, and then controlling the first robotic dog to patrol along the warning line, on the other hand, responsible for transmitting the vehicle image data captured by the high-definition camera, the distance data between the vehicle and the warning line detected by the distance sensor, and the vehicle speed data detected by the speed sensor to the on-site control center for analysis and processing by the on-site control center; the first wireless data transmission module is arranged inside the body of the first robotic dog, and is responsible for wireless communication between the first processor and the on-site control center.

[0024] Further, the front dangerous goods detection robot includes a second robotic dog, a radioactive substance detector, a chemical substance detector, a second processor and a second wireless data transmission module; wherein,

[0025] The second robotic dog, as a mobile vehicle, is responsible for carrying the radioactive substance detector, the chemical substance detector, the second processor, and the second wireless data transmission module for movement; the radioactive substance detector is arranged at the head of the second robotic dog and is responsible for performing a 360° rotational scan on the monitored vehicle to detect whether the vehicle has characteristic signals of radioactive substances; and a protective shell for preventing external interference is arranged outside the radioactive substance detector; the chemical substance detector is arranged at the head of the second robotic dog and is responsible for performing a 360° rotational scan on the monitored vehicle to detect whether the vehicle has characteristic signals of chemical substances; and a protective shell for preventing external interference is arranged outside the chemical substance detector; the second processor is arranged inside the body of the second robotic dog. On the one hand, it is responsible for receiving the patrol instructions issued by the on-site control center and then controlling the second robotic dog to patrol along the warning line. On the other hand, it is responsible for transmitting the characteristic signals of radioactive substances detected by the radioactive substance detector and the characteristic signals of chemical substances detected by the chemical substance detector to the on-site control center for analysis and processing by the on-site control center; the second wireless data transmission module is arranged inside the body of the second robotic dog and is responsible for wireless communication between the second processor and the on-site control center.

[0026] Further, the tire puncture robot includes a third robotic dog, a high-precision tire puncture net aiming device, a tire puncture net launching device, a tire puncture net storage bin, a tire puncture net automatic loading device, a third processor, and a third wireless data transmission module; wherein,

[0027] The third robotic dog, as a mobile vehicle, is responsible for carrying the puncture net launching device, the high-precision aiming device for the puncture net, the puncture net storage bin, the puncture net automatic loading device, the third processor, and the third wireless data transmission module for movement; the high-precision aiming device for the puncture net is arranged on the body of the third robotic dog and is responsible for calculating the release angle, force, and lead of the puncture net based on the locked position and driving direction of the dangerous vehicle, and then guiding the puncture net launching device to track and aim at the dangerous vehicle; the puncture net launching device is arranged on the body of the third robotic dog and has a mechanism for adjusting the launching angle and force of the puncture net, and is responsible for accurately releasing the puncture net to the wheels of the dangerous vehicle at the set release angle, force, and lead under the guidance of the high-precision aiming device for the puncture net; the puncture net storage bin is arranged inside the third robotic dog and can accommodate multiple puncture nets; the puncture net automatic loading device is arranged on the body of the third robotic dog and is responsible for installing the puncture net located in the puncture net storage bin onto the puncture net launching device; the third processor is arranged inside the body of the third robotic dog. On the one hand, it is responsible for locking the position and driving direction of the dangerous vehicle according to the detection information and recognition result sent by the on-site control center, and then controlling the third robotic dog to move to both sides of the dangerous vehicle, and controlling the high-precision aiming device for the puncture net to calculate the release angle, force, and lead of the puncture net. On the other hand, it is responsible for controlling the puncture net automatic loading device to take out the next puncture net from the puncture net storage bin and load it into the puncture net launching device; the third wireless data transmission module is arranged inside the body of the third robotic dog and is responsible for the wireless communication between the third processor and the on-site control center.

[0028] Further, the blocking robot includes a fourth robotic dog, a high-precision aiming device for the blocking road spikes, a blocking road spike launching device, a blocking road spike storage bin, a blocking road spike automatic loading device, a fourth processor, and a fourth wireless data transmission module; wherein,

[0029] The fourth robotic dog, as a mobile vehicle, is responsible for carrying the roadblock spike launching device, the high-precision roadblock spike aiming device, the roadblock spike storage bin, the roadblock spike automatic loading device, the fourth processor, and the fourth wireless data transmission module for movement; the high-precision roadblock spike aiming device is arranged on the body of the fourth robotic dog and is responsible for calculating the release position, angle, and density of the roadblock spikes based on the locked position and driving direction of the dangerous vehicle, and then guiding the roadblock spike launching device to track and aim at the dangerous vehicle; the roadblock spike launching device is arranged on the body of the fourth robotic dog and has a mechanism for adjusting the launching angle and density of the roadblock spikes, and is responsible for precisely releasing the roadblock spikes at the set release position, angle, and density on the upcoming route of the dangerous vehicle under the guidance of the high-precision roadblock spike aiming device; the roadblock spike storage bin is arranged inside the fourth robotic dog, can store a certain number of roadblock spikes, and has moisture-proof and anti-corrosion functions; the roadblock spike automatic loading device is arranged on the body of the fourth robotic dog and is responsible for installing the roadblock spikes located in the roadblock spike storage bin onto the roadblock spike launching device; the fourth processor is arranged inside the body of the fourth robotic dog. On the one hand, it is responsible for locking the position and driving direction of the dangerous vehicle according to the detection information and recognition result sent by the on-site control center, and then controlling the fourth robotic dog to move forward in front of the dangerous vehicle, and controlling the high-precision roadblock spike aiming device to calculate the release position, angle, and density of the roadblock spikes. On the other hand, it is responsible for controlling the roadblock spike automatic loading device to take out the next roadblock spike from the roadblock spike storage bin and load it into the roadblock spike launching device; the fourth wireless data transmission module is arranged inside the body of the fourth robotic dog and is responsible for the wireless communication between the fourth processor and the on-site control center.

[0030] Furthermore, the on-site control center is a central control police car equipped with a central processor, a touch display, and a central wireless data transmission module;

[0031] The central control police car is responsible for carrying the central processor, the central wireless data transmission module, and senior security personnel for movement;

[0032] The central processing unit is responsible for sending patrol instructions including patrol scope, patrol time, and patrol frequency to the front patrol robot and the front dangerous goods detection robot; responsible for sending standby instructions including duty positions and standby time to the flat tire robot and the blocking robot; responsible for receiving the driving state detection information fed back by the front patrol robot and identifying dangerous vehicles. Specifically, it uses an image recognition algorithm to analyze the driving posture of the captured vehicle images to determine whether the vehicle has abnormal driving behavior. At the same time, it calculates the actual driving trajectory of the vehicle based on the detected distance and speed between the vehicle and the warning line, and determines whether the monitored vehicle has dangerous driving behavior by comparing the deviation between the actual driving trajectory of the vehicle and the normal driving trajectory. If there is abnormal driving behavior and / or dangerous driving behavior, the monitored vehicle is determined to be a dangerous vehicle; responsible for receiving the dangerous goods detection information fed back by the front dangerous goods detection robot and identifying dangerous vehicles. Specifically, it analyzes the characteristic signals of the radioactive substances collected to determine whether the monitored vehicle may be carrying radioactive items, and at the same time analyzes the characteristic signals of the chemical substances collected to determine whether the vehicle may be carrying chemical items. If there is a possibility of carrying radioactive items and / or chemical items, the monitored vehicle is determined to be a dangerous vehicle; responsible for sending interception instructions including the position, driving direction, and interception method of the dangerous vehicle to the flat tire robot and the blocking robot; responsible for monitoring the working state information of the flat tire robot and the blocking robot including material remaining amount and equipment failure conditions;

[0033] The touch display is responsible for displaying the working parameters of the front patrol robot, the front dangerous goods detection robot, the flat tire robot, and the blocking robot, and is responsible for displaying detection data and analysis data including vehicle images, the distance between the vehicle and the warning line, vehicle speed, vehicle driving trajectory, characteristic signals of radioactive substances, characteristic signals of chemical substances, and dangerous vehicle identification results;

[0034] The central wireless data transmission module is responsible for the wireless communication between the central processing unit and the front patrol robot, the front dangerous goods detection robot, the flat tire robot, and the blocking robot.

[0035] Further, multiple flat tire robots and blocking robots are provided. One flat tire robot and one blocking robot form a duty group and are deployed at the duty position, and the remaining flat tire robots and blocking robots form a backup group and are deployed at a standby position further back than the duty position. The rotation of all the flat tire robots and blocking robots is scheduled by the on-site control center according to the working states of the flat tire robots and the blocking robots.

[0036] A vehicle anti-collision method using the above-mentioned vehicle anti-collision system based on multi-robot collaboration, comprising the following steps:

[0037] Step 1) Define the scope of the vehicle no-go area, set a warning line at the forefront of the vehicle no-go area, and then reasonably plan the duty position, standby position, and main control position in sequence from front to back within the warning line;

[0038] Step 2) Establish a stable and high-speed communication connection among the on-site control center, the front patrol robot, the front dangerous goods detection robot, the tire puncture robot, and the blocking robot through a wireless communication network;

[0039] Step 3) The on-site control center wakes up the front patrol robot, the front dangerous goods detection robot, the tire puncture robot, and the blocking robot through the wireless communication network and performs initialization including setting parameters, calibration, debugging, and loading;

[0040] Step 4) Arrange the on-site control center at the main control position. The on-site control center controls the front patrol robot and the front dangerous goods detection robot to automatically move to appropriate positions on the warning line through corresponding instructions; control one of the tire puncture robots and one of the blocking robots as a duty group to automatically move to the duty position; control the remaining tire puncture robots and blocking robots as a backup group to automatically move to the standby position;

[0041] Step 5) After each robot is in place, the on-site control center controls the front patrol robot and the front dangerous goods detection robot to enter the patrol detection mode, controls the tire puncture robot and the blocking robot as the duty group to enter the duty blocking mode, and controls the tire puncture robots and blocking robots as the backup group to enter the standby mode through corresponding instructions;

[0042] Step 6) In the patrol detection mode, the front patrol robot patrols along the warning line and simultaneously collects the driving state detection information of passing vehicles outside the warning line, including capturing the vehicle images of passing vehicles outside the warning line, detecting the distance between passing vehicles outside the warning line and the warning line, and detecting the vehicle speed of passing vehicles outside the warning line. Then, the collected driving state detection information is preliminarily sorted and compressed and transmitted to the on-site control center through the wireless communication network;

[0043] Meanwhile, the front dangerous goods detection robot also patrols along the warning line and simultaneously collects dangerous goods detection information of the vehicles parked outside the warning line, including performing a 360° rotation scan on the vehicles parked outside the warning line, detecting whether the passing vehicles have characteristic signals of radioactive substances and chemical substances, and after initially sorting and compressing the collected dangerous goods detection information, transmitting it to the on-site control center through a wireless communication network;

[0044] Step 7) After receiving the driving state detection information, the on-site control center uses an image recognition algorithm to analyze the driving posture of the captured vehicle images, determine whether there are abnormal driving behaviors of the monitored vehicle, and at the same time calculate the actual driving trajectory of the monitored vehicle based on the detected distance and speed between the vehicle and the warning line, and determine whether the monitored vehicle has dangerous driving behaviors by comparing the deviation between the actual driving trajectory and the normal driving trajectory of the monitored vehicle;

[0045] Meanwhile, after receiving the dangerous goods detection information, the on-site control center analyzes the characteristic signals of the radioactive substances collected, determines whether the monitored vehicle may be carrying radioactive items, and at the same time analyzes the characteristic signals of the chemical substances collected to determine whether the vehicle may be carrying chemical items;

[0046] Through comprehensive analysis and judgment, as long as the detection result meets one of the judgments of abnormal driving behavior, dangerous driving behavior, carrying radioactive items or carrying chemical items, the on-site control center determines that the monitored vehicle is a dangerous vehicle and generates a dangerous vehicle identification result;

[0047] Step 8) In the duty interception mode, when the monitored vehicle is confirmed as a dangerous vehicle, the on-site control center controls the flat tire robot serving as the duty group to lock the position and driving direction of the dangerous vehicle through an interception instruction, move towards both sides of the dangerous vehicle, and at the same time calculate the release angle, force and lead of the flat tire net, track and aim at the dangerous vehicle, and finally accurately release the flat tire net on the wheels of the dangerous vehicle at the set release angle, force and lead, so that the tires of the dangerous vehicle are wrapped by the flat tire net and lose the ability to drive;

[0048] Meanwhile, the on-site control center controls the blocking robot serving as the duty group to lock the position and driving direction of the dangerous vehicle through an interception instruction, move towards the front of the dangerous vehicle, and at the same time calculate the release position, angle and density of the blocking road spikes, track and aim at the dangerous vehicle, and finally accurately release the blocking road spikes on the upcoming route of the dangerous vehicle at the set release position, angle and density to ensure that the tires of the dangerous vehicle are punctured by the blocking road spikes and cannot continue to break through the checkpoint and escape.

[0049] Further, if the puncture robot and / or the blocking robot serving as the duty group encounter abnormal working conditions during duty, including power failure, mechanical failure, communication failure, and insufficient materials, the on-site control center recalls the abnormal duty group to the standby position through the wireless communication network, and then designates a corresponding puncture robot and / or blocking robot with normal working status in the backup group to move to the duty position and transform into the duty group.

[0050] Further, after a single interception task is completed, the on-site control center controls the front patrol robot and the front dangerous goods detection robot to start the recovery program through corresponding instructions, return to the initial patrol position and state, re-initialize, and delete the previous data records.

[0051] At the same time, the on-site control center controls the puncture robot and the blocking robot serving as the duty group to start the recovery program through corresponding instructions, return to the initial duty position and state, re-initialize, and load puncture nets and road spikes.

[0052] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0053] 1. Through the cooperation of multiple robots, the present invention can quickly respond in different scenarios. When a vehicle enters a restricted area, the front patrol robot first conducts patrol monitoring, and the front dangerous goods detection robot synchronously conducts dangerous goods detection. Once a dangerous situation is detected, the puncture robot and the blocking robot can quickly take action to form a coherent anti-collision process.

[0054] 2. The deployment of the robots (robot dogs) of the present invention presents a multi-level structure. The front patrol robot and the front dangerous goods detection robot are located at the forefront as the first layer of monitoring and detection defense line; the puncture robot and the blocking robot serve as the subsequent defense lines and can take different interception measures according to the situation. This multi-level protection mechanism can effectively cope with complex and changeable traffic conditions and increase the reliability of the anti-collision system.

[0055] 3. The front patrol robot (robot dog) of the present invention is equipped with devices such as a high-definition camera, a distance sensor, and a speed sensor, which can capture the images and driving data of the vehicle in real time. The front patrol robot can obtain information such as the speed and driving trajectory of the vehicle through the built-in high-definition camera, distance sensor, and speed sensor, providing accurate data support for the subsequent judgment of dangerous driving behaviors. This real-time monitoring and data acquisition ability enables the system to detect potential dangers in the first time and provides a guarantee for taking timely measures.

[0056] 4. The present invention adopts an advanced image recognition algorithm to analyze the driving posture of the vehicle. By comparing the deviation between the actual driving trajectory of the vehicle and the normal driving trajectory, it can automatically determine whether there is dangerous driving behavior. This intelligent analysis and judgment technology reduces the error of human intervention and improves the accuracy of danger recognition.

[0057] 5. The flat tire robot and blocking robot of the present invention can accurately release the flat tire net and road spikes according to the instructions of the control center. This precise release mechanism can effectively intercept dangerous vehicles and prevent them from entering the prohibited area, ensuring traffic safety. Through the "self-destructive" release mechanism, it is ensured that the interception task can be reliably executed at critical moments.

[0058] 6. The present invention utilizes 5G instant communication technology to ensure the rapid transmission of information between the on-site police car control center and each robotic dog. The control center can timely receive the data transmitted by the front robotic dog and quickly issue instructions, achieving a rapid response to dangerous situations.

[0059] 7. The on-site police car control center of the present invention, as the core of the entire system, integrates the control and management functions of each robotic dog. It can receive data from different robotic dogs, conduct comprehensive analysis and processing, and issue corresponding instructions. This integrated design makes the system easier to manage and operate.

[0060] 8. The present invention has good scalability. With the development of technology and the change of application scenarios, different functional robotic dogs can be added or replaced, or the functions of existing robotic dogs can be upgraded. More types of detection robots can be added or the performance of the interception robot can be improved according to needs to adapt to different traffic anti-collision requirements.

[0061] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following takes the preferred embodiments of the present invention and combines with the drawings to elaborate in detail as follows. The specific implementation manners of the present invention are given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the illustrative embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0063] Figure 1 is the architecture diagram of the vehicle anti-collision system based on multi-robot collaboration of the present invention;

[0064] Figure 2 is the structural block diagram of the front patrol robot in the present invention;

[0065] Figure 3 It is the structural block diagram of the front dangerous goods detection robot in the present invention;

[0066] Figure 4 It is the structural block diagram of the tire puncture robot in the present invention;

[0067] Figure 5 It is the structural block diagram of the blocking robot in the present invention;

[0068] Figure 6 It is the structural block diagram of the on-site control center in the present invention. Specific embodiments

[0069] The following will describe in detail the preferred embodiments of the present invention with reference to the accompanying drawings, so as to more clearly understand the purpose, features and advantages of the invention. It should be understood that the embodiments shown in the drawings are not limitations on the scope of the present invention, but only to illustrate the essential spirit of the technical solution of the present invention.

[0070] See Figure 1 As shown, a vehicle anti-collision system based on multi-robot cooperation mainly includes a front patrol robot 1, a front dangerous goods detection robot 2, a tire puncture robot 3, a blocking robot 4 and an on-site control center 5.

[0071] One front patrol robot 1 can be equipped, which is arranged at the outermost warning line of the vehicle prohibited area, that is, the outermost front end of the vehicle prohibited area, and is responsible for patrolling along the warning line and monitoring the driving status of passing vehicles outside the warning line to obtain driving status detection information.

[0072] One front dangerous goods detection robot 2 can be equipped, which is arranged at the outermost warning line of the vehicle prohibited area, also the outermost front end of the vehicle prohibited area, and teams up with the front patrol robot 1 to be responsible for patrolling along the warning line and detecting the dangerous goods characteristic signals of the vehicles parked outside the warning line to obtain dangerous goods detection information.

[0073] Multiple tire puncture robots 3 can be equipped. One of them is used as the duty group, which is arranged at the duty position behind the front patrol robot 1 and the front dangerous goods detection robot 2, and is responsible for releasing a tire puncture net to the wheels of the dangerous vehicles crossing the warning line to intercept the dangerous vehicles. The remaining several are used as the backup group, which are arranged at the standby position behind the duty position, used to replace the tire puncture robot 3 as the duty group, and also facilitate timely replenishment and support when needed.

[0074] A plurality of the blocking robots 4 can be provided, with one of them as the duty group, deployed at the duty position behind the front patrol robot 1 and the front dangerous goods detection robot 2, responsible for releasing blocking road spikes in front of the dangerous vehicles crossing the warning line to intercept the dangerous vehicles, and the remaining several as the backup group, deployed at the standby position behind the duty position, used to replace the blocking robot 4 serving as the duty group, and also facilitating timely replenishment and support when needed.

[0075] The on-site control center 5, as the control center of the entire system, is deployed behind all the robots, responsible for monitoring and dispatching the front patrol robot 1, the front dangerous goods detection robot 2, the tire puncture robot 3 and the blocking robot 4, and responsible for identifying dangerous vehicles according to the obtained driving state detection information and / or dangerous goods detection information to generate a dangerous vehicle identification result.

[0076] The above deployment forms a multi-level protection layer. The front patrol robot 1 and the front dangerous goods detection robot 2 serve as an early warning network at the front end of the vehicle prohibited area, the tire puncture robot 3 and the blocking robot 4 serve as an interception network in the middle section of the vehicle prohibited area, and the on-site control center 5 serves as a control center at the end of the vehicle prohibited area.

[0077] See Figure 2 As shown, the front patrol robot 1 mainly patrols the outermost front end of the vehicle prohibited area and monitors the driving state of passing vehicles. Its structure mainly includes a first robotic dog 101, a high-definition camera 102, a distance sensor 103, a speed sensor 104, a first processor 105 and a first wireless data transmission module 106.

[0078] The first robotic dog 101 serves as a mobile vehicle, responsible for carrying the high-definition camera 102, the distance sensor 103, the speed sensor 104, the first processor 105 and the first wireless data transmission module 106 to move.

[0079] The high-definition camera 102 is arranged at the head of the first robotic dog 101, used for capturing vehicle images in real time.

[0080] The distance sensor 103 is arranged around the body of the first robotic dog 101, used for monitoring the distance between the vehicle and the warning line.

[0081] The speed sensor 104 is arranged around the body of the first robotic dog 101, used for monitoring the vehicle speed.

[0082] The first processor is disposed inside the body of the first robotic dog 101. On the one hand, it is responsible for receiving the patrol instructions sent by the on-site control center 5, and then controlling the first robotic dog 101 to patrol along the warning line. On the other hand, it is responsible for transmitting the vehicle image data captured by the high-definition camera 102, the distance data between the vehicle and the warning line detected by the distance sensor 103, and the vehicle speed data detected by the speed sensor 104 to the on-site control center 5 for analysis and processing by the on-site control center 5.

[0083] The first wireless data transmission module 106 is disposed inside the body of the first robotic dog 101 and is responsible for wireless communication between the first processor 105 and the on-site control center 5.

[0084] See Figure 3 As shown, the front hazardous material detection robot 2 mainly detects whether the vehicle is carrying possible hazardous materials. Its structure mainly includes a second robotic dog 201, a radioactive material detector 202, a chemical material detector 203, a second processor 204, and a second wireless data transmission module 205.

[0085] The second robotic dog 201 serves as a mobile vehicle and is responsible for carrying the radioactive material detector 202, the chemical material detector 203, the second processor 204, and the second wireless data transmission module 205 for movement.

[0086] The radioactive material detector 202 is disposed at the head of the second robotic dog 201 and is responsible for performing a 360° rotational scan on the monitored vehicle to detect whether the vehicle has characteristic signals of radioactive materials; and a protective shell for preventing external interference is disposed outside the radioactive material detector 202.

[0087] The chemical material detector 203 is disposed at the head of the second robotic dog 201 and is responsible for performing a 360° rotational scan on the monitored vehicle to detect whether the vehicle has characteristic signals of chemical materials; and a protective shell for preventing external interference is disposed outside the chemical material detector 203.

[0088] The second processor is disposed inside the body of the second robotic dog 201. On the one hand, it is responsible for receiving the patrol instructions sent by the on-site control center 5, and then controlling the second robotic dog 201 to patrol along the warning line. On the other hand, it is responsible for transmitting the radioactive material characteristic signals detected by the radioactive material detector 202 and the characteristic signals of chemical materials detected by the chemical material detector 203 to the on-site control center 5 for analysis and processing by the on-site control center 5.

[0089] The second wireless data transmission module 205 is disposed inside the fuselage of the second mechanical dog 201 and is responsible for the wireless communication between the second processor 204 and the on-site control center 5.

[0090] See Figure 4 As shown, the flat tire robot 3 is mainly used to accurately release a flat tire net for a dangerous vehicle after determining that the monitored vehicle is a dangerous vehicle. Its structure mainly includes a third mechanical dog 301, a flat tire net high-precision aiming device 302, a flat tire net launching device 303, a flat tire net storage bin 304, a flat tire net automatic loading device 305, a third processor 306, and a third wireless data transmission module 307.

[0091] The third mechanical dog 301 serves as a mobile vehicle and is responsible for carrying the flat tire net launching device 303, the flat tire net high-precision aiming device 302, the flat tire net storage bin 304, the flat tire net automatic loading device 305, the third processor 306, and the third wireless data transmission module 307 for movement.

[0092] The flat tire net high-precision aiming device 302 is disposed on the fuselage of the third mechanical dog 301 and is responsible for calculating the release angle, force, and lead of the flat tire net based on the locked position and driving direction of the dangerous vehicle, and then guiding the flat tire net launching device 303 to track and aim at the dangerous vehicle to ensure that the flat tire net can accurately cover the driving route of the dangerous vehicle.

[0093] The flat tire net launching device 303 is disposed on the fuselage of the third mechanical dog 301 and has a mechanism for adjusting the launching angle and force of the flat tire net, and is responsible for accurately releasing the flat tire net to the wheels of the dangerous vehicle at a set release angle, force, and lead under the guidance of the flat tire net high-precision aiming device 302 to ensure that the tires of the dangerous vehicle are caught in the flat tire net and are forced to stop.

[0094] The flat tire net storage bin 304 is disposed inside the third mechanical dog 301 and can accommodate multiple flat tire nets.

[0095] The flat tire net automatic loading device 305 is disposed on the fuselage of the third mechanical dog 301 and is responsible for installing the flat tire net located in the flat tire net storage bin 304 onto the flat tire net launching device 303.

[0096] The third processor is disposed inside the body of the third robotic dog 301. On the one hand, it is responsible for locking the position and driving direction of the dangerous vehicle according to the detection information and recognition result sent by the on-site control center 5, and then controlling the third robotic dog 301 to move to both sides of the dangerous vehicle, and controlling the puncture net high-precision aiming device 302 to calculate the release angle, force and lead of the puncture net. On the other hand, it is responsible for controlling the puncture net automatic loading device 305 to take out the next puncture net from the puncture net storage bin 304 and load it into the puncture net launching device 303.

[0097] The third wireless data transmission module 307 is disposed inside the body of the third robotic dog 301 and is responsible for the wireless communication between the third processor 306 and the on-site control center 5.

[0098] See Figure 5 As shown, the blocking robot 4 is mainly used to accurately release blocking road spikes to the dangerous vehicle after determining that the monitored vehicle is a dangerous vehicle. Its structure mainly includes a fourth robotic dog 401, a blocking road spike high-precision aiming device 402, a blocking road spike launching device 403, a blocking road spike storage bin 404, a blocking road spike automatic loading device 405, a fourth processor 406 and a fourth wireless data transmission module 407.

[0099] The fourth robotic dog 401 serves as a mobile vehicle and is responsible for carrying the blocking road spike launching device 403, the blocking road spike high-precision aiming device 402, the blocking road spike storage bin 404, the blocking road spike automatic loading device 405, the fourth processor 406 and the fourth wireless data transmission module 407 for movement.

[0100] The blocking road spike high-precision aiming device 402 is disposed on the body of the fourth robotic dog 401 and is responsible for calculating the release position, angle and density of the blocking road spikes according to the locked position and driving direction of the dangerous vehicle, and then guiding the blocking road spike launching device 403 to track and aim at the dangerous vehicle to ensure that the blocking road spikes can accurately cover the driving route of the dangerous vehicle.

[0101] The blocking road spike launching device 403 is disposed on the body of the fourth robotic dog 401 and has a blocking road spike launching angle and density adjustable mechanism, and is responsible for accurately releasing the blocking road spikes on the line where the dangerous vehicle is about to travel at the set release position, angle and density under the guidance of the blocking road spike high-precision aiming device 402 to ensure that the tires of the dangerous vehicle are punctured by the blocking road spikes, thereby preventing the dangerous vehicle from continuing to drive.

[0102] The blocking road spike storage bin 404 is disposed inside the fourth robotic dog 401, can store a certain number of blocking road spikes, and has moisture-proof and anti-corrosion functions.

[0103] The roadblock automatic loading device 405 is arranged on the body of the fourth robotic dog 401 and is responsible for installing the roadblocks located in the roadblock storage bin 404 onto the roadblock launching device 403.

[0104] The fourth processor is arranged inside the body of the fourth robotic dog 401. On the one hand, it is responsible for locking the position and driving direction of the dangerous vehicle according to the detection information and recognition result sent by the on-site control center 5, and then controlling the fourth robotic dog 401 to move in front of the dangerous vehicle, and controlling the roadblock high-precision aiming device 402 to calculate the position, angle and density of the roadblock release. On the other hand, it is responsible for controlling the roadblock automatic loading device 405 to take out the next roadblock from the roadblock storage bin 404 and load it into the roadblock launching device 403.

[0105] The fourth wireless data transmission module 407 is arranged inside the body of the fourth robotic dog 401 and is responsible for the wireless communication between the fourth processor 406 and the on-site control center 5.

[0106] See Figure 6 As shown, the on-site control center 5 is a central control police car 504 equipped with a central processor 501, a touch display 502 and a central wireless data transmission module 503.

[0107] The central control police car 504 is responsible for carrying the central processor 501, the central wireless data transmission module 503 and senior security personnel to move.

[0108] The central processor 501, as the control center of the whole system, mainly has the following functions:

[0109] Responsible for sending patrol instructions including patrol range, patrol time and patrol frequency to the front patrol robot 1 and the front dangerous goods detection robot 2;

[0110] Responsible for sending standby instructions including duty position and standby time to the flat tire robot 3 and the blocking robot 4;

[0111] Responsible for receiving the driving state detection information fed back by the front patrol robot 1 and identifying dangerous vehicles. Specifically, it uses an image recognition algorithm to analyze the driving posture of the captured vehicle images to judge whether the vehicle has abnormal driving behavior. At the same time, it calculates the actual driving trajectory of the vehicle according to the detected distance and speed between the vehicle and the warning line, and judges whether the monitored vehicle has dangerous driving behavior by comparing the deviation between the actual driving trajectory of the vehicle and the normal driving trajectory. If there is abnormal driving behavior and / or dangerous driving behavior, the monitored vehicle is determined to be a dangerous vehicle;

[0112] Responsible for receiving the dangerous goods detection information fed back by the front dangerous goods detection robot 2 and performing dangerous vehicle identification. Specifically, it analyzes the characteristic signals of the radioactive substances collected to determine whether the monitored vehicle may be carrying radioactive items, and at the same time analyzes the characteristic signals of the chemical substances collected to determine whether the vehicle may be carrying chemical items. If there is a possibility of carrying radioactive items and / or chemical items, the monitored vehicle is determined to be a dangerous vehicle;

[0113] Responsible for sending interception instructions including the position, driving direction, and interception method of the dangerous vehicle to the flat tire robot 3 and the blocking robot 4;

[0114] Responsible for monitoring the working status information of the flat tire robot 3 and the blocking robot 4 including the remaining material amount and equipment failure conditions;

[0115] Responsible for dispatching the duty team and the reserve team according to the working status of the flat tire robot 3 and the blocking robot 4 to ensure that the interception task can be executed in a timely manner when needed.

[0116] The touch display 502 is responsible for displaying the working parameters of the front patrol robot 1, the front dangerous goods detection robot 2, the flat tire robot 3, and the blocking robot 4, and is responsible for displaying detection data and analysis data including vehicle images, the distance between the vehicle and the warning line, vehicle speed, vehicle driving trajectory, characteristic signals of radioactive substances, characteristic signals of chemical substances, and dangerous vehicle identification results.

[0117] The central wireless data transmission module 503 is responsible for the wireless communication between the central processor 501 and the front patrol robot 1, the front dangerous goods detection robot 2, the flat tire robot 3, and the blocking robot 4.

[0118] A vehicle anti-collision method using the above vehicle anti-collision system based on multi-robot collaboration includes the following steps:

[0119] Step 1) After precise geographical information analysis and on-site investigation, delimit the scope of the vehicle no-go area, set a warning line at the forefront of the vehicle no-go area, and then reasonably plan the duty position, standby position, and main control position in sequence from front to back within the warning line according to the terrain conditions and traffic flow direction of the site.

[0120] Step 2) Through a wireless communication network, such as a 5G network, establish a stable and high-speed communication connection between the on-site control center 5, the front patrol robot 1, the front dangerous goods detection robot 2, the flat tire robot 3, and the blocking robot 4 to ensure real-time and accurate data transmission.

[0121] Step 3) The on-site control center 5 wakes up the front patrol robot 1, the front hazardous material detection robot 2, the tire puncture robot 3 and the blocking robot 4 through the wireless communication network, and performs initialization including parameter setting, calibration, debugging and loading.

[0122] For example, the patrol positions, patrol times and patrol frequencies of the front patrol robot 1 and the front hazardous materials detection robot 2 are set; the high-definition camera 102, distance sensor 103 and speed sensor 104 on the front patrol robot 1 are calibrated to ensure that the vehicle driving status information can be accurately obtained; the radioactive material detector 202 and the chemical material detector 203 on the front hazardous materials detection robot 2 are debugged to ensure that they have high-sensitivity detection performance; the high-precision aiming device 302 of the tire-breaking net on the tire-breaking robot 3 is calibrated; the high-precision aiming device 402 of the blocking road spikes on the blocking robot 4 is calibrated; the tire-breaking net launching device 303 on the tire-breaking robot 3 is loaded to put it in a ready state, and the launching angle and coverage range of its tire-breaking net are precisely set; the blocking road spike launching device 403 on the blocking robot 4 is loaded to put it in a ready state, and the layout and delivery order of its blocking road spikes are pre-programmed.

[0123] Step 4) The central control police car 504 is driven to the main control position. The central processor 501 in the central control police car 504 controls the front patrol robot 1 and the front dangerous goods detection robot 2 to automatically move to the appropriate position of the cordon by issuing corresponding instructions, so as to ensure that the front patrol robot 1 can clearly capture the overall view and key points of driving details of the passing vehicles outside the cordon, and also facilitate the front dangerous goods detection robot 2 to fully detect the passing vehicles outside the cordon; on the other hand, one of the tire-breaking robots 3 and the blocking robot 4 is controlled as a duty group to automatically move to the duty position, and the remaining tire-breaking robots 3 and the blocking robots 4 are controlled as a backup group to automatically move to the standby position. The tire-breaking robots 3 and the blocking robots 4 as the backup group are in hot backup state, and their various parameters are kept synchronously updated with the tire-breaking robots 3 and the blocking robots 4 of the duty group to ensure that they can be put into operation at any time.

[0124] After each robot is in place, the central processor 501 controls the front patrol robot 1 and the front dangerous goods detection robot 2 to enter the patrol detection mode through corresponding instructions, controls the flat tire robot 3 and the blocking robot 4, which are in the duty group, to enter the duty blocking mode, and controls the flat tire robot 3 and the blocking robot 4, which are in the reserve group, to enter the standby mode. At the same time, the touch display 502 of the central control police car 504 has completed the integration display setting of the status information and detection data of each robot, facilitating the operator for unified management and decision-making.

[0125] Step 6) In the patrol detection mode, the front patrol robot 1 patrols along the warning line and simultaneously collects the driving state detection information of the passing vehicles outside the warning line. Specifically, the high-definition camera 102 captures the vehicle images of the passing vehicles outside the warning line, the distance sensor 103 detects the distance between the passing vehicles outside the warning line and the warning line, the speed sensor 104 detects the vehicle speed of the passing vehicles outside the warning line, and then the first processor 105 transmits the collected driving state detection information and position information to the central processor 501 through the wireless communication network after preliminary sorting and compression.

[0126] Meanwhile, the front dangerous goods detection robot 2 also patrols along the warning line and simultaneously collects the dangerous goods detection information of the vehicles parked outside the warning line. Specifically, the radioactive substance detector 202 and the chemical substance detector 203 respectively perform 360° rotation scans on the vehicles parked outside the warning line to detect whether the passing vehicles have the characteristic signals of radioactive substances and chemical substances. During the detection process, the front dangerous goods detection robot 2 carefully detects the vehicle body, chassis, cargo area, etc. of the monitored vehicle according to the preset scanning path and frequency. Once the characteristic signals of radioactive substances and chemical substances are detected, the second processor 204 immediately transmits the collected dangerous goods detection information and position information to the central processor 501 through the wireless communication network after preliminary sorting and compression.

[0127] Step 7) When the central processor 501 receives the driving state detection information, it uses an image recognition algorithm to analyze the driving posture of the captured vehicle images to determine whether there are abnormal driving behaviors of the monitored vehicle. At the same time, it calculates the actual driving trajectory of the monitored vehicle according to the detected distance between the vehicle and the warning line and the vehicle speed, and uses a professional trajectory analysis algorithm to fit and calculate the deviation between the actual driving trajectory and the normal driving trajectory of the monitored vehicle. If the deviation exceeds the set threshold, it determines whether the monitored vehicle has dangerous driving behaviors such as serpentine driving, speeding and unstable trajectory.

[0128] Meanwhile, when the central processing unit 501 receives the dangerous goods detection information, it analyzes the characteristic signals of the radioactive substances and / or chemical substances collected, and judges whether the monitored vehicle may be carrying radioactive substances and / or chemical substances such as inflammable and explosive items, toxic and harmful substances, etc. by comparing with the built-in dangerous goods database and performing characteristic analysis.

[0129] Through comprehensive analysis and judgment, as long as the detection result meets one of the judgments of abnormal driving behavior, dangerous driving behavior, carrying radioactive substances or carrying chemical substances, the central processing unit 501 determines that the monitored vehicle is a dangerous vehicle and generates a dangerous vehicle identification result.

[0130] Step 8) In the duty interception mode, when the monitored vehicle is confirmed as a dangerous vehicle, the central processing unit 501 controls the puncture robot 3 serving as the duty group to lock the position and driving direction of the dangerous vehicle, and move towards both sides of the dangerous vehicle. At the same time, the puncture net high-precision aiming device 302 calculates the release angle, force and lead of the puncture net, and guides the puncture net launching device 303 to track and aim at the dangerous vehicle. Finally, the puncture net launching device 303 accurately releases the puncture net at the set release angle, force and lead to the wheels of the dangerous vehicle, and accurately projects the puncture net onto the driving path of the dangerous vehicle, so that the tires of the dangerous vehicle are wrapped by the puncture net and lose the ability to drive.

[0131] Meanwhile, the central processing unit 501 controls the blocking robot 4 serving as the duty group to lock the position and driving direction of the dangerous vehicle through the interception instruction, and move towards the front of the dangerous vehicle. At the same time, the roadblock high-precision aiming device 402 calculates the release position, angle and density of the roadblock, and guides the roadblock launching device 403 to track and aim at the dangerous vehicle. Finally, the roadblock launching device 403 accurately releases the roadblock on the line where the dangerous vehicle is about to move forward at the set release position, angle and density, ensuring that the tires of the dangerous vehicle are punctured by the roadblock and cannot continue to break through the checkpoint and escape.

[0132] If the puncture robot 3 and / or the blocking robot 4 serving as the duty group have abnormal working conditions during duty, including power failure, mechanical failure, communication failure, material shortage, etc., the central processing unit 501 can immediately detect the abnormal information, and then immediately recall the duty group with abnormal conditions to the standby position through the wireless communication network, and then designate a corresponding puncture robot 3 and / or blocking robot 4 with normal working status in the backup group to move to the duty position and change to the duty group, and perform interception operations on the dangerous vehicle according to the same interception procedure as the duty group robot to ensure the smooth completion of the interception task.

[0133] Step 9) After a single interception mission is completed, the central processor 501 controls the front patrol robot 1 and the front dangerous goods detection robot 2 to start the recovery program through corresponding instructions, return to the initial patrol position and state again, and perform initialization again, and delete the previous data records to prepare for the arrival of the next target vehicle;

[0134] Meanwhile, the central processor 501 controls the flat tire robot 3 and the blocking robot 4, which are the duty groups, to start the recovery program through corresponding instructions, return to the initial duty position and state again, and perform initialization again, perform inspection and recovery operations, and load the flat tire net and road spikes; the flat tire robot 3 and the blocking robot 4, which are the backup groups, also return to the hot standby state, continuously update their own status information, and remain synchronized with the entire system so as to be able to respond to the call at any time and be put into operation in subsequent tasks.

[0135] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle anti-collision system based on multi-robot cooperation, characterized in that Including: A front - line patrol robot (1), deployed at the outermost warning line of the vehicle - prohibited area, responsible for patrolling along the warning line and monitoring the driving status of passing vehicles outside the warning line to obtain driving - status detection information; The front - line patrol robot (1) includes a first robotic dog (101), and a high - definition camera (102), a distance sensor (103), a speed sensor (104), a first processor (105), and a first wireless data transmission module (106) provided on the first robotic dog (101); A front - line dangerous - goods detection robot (2), deployed at the outermost warning line of the vehicle - prohibited area, responsible for patrolling along the warning line and detecting the dangerous - goods characteristic signals of vehicles parked outside the warning line to obtain dangerous - goods detection information; The front - line dangerous - goods detection robot (2) includes a second robotic dog (201), and a radioactive - substance detector (202), a chemical - substance detector (203), a second processor (204), and a second wireless data transmission module (205) provided on the second robotic dog (201); A tire - puncturing robot (3), deployed behind the front - line patrol robot (1) and the front - line dangerous - goods detection robot (2), responsible for releasing a tire - puncturing net to the wheels of dangerous vehicles crossing the warning line to intercept the dangerous vehicles; The tire - puncturing robot (3) includes a third robotic dog (301), and a tire - puncturing net high - precision aiming device (302), a tire - puncturing net launching device (303), a tire - puncturing net storage bin (304), a tire - puncturing net automatic loading device (305), a third processor (306), and a third wireless data transmission module (307) provided on the third robotic dog (301); A blocking robot (4), deployed behind the front - line patrol robot (1) and the front - line dangerous - goods detection robot (2), responsible for releasing blocking road spikes in front of dangerous vehicles crossing the warning line to intercept the dangerous vehicles; The blocking robot (4) includes a fourth robotic dog (401), and a blocking - road - spike high - precision aiming device (402), a blocking - road - spike launching device (403), a blocking - road - spike storage bin (404), a blocking - road - spike automatic loading device (405), a fourth processor (406), and a fourth wireless data transmission module (407) provided on the fourth robotic dog (401); A on - site control center (5), deployed behind the tire - puncturing robot (3) and the blocking robot (4), responsible for monitoring and dispatching the front - line patrol robot (1), the front - line dangerous - goods detection robot (2), the tire - puncturing robot (3), and the blocking robot (4), and responsible for identifying dangerous vehicles according to the obtained driving - status detection information and / or dangerous - goods detection information to generate dangerous - vehicle identification results; The on - site control center (5) is a central - control police car (504) equipped with a central processor (501), a touch - screen display (502), and a central wireless data transmission module (503); The central processing unit (501) is responsible for sending patrol instructions to the front patrol robot (1) and the front dangerous goods detection robot (2); responsible for sending standby instructions to the flat tire robot (3) and the blocking robot (4); responsible for receiving the driving state detection information fed back by the front patrol robot (1) and identifying dangerous vehicles; responsible for receiving the dangerous goods detection information fed back by the front dangerous goods detection robot (2) and identifying dangerous vehicles; responsible for sending interception instructions to the flat tire robot (3) and the blocking robot (4); responsible for monitoring the working state information of the flat tire robot (3) and the blocking robot (4).

2. The anti-collision system for a vehicle based on multi-robot cooperation according to claim 1, wherein: In the front patrol robot (1), The first robotic dog (101) serves as a mobile vehicle and is responsible for carrying the high-definition camera (102), the distance sensor (103), the speed sensor (104), the first processor (105), and the first wireless data transmission module (106) to move; The high-definition camera (102) is arranged on the head of the first robotic dog (101) and is used for capturing vehicle images in real time; The distance sensor (103) is arranged around the body of the first robotic dog (101) and is used for monitoring the distance between the vehicle and the warning line; The speed sensor (104) is arranged around the body of the first robotic dog (101) and is used for monitoring the vehicle speed; The first processor is arranged inside the body of the first robotic dog (101). On the one hand, it is responsible for receiving the patrol instructions sent by the on-site control center (5), and then controlling the first robotic dog (101) to patrol along the warning line. On the other hand, it is responsible for transmitting the vehicle image data captured by the high-definition camera (102), the distance data between the vehicle and the warning line detected by the distance sensor (103), and the vehicle speed data detected by the speed sensor (104) to the on-site control center (5) for the on-site control center (5) to analyze and process; The first wireless data transmission module (106) is arranged inside the body of the first robotic dog (101) and is responsible for the wireless communication between the first processor (105) and the on-site control center (5).

3. The anti-collision system for a vehicle based on multi-robot cooperation according to claim 1, wherein: In the front dangerous goods detection robot (2), The second robotic dog (201) serves as a mobile vehicle and is responsible for carrying the radioactive substance detector (202), the chemical substance detector (203), the second processor (204), and the second wireless data transmission module (205) to move; The radioactive substance detector (202) is arranged on the head of the second robotic dog (201) and is responsible for performing a 360° rotational scan on the monitored vehicle to detect whether the vehicle has characteristic signals of radioactive substances; and a protective shell for preventing external interference is arranged outside the radioactive substance detector (202); The chemical substance detector (203) is set on the head of the second robotic dog (201), responsible for performing a 360° rotational scan on the monitored vehicle to detect whether the vehicle has characteristic signals of chemical substances; and a protective housing for preventing external interference is provided outside the chemical substance detector (203). The second processor is set inside the body of the second robotic dog (201). On the one hand, it is responsible for receiving the patrol instructions issued by the on-site control center (5), and then controlling the second robotic dog (201) to patrol along the warning line. On the other hand, it is responsible for transmitting the characteristic signals of radioactive substances detected by the radioactive substance detector (202) and the characteristic signals of chemical substances detected by the chemical substance detector (203) to the on-site control center (5) for analysis and processing by the on-site control center (5). The second wireless data transmission module (205) is set inside the body of the second robotic dog (201), responsible for wireless communication between the second processor (204) and the on-site control center (5).

4. The anti-collision system for a vehicle based on multi-robot cooperation according to claim 1, wherein: In the flat tire robot (3), The third robotic dog (301) serves as a mobile vehicle, responsible for carrying the flat tire net launching device (303), the flat tire net high-precision aiming device (302), the flat tire net storage bin (304), the flat tire net automatic loading device (305), the third processor (306) and the third wireless data transmission module (307) for movement. The flat tire net high-precision aiming device (302) is set on the body of the third robotic dog (301), responsible for calculating the release angle, force and lead of the flat tire net according to the locked position and driving direction of the dangerous vehicle, and then guiding the flat tire net launching device (303) to track and aim at the dangerous vehicle. The flat tire net launching device (303) is set on the body of the third robotic dog (301), and has a mechanism for adjusting the launching angle and force of the flat tire net, responsible for accurately releasing the flat tire net to the wheels of the dangerous vehicle at the set release angle, force and lead under the guidance of the flat tire net high-precision aiming device (302). The flat tire net storage bin (304) is set inside the third robotic dog (301), capable of accommodating multiple flat tire nets. The flat tire net automatic loading device (305) is set on the body of the third robotic dog (301), responsible for installing the flat tire net located in the flat tire net storage bin (304) onto the flat tire net launching device (303). The third processor is arranged inside the fuselage of the third robotic dog (301). On the one hand, it is responsible for locking the position and driving direction of the dangerous vehicle according to the detection information and recognition result sent by the on-site control center (5), and then controlling the third robotic dog (301) to move to both sides of the dangerous vehicle, and controlling the puncture net high-precision aiming device (302) to calculate the release angle, force and lead of the puncture net. On the other hand, it is responsible for controlling the puncture net automatic loading device (305) to take out the next puncture net from the puncture net storage bin (304) and load it into the puncture net launching device (303); The third wireless data transmission module (307) is arranged inside the fuselage of the third robotic dog (301) and is responsible for the wireless communication between the third processor (306) and the on-site control center (5).

5. The anti-collision system for a vehicle based on multi-robot cooperation according to claim 1, wherein: In the blocking robot (4), The fourth robotic dog (401) serves as a mobile vehicle and is responsible for carrying the roadblock spike launching device (403), the roadblock spike high-precision aiming device (402), the roadblock spike storage bin (404), the roadblock spike automatic loading device (405), the fourth processor (406) and the fourth wireless data transmission module (407) to move; The roadblock spike high-precision aiming device (402) is arranged on the body of the fourth robotic dog (401) and is responsible for calculating the release position, angle and density of the roadblock spikes according to the locked position and driving direction of the dangerous vehicle, and then guiding the roadblock spike launching device (403) to track and aim at the dangerous vehicle; The roadblock spike launching device (403) is arranged on the body of the fourth robotic dog (401) and has a mechanism for adjusting the launching angle and density of the roadblock spikes, and is responsible for accurately releasing the roadblock spikes on the line where the dangerous vehicle is about to travel at the set release position, angle and density under the guidance of the roadblock spike high-precision aiming device (402); The roadblock spike storage bin (404) is arranged inside the fourth robotic dog (401), can store a certain number of roadblock spikes, and has the functions of moisture-proof and corrosion-proof; The roadblock spike automatic loading device (405) is arranged on the body of the fourth robotic dog (401) and is responsible for installing the roadblock spikes located in the roadblock spike storage bin (404) onto the roadblock spike launching device (403); The fourth processor is arranged inside the fuselage of the fourth robotic dog (401). On the one hand, it is responsible for locking the position and driving direction of the dangerous vehicle according to the detection information and recognition result sent by the on-site control center (5), and then controlling the fourth robotic dog (401) to move in front of the dangerous vehicle, and controlling the roadblock spike high-precision aiming device (402) to calculate the release position, angle and density of the roadblock spikes. On the other hand, it is responsible for controlling the roadblock spike automatic loading device (405) to take out the next roadblock spike from the roadblock spike storage bin (404) and load it into the roadblock spike launching device (403); The fourth wireless data transmission module (407) is disposed inside the fuselage of the fourth mechanical dog (401) and is responsible for the wireless communication between the fourth processor (406) and the on-site control center (5).

6. The anti-collision system for a vehicle based on multi-robot cooperation according to claim 1, characterized in that: In the on-site control center (5), The central control police vehicle (504) is responsible for carrying the central processor (501), the central wireless data transmission module (503), and senior security personnel for movement; The central processor (501) is responsible for sending patrol instructions including patrol range, patrol time, and patrol frequency to the front patrol robot (1) and the front dangerous goods detection robot (2); responsible for sending standby instructions including duty position and standby time to the flat tire robot (3) and the blocking robot (4); responsible for receiving the driving state detection information fed back by the front patrol robot (1) and performing dangerous vehicle identification. Specifically, it uses an image recognition algorithm to analyze the vehicle driving posture of the captured vehicle image to determine whether the vehicle has abnormal driving behavior. At the same time, it calculates the actual driving trajectory of the vehicle based on the detected distance and speed between the vehicle and the warning line, and determines whether the monitored vehicle has dangerous driving behavior by comparing the deviation between the actual driving trajectory of the vehicle and the normal driving trajectory. If there is abnormal driving behavior and / or dangerous driving behavior, the monitored vehicle is determined to be a dangerous vehicle; responsible for receiving the dangerous goods detection information fed back by the front dangerous goods detection robot (2) and performing dangerous vehicle identification. Specifically, it analyzes the characteristic signals of the radioactive substances collected to determine whether the monitored vehicle may be carrying radioactive items, and at the same time analyzes the characteristic signals of the chemical substances collected to determine whether the vehicle may be carrying chemical items. If there is a possibility of carrying radioactive items and / or chemical items, the monitored vehicle is determined to be a dangerous vehicle; responsible for sending interception instructions including the position, driving direction, and interception method of the dangerous vehicle to the flat tire robot (3) and the blocking robot (4); responsible for monitoring the working state information of the flat tire robot (3) and the blocking robot (4) including material remaining amount and equipment failure conditions; The touch display (502) is responsible for displaying the working parameters of the front patrol robot (1), the front dangerous goods detection robot (2), the flat tire robot (3), and the blocking robot (4), and is responsible for displaying detection data and analysis data including vehicle images, the distance between the vehicle and the warning line, vehicle speed, vehicle driving trajectory, characteristic signals of radioactive substances, characteristic signals of chemical substances, and dangerous vehicle identification results; The central wireless data transmission module (503) is responsible for the wireless communication between the central processor (501) and the front patrol robot (1), the front dangerous goods detection robot (2), the flat tire robot (3), and the blocking robot (4).

7. The anti-collision system for a vehicle based on multi-robot cooperation according to claim 1, wherein: A plurality of the tire puncture robots (3) and the blocking robots (4) are provided. One of the tire puncture robots (3) and one of the blocking robots (4) form a duty group and are deployed at a duty position, and the remaining tire puncture robots (3) and the blocking robots (4) form a backup group and are deployed at a standby position that is further back than the duty position. The rotation of all the tire puncture robots (3) and the blocking robots (4) is scheduled by the on-site control center (5) according to the working states of the tire puncture robots (3) and the blocking robots (4).

8. A vehicle anti-collision method using a vehicle anti-collision system based on multi-robot cooperation as described in any one of claims 1-7, characterized in that, It includes the following steps: Step 1) Define the scope of the vehicle no-go area, set a warning line at the forefront of the vehicle no-go area, and then reasonably plan the duty position, standby position, and main control position in sequence from front to back within the warning line; Step 2) Establish a stable and high-speed communication connection between the on-site control center (5), the front patrol robot (1), the front dangerous goods detection robot (2), the tire puncture robot (3), and the blocking robot (4) through a wireless communication network; Step 3) The on-site control center (5) wakes up the front patrol robot (1), the front dangerous goods detection robot (2), the tire puncture robot (3), and the blocking robot (4) through the wireless communication network, and performs initialization including setting parameters, calibration, debugging, and loading; Step 4) Arrange the on-site control center (5) at the main control position. The on-site control center (5) controls the front patrol robot (1) and the front dangerous goods detection robot (2) to automatically move to appropriate positions on the warning line through corresponding instructions; control one of the tire puncture robots (3) and one of the blocking robots (4) as a duty group to automatically move to the duty position; control the remaining tire puncture robots (3) and the blocking robots (4) as a backup group to automatically move to the standby position; Step 5) After each robot is in place, the on-site control center (5) controls the front patrol robot (1) and the front dangerous goods detection robot (2) to enter the patrol detection mode through corresponding instructions, controls the tire puncture robot (3) and the blocking robot (4) as the duty group to enter the duty blocking mode, and controls the tire puncture robot (3) and the blocking robot (4) as the backup group to enter the standby mode; Step 6) In the patrol detection mode, the front patrol robot (1) patrols along the warning line, and at the same time collects the driving state detection information of passing vehicles outside the warning line, including capturing the vehicle images of passing vehicles outside the warning line, detecting the distance between passing vehicles outside the warning line and the warning line, and detecting the vehicle speed of passing vehicles outside the warning line. Then, the collected driving state detection information is preliminarily sorted and compressed and transmitted to the on-site control center (5) through the wireless communication network; Meanwhile, the front hazardous material detection robot (2) also patrols along the warning line and simultaneously collects the hazardous material detection information of the vehicles parked outside the warning line, including performing a 360° rotation scan on the vehicles parked outside the warning line, detecting whether the passing vehicles have the characteristic signals of radioactive substances and chemical substances, and after preliminarily sorting and compressing the collected hazardous material detection information, transmitting it to the on-site control center (5) through the wireless communication network; Step 7) After receiving the driving state detection information, the on-site control center (5) uses an image recognition algorithm to analyze the driving posture of the captured vehicle images, determines whether there are abnormal driving behaviors of the monitored vehicle, and at the same time calculates the actual driving trajectory of the monitored vehicle based on the detected distance and speed between the vehicle and the warning line, and determines whether there are dangerous driving behaviors of the monitored vehicle by comparing the deviation between the actual driving trajectory and the normal driving trajectory of the monitored vehicle; Meanwhile, after receiving the hazardous material detection information, the on-site control center (5) analyzes the characteristic signals of the radioactive substances collected, determines whether there is a possibility that the monitored vehicle is carrying radioactive items, and at the same time analyzes the characteristic signals of the chemical substances collected, determines whether there is a possibility that the vehicle is carrying chemical items; Through comprehensive analysis and judgment, as long as the detection result meets one of the judgments of abnormal driving behavior, dangerous driving behavior, carrying radioactive items or carrying chemical items, the on-site control center (5) determines that the monitored vehicle is a dangerous vehicle and generates a dangerous vehicle identification result; Step 8) In the duty interception mode, when the monitored vehicle is confirmed as a dangerous vehicle, the on-site control center (5) issues an interception instruction to control the flat tire robot (3) serving as the duty group to lock the position and driving direction of the dangerous vehicle, move towards both sides of the dangerous vehicle, calculate the release angle, force and lead of the flat tire net at the same time, track and aim at the dangerous vehicle, and finally accurately release the flat tire net at the set release angle, force and lead to the wheels of the dangerous vehicle, so that the tires of the dangerous vehicle are wound by the flat tire net and lose the ability to drive; Meanwhile, the on-site control center (5) issues an interception instruction to control the blocking robot (4) serving as the duty group to lock the position and driving direction of the dangerous vehicle, move towards the front of the dangerous vehicle, calculate the release position, angle and density of the blocking road spikes at the same time, track and aim at the dangerous vehicle, and finally accurately release the blocking road spikes on the upcoming route of the dangerous vehicle at the set release position, angle and density to ensure that the tires of the dangerous vehicle are punctured by the blocking road spikes and cannot continue to break through the checkpoint and escape.

9. The anti-collision method for a vehicle according to claim 8, wherein If the puncture robot (3) and / or the blocking robot (4) in the duty group encounter abnormal working conditions during duty, including power failure, mechanical failure, communication failure, and insufficient materials, the on-site control center (5) recalls the abnormal duty group to the standby position through the wireless communication network, and then designates a corresponding puncture robot (3) and / or blocking robot (4) with normal working status in the backup group to move to the duty position and transform into the duty group.

10. The method for preventing collision of a vehicle according to claim 8, wherein After a interception mission is completed, the on-site control center (5) controls the front patrol robot (1) and the front dangerous goods detection robot (2) to start the recovery program through corresponding instructions, return to the initial patrol position and state again, and perform initialization again, as well as delete the previous data records; At the same time, the on-site control center (5) controls the puncture robot (3) and the blocking robot (4) in the duty group to start the recovery program through corresponding instructions, return to the initial duty position and state again, and perform initialization again, as well as load the puncture net and the blocking road spikes.

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