Implementation method of high school campus unmanned vehicle patrol system

Abstract

The application provides an implementation method of a high school campus unmanned vehicle patrol system, the system is composed of a guide node, a patrol node and a control node, and the guide nodes are uniformly distributed on both sides of the campus road. The system has the following core functions: (1) significantly improving the campus patrol efficiency and greatly reducing the labor cost; (2) realizing the real-time monitoring of the campus environment and the real-time return of the monitoring data, and ensuring that the security department can timely master the campus dynamics; (3) the systematized record storage of the campus environment data realizes the traceability of the data, and provides reliable data support for accurately restoring the time line and process of the event. The system can effectively improve the campus patrol efficiency and reduce the management cost, and has a wide application prospect in the field of smart campus and the like.

Description

Technical Field

[0001] This invention relates to an implementation method, and more particularly to an implementation method for an unmanned vehicle patrol system on a university campus. Background Technology

[0002] Currently, campus patrols in universities mainly rely on manual methods, which have the following limitations: (1) High labor costs: a large number of security personnel need to work in shifts, and people's energy is limited, so the quality of patrols declines over time. (2) Response speed and information lag: campus patrol information relies on verbal descriptions, which are prone to distortion or omissions, and the school security department has difficulty keeping track of the dynamics in real time. (3) Lack of data traceability: patrol quality depends on individual responsibility, and there are cases of absenteeism and missed patrols. Patrol records are on paper, and it is difficult to accurately reconstruct the timeline and process of the incident afterward. This invention aims to solve the above problems and realize automatic and intelligent patrols on university campuses. Summary of the Invention

[0003] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for implementing an unmanned vehicle patrol system on a university campus, addressing the shortcomings of the existing technology.

[0004] Technical solution: This invention discloses a method for implementing an unmanned vehicle patrol system on a university campus. The system consists of guidance nodes, patrol nodes, and control nodes. The guidance nodes are evenly distributed on both sides of the campus roads. The guidance nodes send guidance messages to establish a guidance table; the patrol nodes send control messages to establish a patrol node table. The guiding node sends a notification message to obtain the set of route coordinates to the target guiding node. If the guiding node receiving the notification message is not the target guiding node, and the road anomaly flag is 0, and the distance between its own coordinates and the final coordinates of the notification message is less than the distance between the source coordinates and the final coordinates of the notification message, then it sets the source coordinates of the notification message to its own coordinates, adds its own coordinates to the coordinate set of the notification message, and forwards the notification message as the last coordinate. The target guiding node receiving the notification message adds its own coordinates to the coordinate set of the notification message and sends a route message, the route coordinate set of which is equal to the coordinate set of the notification message. After receiving the route message, the guiding node that sent the notification message creates a patrol entry, the destination coordinates of which are equal to the coordinates of the target guiding node, and the route coordinate set of which is equal to the route coordinate set of the route message. The control node sends a task assignment message to the target patrol node; upon receiving the task assignment message, the target patrol node sets its patrol identifier to 1, saves the patrol coordinate set of the task assignment message, and executes the patrol task through the following steps. Step 1: The target patrol node selects the coordinates closest to its own position from the patrol coordinate set, obtains the set of route coordinates to reach the target guide node located at that coordinate from the connected guide node, and arrives at the position marked by that coordinate according to the route specified by the set of route coordinates; Step 2: The target patrol node removes the coordinate from the patrol coordinate set. If the patrol coordinate set is empty, proceed to step 3; otherwise, proceed to step 1. Step 3: The target patrol node sets its patrol flag to 0, completing the patrol task.

[0005] The method further includes: Upon receiving the task assignment message, the target patrol node sends an execution task message to the connected guiding node, obtaining a set of route coordinates to reach the target guiding node. In this execution task message, the coordinates are equal to the coordinates closest to its own position in the patrol coordinate set. Upon receiving the execution task message, the guiding node selects a patrol entry whose destination coordinates are equal to the coordinates in the execution task message and sends an execution task response message. The route coordinate set in the execution task response message is equal to the route coordinate set in the patrol entry. The target patrol node that receives the task execution response message saves the set of route coordinates from the task execution response message.

[0006] The method further includes: The control node selects a patrol node entry whose patrol node ID is equal to the patrol node ID of the target patrol node, sets the patrol flag of the patrol node entry to 1, and sends a task message with the next hop coordinate empty. The patrol node ID is equal to the patrol node ID of the target patrol node, the patrol coordinate set is equal to the target patrol coordinate set, and the final coordinate is equal to the guiding coordinate in the patrol node entry. If the guiding node that receives the task message detects that the next-hop coordinate of the task message is empty, it selects the guiding table entry whose coordinates are closest to the final coordinates of the task message, sets the next-hop coordinates of the task message to the coordinates of that guiding table entry, and forwards the task message. If the guiding node whose coordinates receive the task message is equal to the final coordinates of the task message, it forwards the task message. If the guiding node whose coordinates receive the task message is not equal to the final coordinates of the task message, but its coordinates are equal to the next-hop coordinates of the task message, the guiding node selects the guiding table entry whose coordinates are closest to the final coordinates of the task message, sets the next-hop coordinates of the task message to the coordinates of that guiding table entry, and forwards the task message.

[0007] The method further includes: In the notification message sent by the guiding node, the source coordinates are equal to its own coordinates, the final coordinates are equal to the coordinates of the target guiding node, and the coordinate set only contains its own coordinates; if the coordinates of the guiding node that receives the route message are equal to the last coordinate in the destination coordinate set of the route message, then the last coordinate is deleted from the destination coordinate set of the route message; if the destination coordinate set of the route message is not empty, then the guiding node forwards the route message.

[0008] The method further includes: In the control message sent by the patrol node, the patrol node ID is its own patrol node ID, the patrol identifier is its own patrol identifier, and the next-hop coordinates and guide coordinates are both empty. If the patrol identifier is 1, the data table is its own data table; otherwise, the data table is empty. If the guide node receiving the control message detects that the guide coordinates of the control message are empty, it sets the guide coordinates of the control message to its own coordinates, selects the guide table entry whose coordinates are closest to the control guide node's coordinates, sets the next-hop coordinates of the control message to the coordinates of that guide table entry, and forwards the control message. If the guide node receiving the control message does not have the next-hop coordinates, it forwards the control message. If the coordinates of the receiving control node are equal to the coordinates of the control message and the next-hop coordinates of the control message, the control node selects the guide table entry whose coordinates are closest to the coordinates of the control node, sets the next-hop coordinates of the control message to the coordinates of the guide table entry, and forwards the control message. If the coordinates of the receiving control node are equal to the coordinates of the control node, the control node forwards the control message. The receiving control node saves the data table of the control message, creates a patrol node entry, and the patrol node ID, guide coordinates, and patrol identifier of the patrol node entry are equal to the patrol node ID, guide coordinates, and patrol identifier of the control message, respectively.

[0009] The method further includes: In the bootstrap message sent by the bootstrap node, the coordinates are equal to its own coordinates; the bootstrap node that receives the bootstrap message creates a bootstrap table entry, and the coordinates of the bootstrap table entry are equal to the coordinates of the bootstrap message. The control node maintains a patrol node table, where each patrol node table entry contains the guide coordinates, patrol node ID, and patrol identifier. Control messages contain the message ID, patrol node ID, next-hop coordinates, guide coordinates, patrol identifier, and data table. Task issuance messages contain the message ID, patrol node ID, patrol coordinate set, final coordinates, and next-hop coordinates. Task execution messages contain the message ID and coordinates. Task execution response messages contain the message ID and route coordinate set.

[0010] The method further includes: The system has only one control node; the guidance node is a static device; the patrol node is an autonomously moving intelligent device; each guidance node stores a road anomaly identifier with an initial value of 0. If the guidance node determines that the road is abnormal, it sets the road anomaly identifier to 1; otherwise, it sets the road anomaly identifier to 0.

[0011] The method further includes: The boot node connected to the control node is called the control boot node; each configuration node and boot node pre-configures the coordinates of the control boot node; each boot node has unique coordinates; each boot node stores a boot table, and each boot table entry contains coordinates and lifecycle.

[0012] The method further includes: The system uses a coordinate set to identify patrol routes that reach specified coordinates. The coordinates in the coordinate set are ordered sequentially according to the patrol route. Each guiding node stores a patrol table, and each patrol table entry includes the starting coordinates, destination coordinates, route coordinate set, and lifecycle. The notification message includes the message ID, source coordinates, final coordinates, and coordinate set. The route message includes the message ID, route coordinate set, and destination coordinate set.

[0013] The method further includes: Each patrol node is pre-configured with a unique patrol node ID; each patrol node maintains a patrol identifier, with a value of 0 indicating that the patrol node is not performing a patrol task, and a value of 1 indicating that the patrol node is performing a patrol task; the initial value of the patrol identifier for each patrol node is 0; each patrol node and control node respectively store a data table, with each data table entry containing coordinates, data, and a timestamp; patrol nodes periodically collect data along the route and create data table entries, where the coordinates of the data table entry are the coordinates at the time the patrol node collected the data, the data is the collected data, and the timestamp is the time the data was collected.

[0014] Beneficial Effects: This invention provides a method for implementing an unmanned vehicle patrol system on a university campus. The system possesses the following core functions: (1) significantly improving the efficiency of campus patrols and greatly reducing labor costs; (2) realizing real-time monitoring of the campus environment and real-time transmission of monitoring data, ensuring that security departments can promptly grasp campus dynamics; (3) systematically recording and storing campus environmental data, achieving data traceability, and providing reliable data support for accurately reconstructing the timeline and process of events. This system can effectively improve campus patrol efficiency and reduce management costs, and has broad application prospects in fields such as smart campuses. Attached Figure Description

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0016] Figure 1 This is a schematic diagram of the process of the intelligent patrol system for university campuses described in this invention.

[0017] Figure 2 This is a schematic diagram of the process for creating a bootstrap table as described in this invention.

[0018] Figure 3 This is a schematic diagram of the process for obtaining the set of route coordinates as described in this invention.

[0019] Figure 4 This is a schematic diagram of the patrol node update process described in this invention.

[0020] Figure 5 This is a schematic diagram of the task execution process of the patrol node according to the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Figure 1 This is a schematic diagram of the process of the intelligent patrol system for university campuses described in this invention. Figure 2This is a schematic diagram of the process for establishing a guidance table according to the present invention. The system consists of guidance nodes, patrol nodes, and control nodes; the system has only one control node, which issues patrol tasks to the patrol nodes; guidance nodes are static devices, evenly distributed on both sides of all roads in the university campus, and can be intelligent devices such as sensor nodes and probes; patrol nodes are autonomous mobile intelligent devices, such as intelligent cars and robots, used to patrol and monitor the environment and security situation at designated locations, such as dormitory entrances and canteen entrances; the control node is equipped with a wireless interface, each guidance node is equipped with a wireless interface, and each patrol node is equipped with a wireless interface; any two adjacent guidance nodes are within each other's communication range; at any given time, a patrol node is connected to a guidance node; guidance nodes are intelligent devices, such as the DRS511 road sensor, which has the function of judging road surface anomalies, such as icing and snow accumulation; each guidance node stores a road anomaly flag, with a value of 0 or 1, initially 0. If the guidance node judges a road anomaly, such as detecting road icing, it sets the road anomaly flag to 1; if the guidance node judges that the road is not abnormal and communication is normal, it sets the road anomaly flag to 0. The control node is a static node, such as a desktop computer used by the campus security department. Campus security personnel can monitor the campus situation through the control node. The control node is connected to a guide node, which is called the control guide node. Each patrol node and guide node is pre-configured with the coordinates of the control guide node; Each guide node has unique coordinates, which can be preset or obtained through the Global Positioning System (GPS); Each boot node stores a boot table, and each boot table entry contains coordinates and lifecycle information. Each message is uniquely identified by a message ID; The bootstrapping message includes a message ID and coordinates; Each boot node performs the following operations periodically: Step 101: Begin; Step 102: The guiding node sends a guiding message with a message ID of 1 and coordinates equal to its own coordinates; Step 103: The neighboring boot node that receives the boot message determines whether there is a boot table entry whose coordinates are equal to those in the boot message. If it exists, the lifetime of the boot table entry is set to the maximum value, such as 10 minutes. Otherwise, a boot table entry is created, whose coordinates are equal to those in the boot message, and whose lifetime is set to the maximum value. Step 104: End.

[0023] The guiding node sends guiding messages to neighboring guiding nodes through the above process. Its innovations include: (1) the guiding node can obtain the coordinates of neighboring guiding nodes, thereby improving patrol efficiency; (2) the guiding entries use lifecycle to ensure the validity of their information, thereby improving patrol efficiency.

[0024] Figure 3 This is a schematic diagram of the process for obtaining a set of route coordinates according to the present invention. The system uses a set of coordinates to identify patrol routes that reach specified coordinates. The coordinates in the set are ordered sequentially according to the patrol route. For example, in the set of coordinates for the patrol route from guide node G1 to guide node G2, the first coordinate is the coordinate of guide node G1, the second coordinate is the second coordinate of the patrol route, and so on, with the last coordinate being the coordinate of guide node G2. Each guiding node maintains a patrol table, and each patrol table entry contains the starting coordinates, destination coordinates, route coordinate set, and lifecycle. The notification message includes a message ID, source coordinates, final coordinates, and a set of coordinates; The route message contains a message ID, a set of route coordinates, and a set of destination coordinates; The coordinates of the guiding node G2 are CO2, and the coordinates of the guiding node G1 are CO1; If there exists at least one route between guide node G1 and guide node G2, and the road anomaly flag of each guide node along this route is 0, guide node G1 establishes the set of route coordinates for the patrol route to the target guide node G2 through the following process: Step 201: Begin; Step 202: The bootstrap node G1 sends a notification message with message ID 2, source coordinates equal to its own coordinates, and final coordinates equal to the coordinates CO2 of the target bootstrap node G2. The coordinate set only contains its own coordinates, i.e., {CO1}. Step 203: If the coordinates of the receiving node are equal to the final coordinates in the notification message, proceed to step 206; otherwise, proceed to step 204. Step 204: If the road anomaly identifier of the guiding node that receives the notification message is 0, and the distance between the coordinates of the guiding node and the final coordinates in the notification message is less than the distance between the source coordinates and the final coordinates in the notification message, then proceed to step 205; otherwise, proceed to step 211. Step 205: The guiding node that receives the notification message sets the source coordinates of the notification message to its own coordinates, adds its own coordinates to the coordinate set in the notification message as the last element, forwards the notification message, and executes step 203. Step 206: The guiding node that receives the notification message adds its own coordinates to the coordinate set in the notification message and uses them as the last coordinates. It constructs a route message with a message ID of 3. The route coordinate set and the destination coordinate set are both equal to the coordinate set in the notification message. It removes its own coordinates from the destination coordinate set and sends the route message. Step 207: If the coordinates of the receiving guide node of the route message are equal to the last coordinate in the destination coordinate set in the route message, then proceed to step 208; otherwise, proceed to step 211. Step 208: The coordinates of the guiding node that received the route message are removed from the last coordinate in the destination coordinate set of the route message. If the destination coordinate set in the route message is equal to an empty set, then proceed to step 210; otherwise, proceed to step 209. Step 209: The guiding node that receives the route message forwards the route message and executes step 207; Step 210: The guiding node that receives the route message creates a patrol entry. The starting coordinate of the patrol entry is equal to the first coordinate of the route coordinate set in the route message, i.e., its own coordinates. The destination coordinate is equal to the last coordinate of the route coordinate set in the route message, i.e., the coordinates of the target guiding node G2. The route coordinate set is equal to the route coordinate set in the route message. The lifespan is equal to the maximum value, such as 10 minutes. Step 211: End.

[0025] The guiding node establishes multiple routes between any two guiding nodes through the above process, which has the following innovations: (1) No abnormal road conditions occur on the established routes, ensuring that the patrol nodes can successfully perform patrol tasks; (2) Multiple paths can be established between any two guiding nodes in one process, which improves patrol efficiency; (3) The patrol table entries are used to save the set of route coordinates, and the life cycle is used to ensure the real-time performance and effectiveness of the routes, ensuring the successful implementation of patrols.

[0026] Figure 4 This is a schematic diagram of the patrol node update process described in this invention. Each patrol node is pre-configured with a unique patrol node ID, which can be a hardware address, such as a MAC address; Each patrol node maintains a patrol flag. A patrol flag value of 0 indicates that the patrol node is not performing a patrol task, while a patrol flag value of 1 indicates that the patrol node is performing a patrol task. The initial value of the patrol flag for each patrol node is 0. If the patrol flag of a patrol node is equal to 0, it is in a static state, waiting for the control node to assign patrol tasks. The control node maintains a patrol node table. Each patrol node table entry contains guide coordinates, patrol node ID, and patrol identifier, where the guide coordinates are the coordinates of the guide node to which the patrol node identified by the patrol node ID is connected. Each patrol node and control node maintains a data table, with each data table entry containing coordinates, data, and a timestamp. Each patrol node is configured with data acquisition devices, such as sensors, probes, and cameras. When each patrol task is initiated (i.e., when the patrol flag changes from 0 to 1), the patrol node sets its data table to an empty table. During the patrol, the patrol node periodically collects data along the route. After each data collection, a data table entry is created, with the coordinates of the data table entry being the coordinates at which the patrol node collected the data, the data being the collected data, and the timestamp being the time of data collection. The control message includes a message ID, patrol node ID, next-hop coordinates, guide coordinates, patrol identifier, and data table; Patrol node M1 periodically performs the following operations: Step 301: Begin; Step 302: Patrol node M1 sends a control message with message ID 4, patrol node ID as its own patrol node ID, patrol identifier as its own patrol identifier, and next hop coordinates and guide coordinates as empty. If the patrol identifier is 1, the data table is its own data table; otherwise, the data table is empty. Step 303: The boot node that receives the control message determines whether the boot coordinates of the control message are empty. If they are, proceed to step 304; otherwise, proceed to step 305. Step 304: The guiding node that receives the control message sets the guiding coordinates of the control message to its own coordinates, selects a guiding table entry whose coordinates are closest to the coordinates of the guiding node, sets the next-hop coordinates of the control message to the coordinates of the guiding table entry, forwards the control message, and executes step 303. Step 305: If the coordinates of the receiving guide node are equal to the coordinates of the control guide node, then proceed to step 308; otherwise, proceed to step 306. Step 306: If the coordinates of the guiding node that receives the control message are equal to the next-hop coordinates in the control message, then proceed to step 307; otherwise, proceed to step 309. Step 307: The boot node that receives the control message selects a boot table entry whose coordinates are closest to the coordinates of the control boot node, sets the next-hop coordinates of the control message to the coordinates of the boot table entry, forwards the control message, and executes step 303; Step 308: The guiding node that receives the control message forwards the control message; if the control node that receives the control message detects that the data table in the control message is not empty, it saves the data table; the control node determines whether there is a patrol node entry, the patrol node ID of which is equal to the patrol node ID in the control message. If it exists, the guiding coordinates of the patrol node entry are set to the guiding coordinates in the control message, and the patrol identifier of the patrol node entry is set to the patrol identifier in the control message. Otherwise, a patrol node entry is created, the patrol node ID of which is equal to the patrol node ID in the control message, the guiding coordinates of which are equal to the guiding coordinates in the control message, and the patrol identifier of which is equal to the patrol identifier in the control message. Step 309: End.

[0027] The innovations of the above process include: (1) the control node can obtain the current status of each patrol node, i.e. whether it is idle or performing patrol tasks; (2) the control node can obtain the location of the patrol node in real time, and thus efficiently allocate patrol tasks; (3) the control node can obtain the data table returned by the patrol node in real time, and campus security personnel can monitor the campus situation in real time through the control node, and deal with any abnormalities in a timely manner.

[0028] Figure 5 This is a schematic diagram illustrating the task execution process of the patrol node according to the present invention. The patrol node can obtain its own coordinates in real time and move autonomously towards the target coordinates; The task message includes a message ID, patrol node ID, patrol coordinate set, final coordinates, and next hop coordinates; The task execution message includes a message ID and coordinates; The task execution response message contains a message ID and a set of route coordinates; When the patrol flag of patrol node M1 is 0, the control node issues a patrol task to the target patrol node M1 through the following process. The patrol task is for patrol node M1 to move to multiple pre-set designated locations to collect data. A guide node is deployed at each designated location, and the coordinates of the guide nodes deployed at these designated locations are used to construct the target patrol coordinate set CS1: Step 401: Begin; Step 402: The control node selects a patrol node entry, the patrol node ID of which is equal to the patrol node ID of patrol node M1, sets the patrol flag of the patrol node entry to 1, sends a task notification message with message ID 5, the next hop coordinate is empty, the patrol node ID is equal to the patrol node ID of patrol node M1, the patrol coordinate set is equal to the target patrol coordinate set CS1, and the final coordinate is equal to the guiding coordinate in the patrol node entry. Step 403: The guiding node that receives the task message determines whether the next-hop coordinate of the task message is empty. If it is, proceed to step 404; otherwise, proceed to step 405. Step 404: The guiding node that receives the task message selects a guiding table entry whose coordinates are closest to the final coordinates in the task message, sets the next-hop coordinates of the task message to the coordinates of the guiding table entry, forwards the task message, and executes step 403. Step 405: If the coordinates of the guiding node that received the task message are equal to the final coordinates in the task message, then proceed to step 408; otherwise, proceed to step 406. Step 406: If the coordinates of the guiding node that receives the task message are equal to the next-hop coordinates in the task message, then proceed to step 407; otherwise, proceed to step 414. Step 407: The guiding node that receives the task message selects a guiding table entry whose coordinates are closest to the final coordinates in the task message, sets the next-hop coordinates of the task message to the coordinates of the guiding table entry, forwards the task message, and executes step 403. Step 408: The guiding node that receives the task message forwards the task message. The patrol node (i.e., patrol node M1) whose coordinates are equal to the patrol node ID in the task message sets its patrol identifier to 1, saves the patrol coordinate set in the task message, and sets a coordinate variable c1. Step 409: Patrol node M1 selects the coordinate closest to its current position from the patrol coordinate set, sets the value of variable c1 to that coordinate, sends an execution task message with message ID 6 and coordinates of variable c1, and deletes the value of variable c1 from the saved patrol coordinate set. Step 410: If the guiding node that receives the execution task message does not have a patrol entry with the destination coordinates equal to the coordinates in the execution task message, then execute steps 201-211 to create a patrol entry. The starting coordinates of the patrol entry are equal to the coordinates of the guiding node, the destination coordinates are equal to the coordinates in the execution task message, and the route coordinate set is equal to the route coordinate set from the guiding node to the guiding node located at the coordinates in the execution task message. The guiding node selects a patrol entry with the destination coordinates equal to the coordinates in the execution task message and sends an execution task response message with a message ID of 7 and a route coordinate set equal to the route coordinate set in the patrol entry. Step 411: The patrol node M1 that receives the task execution response message saves the set of route coordinates in the task execution response message, and moves according to the coordinate order in the set of route coordinates, passing through the first coordinate, the second coordinate, and finally reaching the location of the last coordinate. Each time a coordinate is passed, a data collection operation is performed, and the collected data is saved to the data table. Step 412: Patrol node M1 determines whether the saved patrol coordinate set is empty. If it is, proceed to step 413; otherwise, proceed to step 409. Step 413: Patrol node M1 sets its patrol flag to 0; Step 414: End.

[0029] The innovations of the above process include: (1) The control node remotely issues patrol tasks to patrol nodes located at any location within the campus area, realizing the intelligence and automation of patrol tasks; (2) The patrol node collects data from multiple target locations through a single patrol process, such as different locations like dormitories, canteens, and gymnasiums, greatly improving patrol efficiency; (3) The entire patrol process does not require human intervention and is completed automatically, significantly improving campus patrol efficiency and saving labor costs; (4) Since there are no abnormal road conditions on the patrol route, the real-time performance and success rate of the patrol are ensured; (5) The campus environment data is systematically recorded and stored, realizing data traceability and providing reliable data support for accurately reconstructing the timeline and process of events.

[0030] Example 1 This embodiment simulates the implementation method of an unmanned vehicle patrol system for a university campus according to the present invention. In this embodiment, the guiding node obtains the set of route coordinates of the patrol route to the target guiding node by executing steps 201-211. The patrol node notifies the control node of its current position by executing steps 301-309 and returns the collected data. The control node assigns patrol tasks to the target patrol node by executing steps 401-414. The target patrol node reaches multiple locations specified by the control node for patrol by executing steps 401-414. The system parameter evaluated in this embodiment is the success rate of university campus patrol, which is defined as the average success rate of the target patrol node reaching multiple locations specified by the control node. Based on the following simulation parameters, the average success rate of university campus patrol is 99.43%: the link layer protocol is IEEE 802.11, the transmission radius is 50 meters, the simulation time is 2 hours, and the number of simulations is 20. This embodiment verifies that the invention has the following inventiveness and progressiveness: (1) The control node remotely issues patrol tasks to patrol nodes located at any location within the campus area, realizing the intelligence and automation of patrol tasks; (2) The patrol node collects data from multiple target locations through a single patrol process, such as different locations like dormitories, canteens, and gymnasiums, greatly improving patrol efficiency; (3) The patrol process does not require human intervention, saving labor costs; (4) This system ensures that there are no abnormal road conditions on the patrol route, such as snow accumulation, greatly improving the success rate of executing patrol tasks; (5) The system systematically records and stores campus environmental data, realizing data traceability and providing reliable data support for accurately restoring the timeline and process of events.

[0031] This invention provides a method for implementing an unmanned vehicle patrol system on a university campus. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A method for implementing an unmanned vehicle patrol system on a university campus, characterized in that, The system consists of guidance nodes, patrol nodes, and control nodes. The guidance nodes are evenly distributed on both sides of the campus roads. The guidance nodes send guidance messages to establish a guidance table; the patrol nodes send control messages to establish a patrol node table. The guiding node sends a notification message to obtain the set of route coordinates to the target guiding node. If the guiding node receiving the notification message is not the target guiding node, and the road anomaly flag is 0, and the distance between its own coordinates and the final coordinates of the notification message is less than the distance between the source coordinates and the final coordinates of the notification message, then it sets the source coordinates of the notification message to its own coordinates, adds its own coordinates to the coordinate set of the notification message, and forwards the notification message as the last coordinate. The target guiding node receiving the notification message adds its own coordinates to the coordinate set of the notification message, sends a route message, and the route coordinate set of the route message is equal to the coordinate set of the notification message. After receiving the route message, the guiding node that sent the notification message creates a patrol entry. The destination coordinates of the patrol entry are equal to the coordinates of the target guiding node, and the route coordinate set is equal to the route coordinate set of the route message. The control node sends a task assignment message to the target patrol node; upon receiving the task assignment message, the target patrol node sets its patrol identifier to 1, saves the patrol coordinate set of the task assignment message, and executes the patrol task through the following steps. Step 1: The target patrol node selects the coordinates closest to its own position from the patrol coordinate set, obtains the set of route coordinates to reach the target guide node located at that coordinate from the connected guide node, and arrives at the position marked by that coordinate according to the route specified by the set of route coordinates; Step 2: The target patrol node removes the coordinate from the patrol coordinate set. If the patrol coordinate set is empty, proceed to step 3; otherwise, proceed to step 1. Step 3: The target patrol node sets its patrol flag to 0, completing the patrol task.

2. The method for implementing an unmanned vehicle patrol system on a university campus according to claim 1, characterized in that, The method further includes: Upon receiving the task assignment message, the target patrol node sends an execution task message to the connected guiding node, obtaining a set of route coordinates to reach the target guiding node. In this execution task message, the coordinates are equal to the coordinates closest to its own position in the patrol coordinate set. Upon receiving the execution task message, the guiding node selects a patrol entry whose destination coordinates are equal to the coordinates in the execution task message and sends an execution task response message. The route coordinate set in the execution task response message is equal to the route coordinate set in the patrol entry. The target patrol node that receives the task execution response message saves the set of route coordinates from the task execution response message.

3. The method for implementing an unmanned vehicle patrol system on a university campus according to claim 1, characterized in that, The method further includes: The control node selects a patrol node entry whose patrol node ID is equal to the patrol node ID of the target patrol node, sets the patrol flag of the patrol node entry to 1, and sends a task message with the next hop coordinate empty. The patrol node ID is equal to the patrol node ID of the target patrol node, the patrol coordinate set is equal to the target patrol coordinate set, and the final coordinate is equal to the guiding coordinate in the patrol node entry. If the guiding node that receives the task message detects that the next-hop coordinate of the task message is empty, it selects the guiding table entry whose coordinates are closest to the final coordinates of the task message, sets the next-hop coordinates of the task message to the coordinates of that guiding table entry, and forwards the task message. If the guiding node whose coordinates receive the task message is equal to the final coordinates of the task message, it forwards the task message. If the guiding node whose coordinates receive the task message is not equal to the final coordinates of the task message, but its coordinates are equal to the next-hop coordinates of the task message, the guiding node selects the guiding table entry whose coordinates are closest to the final coordinates of the task message, sets the next-hop coordinates of the task message to the coordinates of that guiding table entry, and forwards the task message.

4. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: In the notification message sent by the guiding node, the source coordinates are equal to its own coordinates, the final coordinates are equal to the coordinates of the target guiding node, and the coordinate set only contains its own coordinates; if the coordinates of the guiding node that receives the route message are equal to the last coordinate in the destination coordinate set of the route message, then the last coordinate is deleted from the destination coordinate set of the route message; if the destination coordinate set of the route message is not empty, then the guiding node forwards the route message.

5. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: In the control message sent by the patrol node, the patrol node ID is its own patrol node ID, the patrol identifier is its own patrol identifier, and the next-hop coordinates and guide coordinates are both empty. If the patrol identifier is 1, the data table is its own data table; otherwise, the data table is empty. If the guide node receiving the control message detects that the guide coordinates of the control message are empty, it sets the guide coordinates of the control message to its own coordinates, selects the guide table entry whose coordinates are closest to the control guide node's coordinates, sets the next-hop coordinates of the control message to the coordinates of that guide table entry, and forwards the control message. If the guide node receiving the control message does not have the next-hop coordinates, it forwards the control message. If the coordinates of the receiving control node are equal to the coordinates of the control message and the next-hop coordinates of the control message, the control node selects the guide table entry whose coordinates are closest to the coordinates of the control node, sets the next-hop coordinates of the control message to the coordinates of the guide table entry, and forwards the control message. If the coordinates of the receiving control node are equal to the coordinates of the control node, the control node forwards the control message. The receiving control node saves the data table of the control message, creates a patrol node entry, and the patrol node ID, guide coordinates, and patrol identifier of the patrol node entry are equal to the patrol node ID, guide coordinates, and patrol identifier of the control message, respectively.

6. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: In the bootstrap message sent by the bootstrap node, the coordinates are equal to its own coordinates; the bootstrap node that receives the bootstrap message creates a bootstrap table entry, and the coordinates of the bootstrap table entry are equal to the coordinates of the bootstrap message. The control node maintains a patrol node table, where each patrol node table entry contains the guide coordinates, patrol node ID, and patrol identifier. Control messages contain the message ID, patrol node ID, next-hop coordinates, guide coordinates, patrol identifier, and data table. Task issuance messages contain the message ID, patrol node ID, patrol coordinate set, final coordinates, and next-hop coordinates. Task execution messages contain the message ID and coordinates. Task execution response messages contain the message ID and route coordinate set.

7. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: The system has only one control node; the guide node is a static device; the patrol node is an autonomously moving intelligent device; each guide node stores a road anomaly identifier with an initial value of 0. If the guide node determines that the road is abnormal, it sets the road anomaly identifier to 1; otherwise, it sets the road anomaly identifier to 0.

8. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: The boot node connected to the control node is called the control boot node; each configuration node and boot node pre-configures the coordinates of the control boot node; each boot node has unique coordinates; each boot node stores a boot table, and each boot table entry contains coordinates and lifecycle.

9. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: The system uses a coordinate set to identify patrol routes that reach specified coordinates. The coordinates in the coordinate set are ordered sequentially according to the patrol route. Each guiding node stores a patrol table, and each patrol table entry includes the starting coordinates, destination coordinates, route coordinate set, and lifecycle. The notification message includes the message ID, source coordinates, final coordinates, and coordinate set. The route message includes the message ID, route coordinate set, and destination coordinate set.

10. A method for implementing an unmanned vehicle patrol system on a university campus according to any one of claims 1 to 3, characterized in that, The method further includes: Each patrol node is pre-configured with a unique patrol node ID; each patrol node maintains a patrol identifier, with a value of 0 indicating that the patrol node is not performing a patrol task, and a value of 1 indicating that the patrol node is performing a patrol task; the initial value of the patrol identifier for each patrol node is 0; each patrol node and control node respectively store a data table, with each data table entry containing coordinates, data, and a timestamp; patrol nodes periodically collect data along the route and create data table entries, where the coordinates of the data table entry are the coordinates at the time the patrol node collected the data, the data is the collected data, and the timestamp is the time the data was collected.

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