RU2756335C1 - Robotic system for protection of site using unmanned aerial vehicle-inspector - Google Patents

Abstract

FIELD: protecting robotic systems.SUBSTANCE: proposed is robotic system for protecting the territory of an object using an unmanned aerial vehicle-inspector contains a central security post with a transceiving antenna, at least one unmanned aerial vehicle-inspector containing a movement mechanism, a section for controlling movement along a given trajectory, a transceiving antenna for long-range radio communication and a video camera. The system also contains charging stations, many burglar alarm points equipped with satellite navigation equipment and a short-range radio channel.EFFECT: provides automation of the survey of the terrain, as well as automation of the process of checking the technical condition of burglar alarm points.1 cl, 1 dwg

Description

The invention relates to the field of protection of territories of objects using robotic systems. The proposed invention can also be used in the design of anti-terrorist protection of protected areas.

Currently, there are similar solutions for the use of mobile robots and aircraft for the tasks of protecting territories and checking the technical condition of objects. For example, there are known "Drone systems for pre-trip inspection and assisted backing" described in US patent No. 2016/0129999, IPC: B64C 39/02, B60R 1/00, G05D 1/00, publ. 2016. The patent describes the use of UAVs to assist drivers of large wheeled vehicles and to carry out pre-voyage inspections of vehicles before driving. The UAV contains a video camera and an electronic unit (controller) configured for communication with the UAV, which ensures the transmission of video images during the flight in real time to check the technical condition.

A similar essential feature with the claimed technical solution is the use of a UAV with a video camera to check the technical condition of objects.

The disadvantage of the system is that it is not adapted to check the technical condition of many burglar alarm points located in the places where intruders are most likely to enter the designated area.

A known system for detecting radio frequency devices and intervention ("Radiofrequency device and intervention"), described in US patent No. 9996079, IPC: G05D 1/00, H04L 29/08, G07C 9/00, H04B 1/707, F41H 13/00, publ. 2018 The system provides monitoring and protection of the designated area using an unmanned aerial vehicle. In one aspect, the invention describes a system for detecting radio-controlled vehicles moving in a predetermined area by monitoring the radio links that are used to control them. This is done by scanning one or more radio frequencies. The system contains one or more receiving and transmitting antennas configured to receive and transmit one or more radio frequency communication signals, and an electronic unit for data processing. To locate objects with radio frequency devices, the characteristics of the radio frequency signals, as well as radio control protocols, are used. The system allows you to identify an object as an authorized or unauthorized location in a given area.

Similar essential features with the claimed technical solution are the presence of receiving and transmitting antennas configured for receiving and transmitting radio frequency signals, and an electronic unit, as well as the ability to monitor a designated area by an unmanned aerial vehicle.

The disadvantage of the system is that it is not adapted to check the technical condition of many burglar alarm points located in the places where intruders are most likely to enter the designated area.

The closest in technical essence to the claimed invention is "Robotic system and autonomous mobile robot" (Robot system and autonomous mobile robot), described in US patent No. 7218993, IPC G06F 19/00, publ. 2007 The specified robotic system includes an autonomous mobile robot that moves along a predetermined trajectory in order to patrol the area at regular intervals. The robot has a video camera, which takes pictures of the surroundings, takes photos in specified places while moving along a given trajectory. The system includes a transmitting station installed on the robot and a receiving point (central post) with a receiving station. Communication between the robot and the receiving station is carried out via a wireless communication channel (radio channel). The pictures taken by the video camera are stored in the robot's memory and are transmitted by the transmitting station via the radio channel to the receiving point or to the cell phone at the request of the system operator from the cell phone. The robot has environmental sensors (sensors for temperature, humidity, noise, light brightness) to monitor the ecological state of the area. The robot also has a sound sensor (microphone) for sound recording and analysis. To carry out patrolling on the ground, the robot has a movement mechanism. The movement of the robot is provided by the section for controlling its movement along a given trajectory. The video camera and sensors of the robot are also designed for the functioning of the section for detecting suspicious objects, the existence of which on the ground is unacceptable.

Similar essential features with the claimed technical solution are: an autonomous mobile robot and a receiving point (central security post), transmitting and receiving stations that form a radio communication channel, a movement mechanism and a movement control section along a given trajectory, the ability to use the robot in patrol mode.

The disadvantage of the system is that it is not adapted for viewing the area and checking in an automated mode the technical condition of many burglar alarm points on the ground located in the places where intruders are most likely to enter the facility, without involving security personnel.

The aim of the present invention is to provide a robotic system for protecting the territory of an object, capable of viewing the terrain and checking in an automated mode using an unmanned aerial vehicle-inspector of the technical condition of a plurality of security alarm points to facilitate the work of security personnel.

The protection of the territories of especially important objects imposes increased requirements for the identification of alarming situations and the suppression of unauthorized actions, which should be ensured by a special approach to organizing the functioning of the system with the possible exclusion of the human factor from the process of ensuring the security regime. A feature of the invention is that at least one unmanned aerial vehicle-inspector is used to review the terrain and check the technical condition of a plurality of burglar alarm points, which replaces the functions of operators when on duty bypassing the territory of the protected object. To achieve this goal, new essential features have been introduced into the known technical solution, which make it possible to ensure reliable protection of the territories of especially important objects. This goal is achieved in the proposed "Robotic system for protecting the territory of an object using an unmanned aerial vehicle-inspector", containing a central security post with a transceiver antenna, as well as at least one autonomous mobile robot, which is configured to move along a given trajectory with the purpose of patrolling the area, containing a movement mechanism, a section for controlling movement along a given trajectory, a long-range radio transmission-receiving antenna with a central security post and a video camera. An unmanned aerial vehicle-inspector is used as an autonomous mobile robot, and the robotic system additionally contains charging stations for an unmanned aerial vehicle-inspector and many security alarm points with numbers 1-n located on the territory of the protected object and forming intruder detection zones, each of the points security alarm system is endowed with satellite navigation equipment GPS / GLONASS and a radio communication channel with a short-range zone of operation, an electronic and transceiver antenna for short-range radio communication has been introduced into the unmanned aerial vehicle-inspector, a satellite navigation equipment GPS / GLONASS has been additionally introduced into the section for controlling movement along a given trajectory, and unmanned aerial vehicle-inspector is made with additional features:

- patrolling with video filming of the protected area when flying along a certain route, and with the possibility of alternately forming short-range radio communication channels with burglar alarm points when entering their short-range radio communication zones;

- checking the technical condition of each security alarm point after the formation of a short-range radio communication channel with it by reading the necessary information from its memory;

- video filming of the area in the vicinity of the detection zone of each of the burglar alarm points using a video camera on command from the central security post to check the status of the detection zone and analyze alarming situations with further transmission of information to the central security post,

- embedding into the functioning system of one of the burglar alarm points to identify the intruder using video images when exchanging information with this burglar alarm point and the central security post;

- escorting the offending object along the territory of the guarded object with the continuation of video surveillance and the provision of additional information to the central security post;

- implementation of initialization of burglar alarm points that are in "sleep" mode, upon detection of possible threats during video filming while patrolling the area.

The essence of the invention is illustrated by a drawing, which shows a structural diagram of a robotic system. The following designations are introduced in the drawing: central security post - 1, burglar alarm points - 2, unmanned aerial vehicle-inspector - 3, electronic unit - 4, video camera - 5, transceiver antenna of the central security post - 6, transceiver antenna for short-range radio communications - 7, long-range radio communication transceiver - 8, communication channel of the central security post with an unmanned aerial vehicle-inspector - 9, the short-range radio communication zone of the burglar alarm point -10, the flight path of the unmanned aerial vehicle-inspector in the protected area - 11, detection zones of intruders of the security alarm points - 12, the radio communication channel of the unmanned aerial vehicle-inspector with the burglar alarm point - 13, the direction of flight of the unmanned aerial vehicle-inspector - 14, the charging station for the unmanned aerial vehicle-inspector - 15.

The proposed robotic system provides an overview of the terrain and the ability to remotely diagnose and collect data on the state of burglar alarm points without the participation of human resources using an unmanned aerial vehicle-inspector.

The proposed robotic system works as follows. When organizing the protection of a vast territory in places where intruders are most likely to enter (roads, forest paths, ravines, bushes, coastal zones, etc.), security alarm points with numbers 1-n are located, forming the corresponding detection zones for intruders. All burglar alarm points 2 are connected to the central security post 1 via a long-distance radio channel. Security alarm points 2 form detection zones 12, for example, in the form of circular zones indicated in the drawing. Each of the points of the burglar alarm 2 is endowed with a radio communication channel with a volumetric close range of radio communication 10, conventionally indicated in the drawing in the form of a circular zone of a certain radius. The central security post 1 contains a transceiver antenna 6 for long-distance communication and forms a radio communication channel 9 with an unmanned aerial vehicle-inspector 3. In turn, an unmanned aerial vehicle-inspector 3 contains transceiver antennas of short-range 8 and long-range radio communication 7, as well as an electronic unit 4 and video camera 5. The transceiver antenna of short-range radio communication 8 forms a zone of propagation of radio waves of short-range radio communication and, when radio waves enter the zone of short-range radio communication 10 of the burglar alarm point (as indicated in the drawing), a radio communication channel 13 of the unmanned aerial vehicle inspector 3 with the burglar alarm point 2 is formed. To ensure the noise-immune operation of the robotic system, radio communication channels are proposed to be used in different frequency ranges (for example, communication radio channel 13 - at a radio frequency of 433 MHz, radio communication channel 9 - at a radio frequency of 868 MHz).

The unmanned aerial vehicle-inspector 3 provides an overview of the terrain and patrolling the territory of the protected object during flight, for example, along the trajectory 11 indicated in the drawing, in the direction 14 with alternate overflight of all points of the security alarm 2. When the radio waves of the unmanned aerial vehicle-inspector 3 enter one from the short-range radio communication zones 10 of one of the burglar alarm point 2 (for example, as indicated in the drawing) radio contact of the unmanned aerial vehicle-inspector with this burglar alarm point occurs. Connecting an unmanned aerial vehicle-inspector to a burglar alarm point is an information-protected process of identifying an unmanned aerial vehicle-inspector with entering a password to access the burglar alarm point. After gaining access, the unmanned aerial vehicle-inspector checks the technical condition of the burglar alarm point by reading the necessary information from its memory into electronic unit 4 with its subsequent analysis. In this case, the algorithms for the functioning of the burglar alarm point, its sensitivity, threshold levels, the dynamic range margin of the sounding signal level and other parameters can be checked. If a malfunction is detected, the unmanned aerial vehicle-inspector 3 sends a message to the central security post 1 via the distant radio channel 9 about the need to reconfigure the burglar alarm point or repair it. Security alarm points can change their location on the ground depending on the tactical considerations of security. At the same time, with the help of satellite navigation equipment GPS / GLONASS, the corresponding changes in coordinates are tracked for a new reference to the terrain. When the location of the security alarm posts is changed, the flight path of the unmanned aerial vehicle-inspector should change, respectively. The GPS / GLONASS satellite navigation equipment, introduced into the flight control section along a given trajectory of the unmanned aerial vehicle-inspector, makes it possible to topographically tie the coordinates of the flight of the unmanned aerial vehicle-inspector to the terrain and correct its flight trajectory in the event of a change in the location of the burglar alarm points.

The second function of the unmanned aerial vehicle-inspector 3 is to make video recording of the terrain in the vicinity of each of the detection zones 12 with the subsequent transfer of information to the central security post 1. For this, on command from the central security post 1, the unmanned aerial vehicle-inspector 3 takes video of the selected detection zone using a video camera 5 and transmits the information received for analysis to the central security post 1. The need for this function is determined by the fact that in some detection zones unwanted obstructions may appear, impairing visibility (a tree has fallen, debris has accumulated, a snowdrift has formed, etc.) which can lead to an alarming situation.

The next function of the unmanned aerial vehicle-inspector 3 is the ability to integrate it into the functioning system of one of the burglar alarm points to identify the intruder using video images when exchanging information with this burglar alarm point and the central security post. The need for this function is determined by the fact that an unmanned aerial vehicle-inspector with its video camera can significantly help a security alarm point in identifying an intruder. An unmanned aerial vehicle-inspector can hover over a suspected object and make video recording of it from different angles (top view, side view), which provides an opportunity to obtain additional information to identify the intruder.

Other functions of the unmanned aerial vehicle-inspector include the possibility of tracking the intruder through the territory of the protected object with the continuation of video surveillance and reporting additional information to the central security post, as well as the initialization of burglar alarm points that are in the "sleep" mode, when detection of possible threats during video filming while patrolling the area.

As an unmanned aerial vehicle-inspector, a quadcopter, as shown in the drawing, or any other unmanned aerial vehicle can be used.

Recharging stations 15 for the unmanned aerial vehicle-inspector 3 are located on the territory of the guarded object in convenient places for the possibility of recharging with energy and maintenance.

As points of security signaling 2 can be used, for example, quickly deployable alarm systems (BSC) "Pautina-M" BAZHK.425624.016, presented on the Internet at www.nikiret.ru. Each BSC includes the following intruder detection tools operating on different physical principles:

- seismic detection device BSK-S BAZHK.425139.010;

- two-position radio-beam detection means BSK-RLD BAZHK.425142.051;

- two-position underground radio-wave detection means BSK-RVP BAZHK.425142.058;

magnetometric detection tool BSK-MSO BAZhK.425113.005;

- two-position radio wave detection device BSK-RVD BAZhK425142.048;

- infrared detection tool BSK-IK BAZhK.425152.003;

- breakaway detection tool BSK-O BAZhK.468173.026.

The specified detection means can be used in the BSC separately or in conjunction with other detection means from the BSC.

The additional features introduced into the known system make it possible to impart new essential properties to the proposed robotic system, to increase the degree of system versatility, leading to an increase in its efficiency and reliability of the functions performed to protect the territories of objects.

Claims (7)

A robotic system for protecting the territory of an object using an unmanned aerial vehicle-inspector, containing a central security post with a transceiver antenna, as well as at least one autonomous mobile robot, which is configured to move along a given trajectory in order to patrol the area, containing a movement mechanism, a section control of movement along a given trajectory, a long-range radio transmit-receive antenna with a central security post and a video camera, characterized in that an unmanned aerial vehicle-inspector is used as an autonomous mobile robot, and the robotic system additionally contains charging stations for an unmanned aerial vehicle-inspector and many security points alarms with numbers 1-n, located on the territory of the protected object and forming the detection zones of intruders, each of the security alarm points is endowed with GPS / GLONASS satellite navigation equipment and a radio communication channel with a short-range coverage, an electronic unit and a transmit-receive antenna for short-range radio communication were introduced into the unmanned aerial vehicle-inspector, satellite navigation equipment GPS / GLONASS was additionally introduced into the movement control section along a given trajectory, and the unmanned aerial vehicle-inspector is made with additional capabilities : - patrolling with video filming of the protected area when flying along a certain route, and with the possibility of alternately forming short-range radio communication channels with burglar alarm points when entering their short-range radio communication zones; - checking the technical condition of each security alarm point after the formation of a short-range radio communication channel with it by reading the necessary information from its memory; - video filming of the area in the vicinity of the detection zone of each of the burglar alarm points using a video camera on command from the central security post to check the status of the detection zone and analyze alarming situations with further transmission of information to the central security post; - embedding into the functioning system of one of the burglar alarm points to identify the intruder using video images when exchanging information with this burglar alarm point and the central security post; - escorting the offending object along the territory of the guarded object with the continuation of video surveillance and the provision of additional information to the central security post; - implementation of initialization of burglar alarm points that are in "sleep" mode, upon detection of possible threats during video filming while patrolling the area.

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