Intelligent ground unmanned autonomous patrol system
Through the wheeled fully independent suspension chassis and multi-sensor fusion navigation system, combined with wireless charging technology, the adaptability and recognition capabilities of unmanned patrol robots in complex terrain and inclement weather is solved, efficient long-distance target recognition and drone charging are achieved, and the intelligence and practicality of unmanned patrol systems are improved.
Patent Information
- Application Number
- CN202323520148.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-22
- Publication Date
- 2025-08-15
- Estimated Expiration
- 2033-12-22
AI Technical Summary
The existing unmanned patrol robots have insufficient performance under complex terrain and harsh weather conditions, and cannot effectively identify long-distance targets, and the charging problem of drone has not been solved, resulting in insecure security efficiency.
It adopts wheeled fully independent suspension chassis, multi-sensor fusion navigation system and wireless charging technology, combining lidar, millimeter-wave radar, dual-optical camera, Beidou positioning terminal, etc. to achieve independent navigation and intelligent identification; at the same time, it designs a wireless charging recovery cabin for small multi-rotor drones.
It improves the adaptability and recognition capabilities of unmanned patrol vehicles in complex terrain and inclement weather, enhances the ability to identify long-distance targets, solves the problem of drone charging, and improves the intelligence and practicality of the system.
Smart Images
Figure CN223229870U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an intelligent ground unmanned autonomous patrol system. Background Art
[0002] As a key component of smart camp construction, smart security still requires manual patrols in addition to traditional surveillance cameras. Manual patrols address several issues that traditional security cameras cannot. First, fixed monitoring points make it difficult to monitor key areas from multiple angles, and installation locations are often difficult to identify in advance. Second, the number of surveillance cameras is limited. Third, most surveillance cameras only provide images without sound. Manual patrols are also inefficient, especially at night, where patrols require good lighting conditions and can easily alert potential targets.
[0003] Unmanned autonomous patrol systems can effectively address the aforementioned issues, but most existing patrol robots suffer from the following problems. First, the vehicle chassis' terrain adaptability is limited, making it difficult to adapt to irregular road conditions. Second, their environmental adaptability is poor. Due to their over-reliance on LiDAR, their attendance rate is low in rainy, foggy, and traffic conditions—precisely in such environments where enhanced security is required. Third, their information processing is not intelligent. Some systems directly transmit on-site surveillance images back to a remote control terminal, while others can perform local facial and license plate recognition. However, both require the camera to maintain a close distance to the subject or use a long-focal-length camera to zoom in on the image, making it impossible to determine the attributes of people and vehicles at a distance. Fourth, some patrol robots carry small drones, but this does not solve the problem of drone recharging and repeated flight, making them less practical. Utility Model Content
[0004] The problem to be solved by the present invention is to provide a more intelligent, reliable and practical unmanned autonomous patrol system, including an autonomous patrol unmanned vehicle, a monitoring and transmission network and a remote control system; it can effectively solve the problem of mobile security patrol in smart camps.
[0005] The autonomous patrol unmanned vehicle comprises a wheeled fully independent suspension chassis, a vehicle body shell, an autonomous reconnaissance unit, an autonomous navigation unit, a signal transmission unit, and a power management unit; wherein the autonomous reconnaissance unit, the autonomous navigation unit, the signal transmission unit, and the power management unit are mounted on the wheeled fully independent suspension chassis, and the exterior of the wheeled fully independent suspension chassis is covered by the vehicle body shell;
[0006] The wheeled fully independent suspension chassis adopts an Ackerman steering mechanism, and all four wheels adopt double A-arm independent suspension. The two rear wheels are drive wheels, and the two rear wheels are independently driven by their own motors. The drive wheels use hydraulic disc brakes. An incremental encoder is installed in the Ackerman steering mechanism to collect steering angles and provide signal feedback for steering control.
[0007] The autonomous navigation unit includes a laser radar, a millimeter-wave radar, an inertial measurement unit (IMU), a Beidou positioning terminal, a road condition camera, and a navigation control circuit board;
[0008] The laser radar, millimeter-wave radar, inertial measurement unit IMU, Beidou positioning terminal and road condition camera are all connected to the navigation control circuit board through communication cables.
[0009] The autonomous reconnaissance unit includes a panoramic camera, a pan-tilt camera, an acoustic sensor array, and a reconnaissance signal processing circuit board; the pan-tilt camera includes a pan-tilt dual-light camera and a thermal imager;
[0010] The pan / tilt platform is installed in a vehicle-mounted pan / tilt platform, which is convenient for changing the reconnaissance angle;
[0011] The panoramic camera, the pan-tilt dual-light camera, the thermal imager and the sound sensor array are respectively connected to the reconnaissance signal processing circuit board through communication cables.
[0012] The autonomous unmanned patrol vehicle is powered by a lead-acid battery or a lithium battery.
[0013] The autonomous patrol robot includes a recovery cabin, in which there is a small multi-rotor drone. When the small multi-rotor drone is released, the upper door of the recovery cabin opens, and the platform built into the recovery cabin for storing the small multi-rotor drone rises to a position flush with the upper surface of the autonomous patrol robot; the upper door also serves as a launching platform, and when the small multi-rotor drone is recovered, it lands on the launching platform, and the platform descends into the recovery cabin; a wireless charging mechanism is set in the recovery cabin for wirelessly charging the small multi-rotor drone.
[0014] The communication link in the remote control system includes compatible ad hoc network radio, 4G private network communication, 5G private network communication, and 5G public network communication;
[0015] The remote control system includes a multi-screen computer, a self-organizing network communication radio, control management software and a guidance and control operation seat; the guidance and control operation seat can monitor the audio and video signals sent back by the unmanned patrol vehicle in real time, check the real-time position, power and speed of the unmanned patrol vehicle, and can take control in real time to realize remote control of the autonomous patrol unmanned vehicle and the vehicle-mounted pan-tilt head, and can establish a voice intercom channel with the autonomous patrol unmanned vehicle in real time.
[0016] The fully independent suspension chassis provides the vehicle with excellent terrain adaptability. It utilizes an Ackerman steering mechanism, with dual A-arm independent suspension on all four wheels. The two rear wheels are driven independently by their own motors and feature hydraulic disc brakes. An incremental encoder is incorporated into the Ackerman steering mechanism to capture steering angles and provide feedback for steering control. The vehicle's power source is a lead-acid battery, ensuring maximum safety.
[0017] The autonomous mobile unmanned patrol vehicle has excellent environmental adaptability and can operate normally in complex weather conditions. The vehicle's autonomous navigation control utilizes a multi-sensor fusion approach, whereby a laser radar, a Beidou positioning terminal, and a bi-optical camera are used to create a high-precision electronic map of the patrol area. In clear weather, the vehicle uses the laser radar and bi-optical camera to scan and compare terrain while driving, while the navigation control panel controls the vehicle for localized route navigation. In rainy and foggy weather, the laser radar cannot function properly, so the vehicle uses millimeter-wave radar and bi-optical camera, combined with the Beidou positioning terminal, to collect and compare data while driving, while the navigation control panel controls the vehicle for localized route navigation.
[0018] The autonomous mobile unmanned patrol vehicle mainly relies on laser radar and dual-light camera to collect navigation data under urban road conditions. Under open suburban road conditions, the SLAM map scanned by the laser radar has fewer reference objects, and the unmanned patrol vehicle mainly relies on Beidou positioning terminal and dual-light camera to collect navigation data.
[0019] To ensure autonomous vehicle navigation and control, the unmanned ground patrol system primarily uses onboard LiDAR and BeiDou positioning terminals to independently create high-precision SLAM navigation maps. The mapping process begins with the vehicle scanning and collecting data within the planned patrol area. The acquired data is then downloaded to a map editor. Then, based on actual site conditions, personnel create maps in the map editor, marking electronic fences, obstacle fills, and edge closures to clearly define accessible and inaccessible areas. Finally, the data is downloaded to the vehicle's internal navigation control circuit board.
[0020] The integrated monitoring and transmission network includes sensors such as a panoramic camera (1-7), a pan-tilt dual-light camera (1-8), a thermal imager (1-8), a sound sensor array (1-5), an image and sound processing circuit board, and a communication radio station (3-1) capable of self-organizing a network.
[0021] The panoramic camera in the integrated monitoring system is primarily responsible for capturing a 360-degree, all-directional image within a 20-meter radius of the patrol vehicle. Images captured by the camera are transmitted via the vehicle's in-vehicle network router to an audio and video processing circuit board. This circuit board analyzes and processes the panoramic camera footage in real time, enabling real-time identification of people, vehicle types (cars, buses, trucks, bicycles), and animals. It can also identify unusual movements, including lifting objects, running rapidly, holding sticks, and climbing walls.
[0022] The pan-tilt dual-light camera and thermal imager in this integrated surveillance system are primarily used to capture reconnaissance images in various weather conditions and time periods. The dual-light camera is primarily used for daytime and nighttime reconnaissance imagery under illuminated conditions, while the thermal imager is primarily used for nighttime reconnaissance imagery under unilluminated conditions. Mounted on a pan-tilt platform, the two cameras offer a 360-degree pan and ±90-degree tilt viewing angle. The captured images can also be used for more detailed verification and identification, including motion recognition, facial recognition, license plate recognition, and vehicle model recognition.
[0023] The LiDAR and camera work together to detect the position of road edges. The data collected helps patrol vehicles maintain their relative position to the center of the road while driving. Simultaneously, the two sensors calibrate the vehicle's posture at key points, enabling more precise positioning of the gimbal camera.
[0024] The sound sensor array in the integrated monitoring system is primarily used to collect sounds around the vehicle, particularly those in nighttime patrol areas. The ring-shaped array can determine the approximate direction of unusual noises in real time, while simultaneously manipulating the pan / tilt system to conduct image reconnaissance of the sound's source. The array also features offline sentence recognition capabilities.
[0025] The unmanned patrol vehicle can carry a small multi-rotor drone. To launch the drone, the upper hatch opens, and the built-in storage platform rises to a level with the vehicle's upper surface. To recover the drone, it lands on the launch platform, which then descends and retracts into the cabin. A wireless charging mechanism is installed in the recovery cabin to charge the drone wirelessly.
[0026] The communication links in the integrated monitoring system include self-organizing network radio, 4G private network communication, 5G private network communication, 5G public network communication and other communication link forms. In this communication link, it is mainly used to synchronously transmit multi-channel audio and video signals, control signals, voice intercom signals, etc.
[0027] The centralized control and management system includes a multi-screen computer, an ad hoc network communication radio, control and management software, and a control and management operator station. The operator station can monitor the audio and video signals transmitted by unmanned patrol vehicles in real time, and view their real-time location, battery level, speed, and other status information. It can also initiate real-time control, enabling remote control of patrol vehicles and on-board pan / tilt systems. It can also establish a real-time voice intercom channel with the vehicle.
[0028] Beneficial effects: Compared with traditional technical solutions, this new system is more scientific and reasonable. Through Ackerman steering and a fully independent suspension chassis structure, the vehicle's driving performance is improved and it is more adaptable to complex road conditions. By applying artificial intelligence algorithms to the traditional image return function, it has intelligent recognition capabilities, improving the intelligence level of the system and reducing the workload of personnel. By adopting sensors with multiple modes such as lidar, millimeter-wave radar, and camera images, the vehicle's adaptability to the driving environment is enhanced, and it can maintain a high dispatch rate under complex weather conditions. The system has functions such as video transmission and remote intercom, making it more practical. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.
[0030] Figure 1 It is a system composition diagram of the utility model.
[0031] Figure 2 This is a diagram of the main components of an autonomous patrol unmanned vehicle.
[0032] Figure 3 This is a diagram of the main electrical equipment components of an autonomous unmanned patrol vehicle.
[0033] Figure 4 This is an overhead view of the autonomous unmanned patrol vehicle.
[0034] Figure 5 This is a schematic diagram of the navigation control unit.
[0035] Figure 6 This is a schematic diagram of an autonomous reconnaissance unit. DETAILED DESCRIPTION
[0036] like Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 As shown, the utility model discloses an intelligent ground unmanned autonomous patrol system, which includes three main components: an autonomous patrol unmanned vehicle 1, a monitoring and transmission network 2, and a remote control system 3.
[0037] Figure 2 1 is a diagram showing the main components of an autonomous patrol unmanned vehicle, including a wheeled fully independent suspension chassis 1-1, a vehicle body shell, an autonomous reconnaissance unit, an autonomous navigation unit, a signal transmission unit, and a power management unit; wherein the autonomous reconnaissance unit, autonomous navigation unit, signal transmission unit, and power management unit are mounted on the wheeled fully independent suspension chassis 1-1, and the exterior of the wheeled fully independent suspension chassis 1-1 is covered by the vehicle body shell;
[0038] The wheeled fully independent suspension chassis 1-1 adopts an Ackerman steering mechanism, and all four wheels adopt a double A-arm independent suspension method. The two rear wheels are drive wheels, and the two rear wheels are independently driven by their own motors. The drive wheels use hydraulic disc brakes. An incremental encoder is installed in the Ackerman steering mechanism to collect steering angles and provide signal feedback for steering control.
[0039] The autonomous navigation unit includes a laser radar 1-2, a millimeter wave radar 1-3, an inertial measurement unit IMU 3-6, a Beidou positioning terminal 1-4, a road condition camera 1-8 and a navigation control circuit board;
[0040] The laser radar 1-2, millimeter wave radar 1-3, inertial measurement unit IMU3-6, Beidou positioning terminal 1-4 and road condition camera 1-8 are respectively connected to the navigation control circuit board through communication cables.
[0041] The autonomous reconnaissance unit includes a panoramic camera 1-7, a pan-tilt head 1-8, an acoustic sensor array 1-5, and a reconnaissance signal processing circuit board; the pan-tilt head 1-8 includes a pan-tilt dual-light camera and a thermal imager;
[0042] The pan / tilt head 1-8 is installed in a vehicle-mounted pan / tilt head, which is convenient for changing the reconnaissance angle;
[0043] The panoramic camera 1-7, the pan-tilt dual-light camera, the thermal imager and the sound sensor array 1-5 are respectively connected to the reconnaissance signal processing circuit board through communication cables.
[0044] The autonomous unmanned patrol vehicle 1 is powered by a lead-acid battery or a lithium battery.
[0045] The autonomous patrol robot 1 includes a recovery cabin, in which there is a small multi-rotor UAV 1-11. When the small multi-rotor UAV 1-11 is released, the upper hatch 1-10 of the recovery cabin is opened, and the platform built into the recovery cabin for storing the small multi-rotor UAV 1-11 rises to a position flush with the upper surface of the autonomous patrol robot 1; the upper hatch 1-10 also serves as a launching platform. When the small multi-rotor UAV 1-11 is recovered, it lands on the launching platform, and the platform descends into the recovery cabin; a wireless charging mechanism is provided in the recovery cabin for wirelessly charging the small multi-rotor UAV 1-11.
[0046] The communication link in the remote control system 3 includes compatible ad hoc network radio, 4G private network communication, 5G private network communication, and 5G public network communication;
[0047] The remote control system 3 includes a multi-screen computer, a self-organizing network communication radio, control management software and a guidance and control operation seat; the guidance and control operation seat can monitor the audio and video signals sent back by the unmanned patrol vehicle in real time, check the real-time position, power and speed of the unmanned patrol vehicle, and can take control in real time to realize remote control of the autonomous patrol unmanned vehicle 1 and the vehicle-mounted pan-tilt platform, and can establish a voice intercom channel with the autonomous patrol unmanned vehicle 1 in real time.
[0048] Figure 3 This is a diagram of the main electrical equipment of an autonomous unmanned patrol vehicle, including the self-organizing network communication radio 3-1 and router 3-2, which are mainly used for data exchange between devices; the chassis communication data converter 3-3, which is mainly used by the navigation control circuit board to send data to the vehicle chassis to control vehicle speed and steering; the reconnaissance signal processing circuit board 3-4, the navigation control circuit board 3-5, and the inertial measurement unit IMU 3-6.
[0049] This utility model provides an intelligent unmanned ground autonomous patrol system. There are many methods and approaches for implementing this technical solution. The above is only a preferred embodiment of the utility model. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the utility model, and such improvements and modifications should also be considered within the scope of protection of the utility model. Any components not specified in this embodiment may be implemented using existing technologies.
Claims
1. An intelligent unmanned ground autonomous patrol system, characterized in that: It includes an autonomous patrol vehicle (1), a monitoring and transmission network (2), and a remote control system (3); The autonomous patrol unmanned vehicle (1) comprises a wheeled fully independent suspension chassis (1-1), a vehicle body shell, an autonomous reconnaissance unit, an autonomous navigation unit, a signal transmission unit, and a power management unit; wherein the autonomous reconnaissance unit, the autonomous navigation unit, the signal transmission unit, and the power management unit are mounted on the wheeled fully independent suspension chassis (1-1), and the exterior of the wheeled fully independent suspension chassis (1-1) is covered by the vehicle body shell; The wheeled fully independent suspension chassis (1-1) adopts an Ackerman steering mechanism, and all four wheels adopt a double A-arm independent suspension mode. The two rear wheels are driving wheels, and the two rear wheels are independently driven by respective motors. The driving wheels adopt hydraulic disc brakes. An incremental encoder is installed in the Ackerman steering mechanism to collect steering angles and provide signal feedback for steering control.
2. The system according to claim 1, wherein: The autonomous navigation unit includes a laser radar (1-2), a millimeter wave radar (1-3), an inertial measurement unit (IMU) (3-6), a Beidou positioning terminal (1-4), a road condition camera (1-6) and a navigation control circuit board; The laser radar (1-2), millimeter wave radar (1-3), inertial measurement unit IMU (3-6), Beidou positioning terminal (1-4) and road condition camera (1-6) are respectively connected to the navigation control circuit board through communication cables.
3. The system according to claim 2, characterized in that The autonomous reconnaissance unit comprises a panoramic camera (1-7), a pan-tilt system (1-8), a sound sensor array (1-5) and a reconnaissance signal processing circuit board; the pan-tilt system (1-8) comprises a pan-tilt dual-light camera and a thermal imager; The pan / tilt platform (1-8) is installed in a vehicle-mounted pan / tilt platform to facilitate the conversion of reconnaissance angles; The panoramic camera (1-7), the pan-tilt dual-light camera, the thermal imager and the sound sensor array (1-5) are all connected to the reconnaissance signal processing circuit board via communication cables.
4. The system according to claim 3, characterized in that The autonomous patrol unmanned vehicle (1) is powered by a lead-acid battery or a lithium battery.
5. The system according to claim 4, characterized in that The autonomous patrol unmanned vehicle (1) includes a recovery cabin, in which a small multi-rotor UAV (1-11) is housed. When the small multi-rotor UAV (1-11) is released, the upper hatch (1-10) of the recovery cabin is opened, and a platform built into the recovery cabin for storing the small multi-rotor UAV (1-11) rises to a position flush with the upper surface of the autonomous patrol unmanned vehicle (1); the upper hatch (1-10) also serves as a release platform, and when the small multi-rotor UAV (1-11) is recovered, it lands on the release platform, and the platform descends into the recovery cabin; a wireless charging mechanism is provided in the recovery cabin for wirelessly charging the small multi-rotor UAV (1-11).
6. The system according to claim 5, characterized in that The communication link in the remote control system (3) includes compatible ad hoc network radio, 4G private network communication, 5G private network communication, and 5G public network communication; The remote control system (3) includes a multi-screen computer, a self-organizing network communication radio, control management software and a control and guidance operation seat; the control and guidance operation seat can monitor the audio and video signals sent back by the unmanned patrol vehicle in real time, check the real-time position, power and speed of the unmanned patrol vehicle, and can be controlled in real time to achieve remote control of the autonomous patrol unmanned vehicle (1) and the vehicle-mounted pan-tilt platform, and can establish a voice intercom channel with the autonomous patrol unmanned vehicle (1) in real time.