Security and protection system carried on motor sweeper and working method of security and protection system

Abstract

The invention relates to the technical field of security and protection systems, in particular to a security and protection system carried on a motor sweeper, which comprises a positioning unit, a monitoring unit, a control unit, a data transmission unit, an alarm unit, a server and a database, wherein the positioning unit is used for positioning the position of the motor sweeper; the monitoring unit is used for collecting external environment information, the external environment information comprises but is not limited to a white light image, an infrared light image, air and sound, the image processing module is arranged for processing, image feature points are extracted from the white light image and the infrared light image shot by the camera and the infrared sensor, the position of a person is recognized through the infrared light image, and the position of the person is recognized through the sound. Behavior actions of figures in the white light image are recognized through the white light image, abnormal behaviors and position information of an information occurrence point are sent to the main industrial personal computer, and safety prevention and control during operation of the sweeper are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of security systems, and particularly to a security system mounted on a cleaning vehicle and its working method. Background Art

[0002] A security system refers to a comprehensive system that uses technical means to provide security protection, monitoring, and management for a specific area or target, aiming to prevent, identify, respond to, and handle potential security threats or risks. Its core is to use the combination of hardware devices and software systems to achieve all-round protection of personnel, property, environment, etc. Currently, the existing security systems mainly rely on components such as fixed-position cameras and sensors for area monitoring and prevention. There are many monitoring blind spots in this system. For this reason, the inventor proposes a security system mounted on a cleaning vehicle, which installs a security system on the cleaning vehicle to perform security monitoring while the cleaning vehicle is cleaning, and is suitable for use in places with large traffic and complex terrain such as parks, schools, and industrial parks. Currently, the existing security systems are not applicable to cleaning vehicles. For this reason, the inventor proposes a security system mounted on a cleaning vehicle and its working method. Summary of the Invention

[0003] The purpose of the present invention is to provide a security system mounted on a cleaning vehicle and its working method to solve the problems raised in the background art. The specific technical solutions are as follows:

[0004] To achieve the above and other related purposes;

[0005] The present invention provides a security system mounted on a cleaning vehicle, including a positioning unit, a monitoring unit, a control unit, a data transmission unit, an alarm unit, and a server and a database set on the Internet side; wherein,

[0006] The positioning unit is used to position the location of the cleaning vehicle;

[0007] The monitoring unit is used to collect external environment information, and the external environment information includes but is not limited to white light images, infrared light images, air, and sound;

[0008] The control unit is used to receive the positioning information and external environment information obtained by the positioning unit and the monitoring unit, and perform information processing. The control unit analyzes whether an abnormal event occurs based on the external environment information. When an abnormal event occurs, it sends an abnormal event report and the external environment information to the server. The control unit sends the positioning information transmitted by the positioning unit to the cleaning vehicle for obstacle avoidance of the cleaning vehicle;

[0009] The data transmission unit is used for data transmission between the control unit and the server;

[0010] A database is set up in the server. The head portrait and physical characteristics of the person to be searched are imported into the database. The server is used to view the external environment information sent by the control unit, perform face recognition on the external environment information, and compare it in the database.

[0011] Preferably, the positioning unit includes a multi-line lidar, a single-line lidar, and an ultrasonic ranging system. The multi-line lidar is installed on the top of the cleaning vehicle through a radar mounting base. The two single-line lidars are respectively arranged at the front and rear of the cleaning vehicle. The ultrasonic ranging system is arranged at the four corners of the cleaning vehicle.

[0012] Preferably, the monitoring unit includes a camera, a sound recording device, and an infrared sensor. The infrared sensor is used to capture infrared light images. The camera is used to capture white light images. The sound recording device is used to record ambient sound. The camera, the sound recording device, and the infrared sensor are respectively connected to the control unit.

[0013] Preferably, the data transmission unit includes a measurement antenna, which is installed on the top of the cleaning vehicle and communicates with satellites.

[0014] Preferably, the control unit includes a main industrial computer and a data processing module. The ultrasonic ranging system is connected to the main industrial computer through a CAN line. The multi-line lidar and the single-line lidar transmit data to the main industrial computer by converting it into an Ethernet frame through Ethernet. The external environment information data collected by the monitoring unit is sent to the main industrial computer. The main industrial computer sends the external environment information data to the data processing module. The data processing module detects whether an abnormal event occurs according to the external environment information data. If an abnormal event is found, the data processing module sends the external environment information, satellite positioning information, and timestamp information to the server through the main industrial computer and the measurement antenna in sequence. The main industrial computer synchronously transmits the picture captured by the camera to the server through the data transmission unit. The server performs face recognition on the people in the picture and compares it in the database.

[0015] Preferably, the sound recording device is a microphone array, and the microphone array is arranged at the edge position on the top of the cleaning vehicle.

[0016] Preferably, the data processing module includes an image processing module and a sound processing module. The image processing module is used to process the white light image and infrared light image captured by the camera and the infrared sensor, identify the position of the person through the infrared light image, and identify the behavior actions of the person in the image through the white light image. When an abnormal behavior action is identified, the information and the position information of the occurrence point of the information are sent to the main industrial control computer. The main industrial control computer controls the microphone array to superimpose the sound signals in the direction of the occurrence point of the information to enhance the sound intensity in this direction, and at the same time cancel out the noise in other directions to obtain sound information, and sends the sound information to the sound processing module for sound analysis and recognition. When abnormal sound is identified, the sound signal is sent to the main industrial control computer, and the main industrial control computer packs the video, sound, satellite positioning information and timestamp information and sends them to the server.

[0017] Preferably, the camera is an industrial camera with a zoom function. The camera is controlled by the main industrial control computer to zoom, and the camera is installed on the top of the cleaning vehicle through a pan-tilt head. The main industrial control computer controls the pan-tilt head to work.

[0018] Preferably, it further includes an automatic cleaning unit. The automatic cleaning unit is arranged on the cleaning vehicle and is used for cleaning the monitoring unit and the positioning unit. The automatic cleaning unit includes one or more of a flushing device, a wiping device, an ultrasonic cleaning device, and a high-pressure air blowing device, and cleans the camera, the infrared sensor, the multi-line lidar, the single-line lidar, and the ultrasonic ranging system.

[0019] Another object of the present invention is to provide a working method for a security system mounted on a cleaning vehicle, and the method includes the following steps:

[0020] S1: Collect information through the monitoring unit. The monitoring unit is used to collect external environment information, capture infrared light images through the infrared sensor, capture white light images through the camera, record ambient sound through the microphone array, extract and detect ambient air through the gas detector, and send the collected external environment information to the main industrial control computer;

[0021] S2: Locate the position of the cleaning vehicle through the positioning unit. The multi-line lidar provides data for high-precision environmental modeling of the cleaning vehicle. The single-line lidar detects obstacles in a small range at the front and rear of the cleaning vehicle to make up for the inability of the multi-line lidar to detect low-height positions at the front and rear of the cleaning vehicle. The ultrasonic ranging system is arranged at the four corners of the cleaning vehicle and sends the positioning signal to the main industrial control computer;

[0022] S3: The main industrial control computer sends the external environment information data to the data processing module, where the infrared light image and the white light image are sent to the image processing module, and the ambient sound is sent to the sound processing module.

[0023] S4: The image processing module first identifies the positions of people or fire points based on the infrared light image, then fuses the infrared light image with the white light image, takes screenshots of the positions of people and fire points on the white light image, eliminates the useless positions in the white light image, and then processes the screenshots of the people's photos or fire point photos. The image processing module extracts the facial features, body features, and behavioral actions of the people. When abnormal behavioral action information is recognized, the information and the position information of the occurrence point of the information are sent to the main industrial control computer, where the facial features and body features are sent to the server through the measurement-type antenna;

[0024] S5: The main industrial control computer controls the microphone array to superimpose the sound signals in the direction of the occurrence point of the information to enhance the sound intensity in this direction, and at the same time cancels out the noises in other directions, so as to obtain the sound information, and sends the sound information to the sound processing module for sound analysis and recognition. When abnormal sound is recognized, the sound signal is sent to the main industrial control computer;

[0025] S6: The main industrial control computer judges whether an abnormal event has occurred based on the behavioral action information and the sound signal. After an abnormal event occurs, the white light image, sound, satellite positioning information, and timestamp information are packaged and sent to the server through the measurement-type antenna to report the abnormal event;

[0026] S7: The server compares the facial features and body features transmitted in step S5 in the database. After successful comparison, the corresponding white light image, satellite positioning information, and timestamp information are sent to the server through the measurement-type antenna.

[0027] The present invention has the following beneficial effects:

[0028] 1. By setting the positioning unit, monitoring unit, data transmission unit, control unit, alarm unit, as well as the server and database on the Internet side, it can help the cleaning vehicle avoid obstacles. By being able to collect and process external environmental information, perform face recognition on the external environmental information, and compare it in the database to find the target person, it realizes safety prevention and control during the operation of the cleaning vehicle;

[0029] 2. Through the processing of the image processing module, extract the image feature points from the white light image and infrared light image captured by the camera and infrared sensor. Identify the position of the person through the infrared light image, and identify the behavior of the person in the image through the white light image. Send the abnormal behavior and the position information of the information occurrence point to the main industrial control computer. The main industrial control computer controls the microphone array to superimpose the sound signals in the direction of the information occurrence point to enhance the sound intensity in this direction, and at the same time cancel out the noise in other directions, so as to obtain enhanced sound information. Send this sound information to the sound processing module for sound analysis and recognition. When abnormal sound is recognized, send the sound signal to the main industrial control computer, and the main industrial control computer packs the video, sound, satellite positioning information and timestamp information and sends them to the server;

[0030] 3. By adding an automatic cleaning unit, automatically clean the camera, infrared sensor, multi-line lidar, single-line lidar, and ultrasonic ranging system. The cleaning methods include but are not limited to water flushing, flannel wiping, high-pressure blowing, and ultrasonic oscillation, to prevent the components in the monitoring unit and positioning unit from being covered by dust, affecting the operation of the monitoring unit, and making the security system applicable to working environments with large amounts of dust. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 is the system block diagram of a security system mounted on a cleaning vehicle according to the present invention;

[0033] Figure 2 is the three-dimensional structure schematic diagram of a security system mounted on a cleaning vehicle according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The following further details a security system mounted on a cleaning vehicle proposed by the present invention in conjunction with the drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are all in a very simplified form and use non-precise scales, only for the purpose of facilitating and clearly assisting in explaining the embodiments of the present invention.

[0035] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or

[0036] Implies relative importance or implicitly indicates the quantity of the indicated technical features. Thus, features defined with "first", "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0037] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present invention. Thus,

[0038] the illustrations only show the components related to the present invention and are not drawn according to the number, shape, and size of the components in actual implementation. The form, quantity, and proportion of each component in actual implementation may be arbitrarily changed, and the layout form of the components may also be more complex.

[0039] A security system mounted on a cleaning vehicle, such as Figure 1-2 shown, includes a positioning unit 110, a monitoring unit 120, a data transmission unit 130, a control unit 140, an alarm unit 150 provided on the cleaning vehicle 200, and a server 160 and a database 170 provided at the Internet end; wherein,

[0040] the positioning unit 110 is used to position the cleaning vehicle 200. The positioning unit 110 includes a multi-line lidar 111, a single-line lidar 112, and an ultrasonic ranging system 113. The multi-line lidar 111 is mounted on the top of the cleaning vehicle 200 through a radar mounting seat to provide data for high-precision environmental modeling of the cleaning vehicle 200. The two single-line lidars 112 are respectively arranged at the front and rear of the cleaning vehicle 200 and are used for detecting obstacles in a small range at the front and rear to make up for the inability of the multi-line lidar 111 to detect the low-height positions at the front and rear of the cleaning vehicle 200. The ultrasonic ranging system 113 is arranged at the four corners of the cleaning vehicle 200 to further improve the accuracy of obstacle avoidance;

[0041] The monitoring unit 120 is used to collect external environmental information, which includes but is not limited to white light images, infrared light images, air, and sound. The monitoring unit 120 includes a camera 121, a sound collection device 122, and an infrared sensor 123, and may also include a gas detector, which is specifically determined according to the actual application scenario. For example, when used in parks and schools, the monitoring unit 120 can adopt the camera 121, the sound collection device 122, and the infrared sensor 123. The infrared sensor 123 is used to identify the positions of people in the video, the camera 121 is used to capture high-definition images, and the sound collection device 122 is used to record the ambient sound. When used in industrial parks, the monitoring unit 120 can include the camera 121, the sound collection device 122, the infrared sensor 123, and a gas detector. The camera 121 is used to capture high-definition images, the infrared sensor 123 is used to detect fires, the gas detector is used to detect gas leaks, and the sound collection device 122 is used to record the ambient sound;

[0042] The data transmission unit 130 includes a measurement antenna, which is installed on the top of the sweeper 200 and communicates with satellites to achieve long-distance data transmission and satellite positioning of the sweeper 200.

[0043] The control unit 140 includes a main industrial control computer 141 and a data processing module 142. The ultrasonic ranging system 113 is connected to the main industrial control computer 141 through a CAN line. The multi-line lidar 111 and the single-line lidar 112 convert data into Ethernet frames through Ethernet and transmit the data to the main industrial control computer 141. The control unit 140 transmits information to the server 160 through the data transmission unit 130. The external environmental information data collected by the monitoring unit 120 is sent to the main industrial control computer 141, and the main industrial control computer 141 sends the external environmental information data to the data processing module 142. The data processing module 142 detects whether an abnormal event occurs according to the external environmental information data. If an abnormal event is detected, the main industrial control computer 141 controls the alarm unit 150 to issue an alarm, and the data processing module 142 sequentially sends the external environmental information, satellite positioning information, and timestamp information to the server 160 through the main industrial control computer 141 and the measurement antenna. Personnel can log in to the server 160 to view this information and assign personnel to handle it. The main industrial control computer 141 synchronously transmits the images captured by the camera 121 to the server 160 through the data transmission unit 130. The server 160 performs face recognition on the people in the images and compares them in the database 170.

[0044] Further, the data processing module 142 includes an image processing module 1421 and an audio processing module 1422. The sound collection device 122 uses a microphone array, which is arranged at the top edge position of the cleaning vehicle. The image processing module 1421 processes the white light image and the infrared light image captured by the camera 121 and the infrared sensor 123, extracts image feature points, identifies the position of a person through the infrared light image, and identifies the behavior actions of the person in the image through the white light image. When an abnormal behavior action is identified, the information and the position information of the point where the information occurs are sent to the main industrial control computer 141. The main industrial control computer 141 controls the microphone array to superimpose the sound signals in the direction of the point where the information occurs, so as to enhance the sound intensity in this direction, and at the same time cancel out the noise in other directions, thereby obtaining sound information, and sending the sound information to the audio processing module 1422 for sound analysis and recognition. When an abnormal sound is recognized, the sound signal is sent to the main industrial control computer 141, and the main industrial control computer 141 packs the video, sound, satellite positioning information, and timestamp information and sends them to the server 160.

[0045] In one embodiment, there are multiple cameras 121, and the multiple cameras 121 are respectively arranged around the cleaning vehicle 200 to obtain video images around the cleaning vehicle 200.

[0046] In one embodiment, the camera 121 is a panoramic camera, and the camera is arranged on the top of the cleaning vehicle 200.

[0047] In one embodiment, the camera 121 is an industrial camera with a zoom function. The zoom of the camera 121 is controlled by the main industrial control computer 141. The camera 121 is mounted on the top of the cleaning vehicle 200 through a pan-tilt head. The main industrial control computer 141 drives the camera 121 to rotate and capture surrounding images by controlling the operation of the pan-tilt head. The pan-tilt head is used to reduce the problem of image jitter and blurring caused by bumps during the driving of the cleaning vehicle 200.

[0048] In one embodiment, since there is a large amount of dust during the cleaning process of the cleaning vehicle 200, the components in the monitoring unit 120 and the positioning unit 110 are easily covered by dust, affecting the operation of the monitoring unit 120. Therefore, the security system further includes an automatic cleaning unit 180, which is arranged on the cleaning vehicle. The automatic cleaning unit 180 is used for cleaning the monitoring unit 120 and the positioning unit 110. The automatic cleaning unit 180 includes one or more of a flushing device, a wiping device, an ultrasonic cleaning device, and a high-pressure air blowing device, and automatically cleans the camera 121, the infrared sensor 123, the multi-line lidar 111, the single-line lidar 112, and the ultrasonic ranging system 113. The cleaning methods include but are not limited to water flushing, flannelette wiping, high-pressure air blowing, and ultrasonic oscillation. The specific cleaning methods can adopt the automatic headlight cleaning and automatic windshield cleaning of vehicles in the prior art.

[0049] It should be noted that the sweeper 200 used in conjunction with the technical solution of the present invention should at least include a vehicle body, a steering control system, a speed control system, a cleaning system, and a power supply system. The main industrial control computer 141 provides radar information and distance information for the steering control system and the speed control system based on the positioning unit 110 to realize the function of assisted driving.

[0050] A working method of a security system mounted on a sweeper, the method comprising the following steps:

[0051] S1: Information collection is carried out through a monitoring unit. The monitoring unit is used to collect external environmental information, capture infrared light images through an infrared sensor, capture white light images through a camera, record ambient sound through a microphone array, extract and detect ambient air through a gas detector, and send the collected external environmental information to the main industrial control computer;

[0052] S2: The position of the sweeper is located through a positioning unit. High-precision environmental modeling data is provided for the sweeper through a multi-line lidar. The front and rear of the sweeper are detected for small-range obstacles through the single-line lidar to make up for the inability of the multi-line lidar to detect low-height positions at the front and rear of the sweeper. Ultrasonic ranging systems are arranged at the four corners of the sweeper, and the positioning signal is sent to the main industrial control computer;

[0053] S3: The main industrial control computer sends the external environmental information data to a data processing module, where the infrared light image and the white light image are sent to an image processing module, and the ambient sound is sent to a sound processing module.

[0054] S4: The image processing module first identifies the position of a person or a fire point based on the infrared light image, then fuses the infrared light image with the white light image, takes screenshots of the position of the person and the fire point on the white light image, eliminates useless positions in the white light image, and then processes the screenshot person photo or fire point photo. The image processing module extracts the facial features, body features, and behavioral actions of the person. When abnormal behavioral action information is recognized, the information and the position information of the point where the information occurs are sent to the main industrial control computer, where the facial features and body features are sent to the server through a measurement-type antenna;

[0055] S5: The main industrial control computer controls the microphone array to superimpose the sound signals in the direction of the point where the information occurs to enhance the sound intensity in that direction, and at the same time cancels out the noise in other directions, thereby obtaining sound information, sending the sound information to the sound processing module for sound analysis and recognition, and when abnormal sound is recognized, sending the sound signal to the main industrial control computer;

[0056] S6: The main industrial control computer determines whether an abnormal event has occurred based on the behavior action information and sound signals. After an abnormal event occurs, the white light image, sound, satellite positioning information, and timestamp information are packaged and sent to the server through the measurement antenna to report the abnormal event;

[0057] S7: The server compares the facial features and body postures transmitted in step S5 in the database 170. After successful comparison, the corresponding white light image, satellite positioning information, and timestamp information are sent to the server through the measurement antenna.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A security system mounted on a sweeper, characterized in that, It includes a positioning unit, a monitoring unit, a control unit, a data transmission unit, an alarm unit, as well as a server and a database set on the Internet side; among them, the positioning unit is used to locate the position of the cleaning vehicle; the monitoring unit is used to collect external environment information, and the external environment information includes but is not limited to white light images, infrared light images, air, and sound; the control unit is used to receive the positioning information and external environment information obtained by the positioning unit and the monitoring unit, and perform information processing. The control unit analyzes whether an abnormal event occurs according to the external environment information. When an abnormal event occurs, it sends an abnormal event report and external environment information to the server, and controls the alarm unit to issue an alarm. The control unit sends the positioning information transmitted by the positioning unit to the cleaning vehicle for obstacle avoidance of the cleaning vehicle; the data transmission unit is used for data transmission between the control unit and the server; a database is set in the server, and the head portrait and physical characteristics of the person to be searched are imported into the database. The server is used to view the external environment information sent by the control unit, perform face recognition on the external environment information, and compare it in the database.

2. The security system mounted on a sweeper vehicle according to claim 1, characterized in that, The positioning unit includes a multi-line lidar, a single-line lidar, and an ultrasonic ranging system. The multi-line lidar is installed on the top of the cleaning vehicle through a radar mounting base. The two single-line lidars are respectively arranged at the front and rear of the cleaning vehicle, and the ultrasonic ranging system is arranged at the four corners of the cleaning vehicle.

3. The security system mounted on a sweeper according to claim 2, characterized in that, The monitoring unit includes a camera, a sound collection device, and an infrared sensor. The infrared sensor is used to capture infrared light images, the camera is used to capture white light images, and the sound collection device is used to record ambient sound. The camera, the sound collection device, and the infrared sensor are respectively connected to the control unit.

4. The security system mounted on a sweeper vehicle according to claim 1, characterized in that, The data transmission unit includes a measurement antenna, and the measurement antenna is installed on the top of the cleaning vehicle and communicates with satellites.

5. The security system mounted on a sweeper vehicle according to claim 3, characterized in that, The control unit includes a main industrial computer and a data processing module. The ultrasonic ranging system is connected to the main industrial computer through a CAN line. The multi-line lidar and the single-line lidar transmit data to the main industrial computer by converting it into an Ethernet frame through Ethernet. The external environment information data collected by the monitoring unit is sent to the main industrial computer, and the main industrial computer sends the external environment information data to the data processing module. The data processing module detects whether an abnormal event occurs according to the external environment information data. If an abnormal event is found, the data processing module sends the external environment information, satellite positioning information, and timestamp information to the server through the main industrial computer and the measurement antenna in sequence. The main industrial computer synchronously transmits the picture captured by the camera to the server through the data transmission unit. The server performs face recognition on the people in the picture and compares it in the database.

6. The security system mounted on a sweeper according to claim 5, characterized in that, The sound collection device is a microphone array, and the microphone array is arranged at the edge position on the top of the cleaning vehicle.

7. The security system mounted on a sweeper according to claim 5, characterized in that, The data processing module includes an image processing module and a sound processing module. The image processing module is used to process the white light image and infrared light image captured by the camera and infrared sensor, identify the position of the person through the infrared light image, and identify the behavior actions of the person in the image through the white light image. When an abnormal behavior action is identified, the information and the position information of the information occurrence point are sent to the main industrial control computer. The main industrial control computer controls the microphone array to superimpose the sound signals in the direction of the information occurrence point to enhance the sound intensity in this direction, and at the same time cancel out the noise in other directions to obtain sound information, and sends the sound information to the sound processing module for sound analysis and recognition. When abnormal sound is recognized, the sound signal is sent to the main industrial control computer, and the main industrial control computer packs the video, sound, satellite positioning information and timestamp information and sends them to the server.

8. The security system mounted on a sweeper according to claim 5, characterized in that, The camera is an industrial camera with a zoom function, and the zoom of the camera is controlled by the main industrial control computer. The camera is installed on the top of the cleaning vehicle through a pan-tilt, and the main industrial control computer controls the pan-tilt to work.

9. The security system carried on a sweeper according to claim 3, characterized in that, It also includes an automatic cleaning unit. The automatic cleaning unit is arranged on the cleaning vehicle and is used for cleaning the monitoring unit and the positioning unit. The automatic cleaning unit includes one or more of a flushing device, a wiping device, an ultrasonic cleaning device, and a high-pressure air blowing device, and cleans the camera, infrared sensor, multi-line lidar, single-line lidar, and ultrasonic ranging system.

10. A working method of the security system carried on a sweeper according to any one of claims 1-9, characterized in that, This method includes the following steps: S1: Collect information through the monitoring unit. The monitoring unit is used to collect external environment information, capture infrared light images through the infrared sensor, capture white light images through the camera, record environmental sounds through the microphone array, extract and detect environmental air through the gas detector, and send the collected external environment information to the main industrial control computer; S2: Locate the position of the cleaning vehicle through the positioning unit. The multi-line lidar provides data for high-precision environmental modeling of the cleaning vehicle. The single-line lidar detects obstacles in a small range at the front and rear of the cleaning vehicle to make up for the inability of the multi-line lidar to detect low-height positions at the front and rear of the cleaning vehicle. The ultrasonic ranging system is set at the four corners of the cleaning vehicle and sends the positioning signal to the main industrial control computer; S3: The main industrial control computer sends the external environment information data to the data processing module, where the infrared light image and the white light image are sent to the image processing module, and the environmental sound is sent to the sound processing module. S4: The image processing module first identifies the person's position or the fire point according to the infrared light image, then fuses the infrared light image and the white light image, takes screenshots of the person's position and the fire point on the white light image, eliminates the useless positions in the white light image, and then processes the screenshot person photo or fire point photo. The image processing module extracts the facial features, body features, and behavior actions of the person. When abnormal behavior action information is recognized, the information and the position information of the information occurrence point are sent to the main industrial control computer, and the facial features and body features are sent to the server through a measurement-type antenna; S5: The main industrial control computer controls the microphone array to superimpose the sound signals in the direction of the information occurrence point, so as to enhance the sound intensity in this direction, and at the same time cancel out the noises in other directions, thereby obtaining the sound information. The sound information is sent to the sound processing module for sound analysis and recognition. When an abnormal sound is recognized, the sound signal is sent to the main industrial control computer; S6: The main industrial control computer judges whether an abnormal event has occurred based on the behavior action information and the sound signal. After an abnormal event occurs, the white light image, sound, satellite positioning information, and timestamp information are packaged and sent to the server through the measurement antenna to report the abnormal event; S7: The server compares the facial features and body postures transmitted in step S5 in the database. After the comparison is successful, the corresponding white light image, satellite positioning information, and timestamp information are sent to the server through the measurement antenna.

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