CN103996264A - Mobile intelligent security system based on wireless local area network (WLAN) communication - Google Patents

Abstract

The invention discloses a mobile intelligent security system based on wireless local area network communication. The system responds to accidents through an infrared temperature sensor array, a sound collection array and an analysis device. The background processing system analyzes and judges the location of the accident. The on-site detection and transmission of the accident situation in front form a security system. The background processing system locates the accident point according to a certain intelligent algorithm, and intelligently sends instructions to the security vehicle to arrive at the scene as soon as possible according to the situation. The security system completes the security protection of a certain area on the basis of the three subsystems of the sensor system, the security vehicle, and the wireless power supply device communicating with the background processing system through the wireless communication system.

Description

A mobile intelligent security system based on wireless local area network communication

technical field

The invention relates to a mobile intelligent security system based on wireless local area network communication.

Background technique

At present, the night security work in most shopping malls, office buildings and warehouses mainly relies on manpower, which greatly increases the cost, and the security effect is not good when human resources are limited. Although the relatively new mobile camera security system reduces the cost to a certain extent, it lacks selectivity and uploads all video surveillance data during working hours to the server, resulting in a large amount of unimportant information stored in the server, resulting in a waste of storage space.

Contents of the invention

In order to solve the above problems, the present invention proposes a mobile intelligent security system based on wireless local area network communication. The system monitors the abnormal state in the space through the infrared temperature sensor array, the sound collection array and the analysis device in the protected space. , when an accident occurs, the background processing system will analyze and locate the accident point, and issue instructions to the security vehicle to check the accident location, improve the automation and safety of the security system, and reduce unnecessary power and server storage use of space.

In order to achieve the above object, the present invention adopts the following technical solutions:

A mobile intelligent security system based on wireless local area network communication, including a sensor system, a background processing system, a security vehicle, a wireless communication module and a wireless power supply device, wherein:

The sensor system includes a sound collection array and analysis device and an infrared temperature sensor array, the sound collection array and analysis device are used to analyze the sound signal in the protected area collected by the noise reduction microphone, and the microphone group arranged in an array Accurately measure the relative angle between the accident point and the sensor installation point;

The infrared temperature sensor array is used to monitor the temperature in the protected space, and cooperates with a judging device to protect against fire and illegal entry of personnel;

The judging device is a device for judging signals according to a preset threshold value. It is used to judge in real time whether the collected signals have reached the accident level. It is installed on the spot and installed next to the sensor. Data transmission to ensure the timeliness of data;

The background processing system is used to mathematically calculate the data collected by the sensor system, and transmit the calculation results to the security vehicle through the wireless communication module;

The security car is used to receive the control information from the background processing system and complete the control command;

The wireless power supply device is used for providing electric power to the security vehicle and judging the remaining electric power.

The security car includes a wireless remote control receiving module, a controller, a communication system, a motor and a battery management system, wherein the controller is connected to the motor drive module, the motor drive module is connected to the motor, the battery management system communicates with the controller in two directions, and the battery management system The storage battery and the wireless charging module are connected, and the controller communicates with the communication system in two directions.

The controller is connected with a camera and an audio collection device, and the communication system includes a WiFi module.

The implementation method based on the above-mentioned mobile intelligent security system specifically includes the following steps:

(1) The security vehicle collects the sound signal in the protected area through the noise reduction microphone, and transmits the data to the sound wave analysis device for analysis. The analysis device analyzes the sound wave through the FastICA algorithm. When the non-environmental component sound wave amplitude is greater than If the predetermined threshold value is set, and the duration is greater than the acceptable maximum duration of the disturbance, the analysis device will judge that the accident occurred;

(2) According to the time difference that the sound wave reaches the sensor of the sound collection array, and the angle of the sound source relative to the sound collection array device, calculate the distance from the sound source to the sensor;

(3) The infrared temperature sensor array senses the text and pictures emitted by the human body or fire, makes judgments according to preset standards, and accurately measures the relative angle between the accident point and the sensor installation point;

(4) The background processing system accepts the analysis results of the infrared temperature sensor array and the sound wave analysis device, determines the accident point and the coordinates of the security vehicle through the sensing distance and time, calculates and selects the shortest path, and issues a control command to the security vehicle. Instructions for route driving;

(5) When the battery management system on the security car finds that the power of the security car is too low, the background processing system will arrange scheduling according to the remaining power of other security cars, and cooperate with the execution of the accident scene inspection task. When the security car returns to the standby point, the The battery management system judges whether to start the wireless charging device according to the remaining power.

In the step (2), the arrangement method of the sensors of the sound collection array is as follows: arrange at least three sound collection sensors, adjust the number of sensors installed according to the size difference of the site conditions, when the protected area is not a cubic space, but consists of For an area composed of multiple cubes, a set of independent sensors needs to be installed in each cube; since the most sensitive angle range of the array sensor is limited, a large measurement error will occur when the measurement angle is too small, so when a certain When the ratio of the height of the protected cubic space to the length of the diagonal at the bottom is less than the minimum sensitive angle of the sensor array, it is necessary to increase the number of sensor installation points to make them work together, thereby reducing the responsible area of each sensor.

In the step (2), if there is a fixed object in the space, its coordinates and dimensions are input into the background processing system in advance.

In the step (3), when a person enters illegally, the infrared temperature sensor array will feel the heat radiation emitted by the human body, and transmit the data to the judging device, and the judging device will make a judgment on the person according to the preset standard. Judgment of illegal entry accidents.

In the step (3), when a fire occurs, the infrared temperature sensor array senses the temperature of the flame at the first time, and transmits the data to the judging device.

In the step (5), during the driving of the security vehicle, the sensor system continuously monitors the accident, and if the accident disappears on the way, an instruction is sent to the security vehicle to return to the stand-by point.

In described step (5), the WiFi module on the security car, camera and audio collection equipment are open state, and on-the-spot data is transmitted to the server by WiFi and stored, if guaranteeing that security car is destroyed when carrying out accident point inspection task , The data of the accident scene were also retained.

The beneficial effects of the present invention are:

1. By using sensors to cooperate with security vehicles, the human resources required for security in a large space can be reduced, and the security system can work without interruption, avoiding the safety defects caused by the intermittent nature of manual inspections;

2. The flexibility of route selection is improved. When there are obstacles on the inspection route, the security car can bypass and continue to move forward, while the line-finding robot can only wait for the obstacle to disappear, which will increase the workload of night duty personnel and reduce the degree of automation. ;

3. Reduce the number of installed cameras and the cost of related line laying, and use wireless network for video and audio data transmission, which greatly saves the cost of installation, modification and maintenance, and improves the unnecessary occupation of the site, which can be viewed from the side Increase productivity;

4. Accurately determine the location of the accident through calculation, which facilitates the on-duty personnel to take measures and improves the security effect.

Description of drawings

Fig. 1 is a schematic diagram of the system structure of the present invention;

Fig. 2 is a schematic flow sheet of the present invention;

Fig. 3 is a schematic diagram of the accident point location method of the present invention;

Fig. 4 is a schematic diagram of the ranging method of the present invention;

Fig. 5 is a structural schematic diagram of the security vehicle of the present invention.

Detailed ways:

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1-Figure 4, a mobile intelligent security system based on wireless local area network communication, including:

1. Sensor system:

1.1 Sound collection array and analysis device

The device includes two parts: sound collection array and sound wave analysis. The sound signal in the protected area is collected by the noise reduction microphone, and the data is transmitted to the sound wave analysis device for analysis. Because the working hours are at night, the sound signal is very weak when there is no accident, but there will be wind noise or other short-term disturbances. In addition, the microphone group arranged in an array can accurately measure the relative angle between the accident point and the sensor installation point. The analysis device analyzes the sound wave through the FastICA algorithm. When the amplitude of the non-environmental component sound wave is greater than the predetermined threshold and the duration is greater than the acceptable maximum duration of the disturbance, the analysis device judges that an accident has occurred. Now set up 3 sound collection sensors, and according to the time difference between the sound waves transmitted to the three sensors, and the angle θs1, θs2, θs3 of the sound source relative to the sound collection array device, the distance Ds1, Ds2, Ds3 between the sound source and the three sensors can be calculated.

The calculation formula is as follows:

${\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

D _s2 =D _s1 +Δ _t12 ×v _s (2)

D _s3 =D _s1 +Δt ₁₃ ×v _s (3)

1.2 Infrared temperature sensor array

The device is used to monitor the temperature in the protected space, and cooperates with a judging device to protect against fire and illegal entry of personnel. When a person enters illegally, the infrared temperature sensor array will feel the heat radiation emitted by the human body, and transmit the data to the judging device. When a fire occurs, the infrared temperature sensor array can feel the temperature of the flame at the first time, and transmit the data to the judging device. The judging device judges the fire accident according to the preset standard. Because the temperature difference between the heat radiation of the human body and the heat radiation of the flame is obvious, the accuracy of the judging device is very high. In addition, the infrared temperature sensor group arranged in an array can accurately measure the relative angle between the accident point and the sensor installation point. When the above two accidents occur, the distances DT1, DT2, DT3 between the heat source and the three sensors can be calculated according to the time difference measured by the three sensors and the measured relative angles between the heat source and the infrared temperature sensor array θt1, θt2, θt3, The calculation principle is the same as the sound collection array and analysis device.

The calculation formula is as follows:

${\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

D _t2 =D _t1 +Δt ₁₂ ×v _l (5)

D _t3 ＝D _t1 +Δt ₁₃ ×v _l (6)

2. Background processing system:

The analysis calculation of the accident occurrence point is as follows:

When an accident occurs at point A, the sound collection array, analysis device and infrared temperature sensor array on the three corners 1, 2, and 3 can respectively sense the distance (time) from the accident point, and the length (L) and width ( W) When the height (H) is determined, point A can be calculated

Coordinates (X _a , Y _a , Z _a )

${\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; W</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; W</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; -</span>\sqrt{{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

Similarly, the sensors on the security car interact with the three sensors in the corner, and the coordinates of the security car can also be determined. The background processing system can issue instructions to the security car to make it approach the accident point.

If there are fixed objects in the space, such as tables and counters, their coordinates and dimensions can be input into the system in advance, so that the processor can easily determine the route of the security car approaching the target.

For different places, the space structure is different, and the above algorithm is only applicable to a cylindrical space, so it is often necessary to adapt measures to local conditions in the actual security system design. For example, the space structure of a large warehouse is relatively simple, so its security system design can basically follow the above algorithm, while shopping malls or office spaces are often composed of multiple smaller spaces, in principle, sensor arrays need to be installed separately. This will bring higher costs. The solution to this deficiency is to use sound and temperature control sensor units instead of sensor arrays for smaller spaces. Because if it can be determined that the accident point is in a certain room, as long as the security car enters the room, the accident can be reconnaissance, so it is not necessary to use the sensor array to determine the specific location of the accident. Moreover, the distance judgment accuracy of the array sensor to the accident point is also relatively low in a small space.

2.1 Issue control commands to the security vehicle

After determining the coordinates of the security car (generally, the standby point of the security car), the coordinates of the accident point, and the coordinates and dimensions of fixed objects in the space, the background processing system will calculate and select the shortest path, and send instructions to drive along the path to security car. And the driving route can be corrected by positioning the security car during driving.

During the driving process of the security vehicle, the sensor system continuously monitors the accident. If the accident disappears on the way, it will send an instruction to the security vehicle to return to the standby point.

When multiple accidents occur at the same time, the background processing system will reasonably dispatch the security vehicles according to the distance between the accident point and several security vehicle standby points and the remaining power of the security vehicles at different standby points, so as to achieve the fastest processing speed for the accident.

3. Security car:

3.1 Reception and execution of control signals

The security vehicle is equipped with a microwave wireless remote control receiving module, which can receive control instructions issued by the background processing system. The signal receiving module transmits the received signal to the processor of the security vehicle, and the processor sends a corresponding control signal to the motor drive module according to the control signal of the background processing system, so as to complete the instruction to be executed.

3.2 Transmission of video and audio data

The security vehicle is equipped with cameras and microphones to collect video and audio data. The security car is also equipped with a WiFi module to connect to the WiFi in the space. The camera and microphone transmit the data to the server via WiFi for storage. In this way, even if the security vehicle is destroyed during the inspection of the accident point, the data of the accident scene can be preserved.

3.3 Battery Management System

The battery on the security car is equipped with a battery management system to monitor the power and send the remaining power information to the background processing system in real time. Electric power arrangement and dispatch, cooperate with the implementation of accident scene inspection tasks.

4. Security car standby point:

4.1 Wireless charging device

The security car relies on the electric motor as the driving force, and the camera and wireless communication module all need power supply, so the security car needs to charge the battery in time. Every time the task is completed, the security vehicle will return to the standby point. So we installed wireless charging units at the standby point. WiTri charging coils are buried underground at the standby point, and WiTri receiving coils are installed at the bottom of the security vehicle. When the security car returns to the standby point, the battery management system on the car judges whether to activate the wireless charging device according to the remaining power. Wireless charging does not require specialized personnel to plug and unplug the power plug of the security car, thus saving human resources and improving the automation of the system.

5. Wireless communication system (WiFi):

Using a LAN based on IEEE802.11 series protocols, a wireless LAN is constructed within the working range of the security system to realize communication between various subsystems.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (10)

1. A mobile intelligent security system based on wireless local area network communication, characterized in that it includes sensor system, background processing system, security vehicle, wireless communication module and wireless power supply device, wherein: The sensor system includes a sound collection array and analysis device and an infrared temperature sensor array, the sound collection array and analysis device are used to analyze the sound signal in the protected area collected by the noise reduction microphone, and the microphone group arranged in an array Accurately measure the relative angle between the accident point and the sensor installation point; The infrared temperature sensor array is used to monitor the temperature in the protected space, and cooperates with a judging device to protect against fire and illegal entry of personnel; The judging device is a device for judging signals according to a preset threshold value. It is used to judge in real time whether the collected signals have reached the accident level. It is installed on the spot and installed next to the sensor. Transfer data to ensure the timeliness of data; The background processing system is used to mathematically calculate the data collected by the sensor system, and transmit the calculation results to the security vehicle through the wireless communication module; The security car is used to receive the control information from the background processing system and complete the control command; The wireless power supply device is used for providing electric power to the security vehicle and judging the remaining electric power. 2. A mobile intelligent security system based on wireless local area network communication as claimed in claim 1, wherein the security vehicle includes a wireless remote control receiving module, a controller, a communication system, a motor and a battery management system, wherein , the controller is connected to the motor drive module, the motor drive module is connected to the motor, the battery management system communicates with the controller in two directions, the battery management system is connected with a battery and a wireless charging module, and the controller communicates with the communication system in two directions. 3. A mobile intelligent security system based on wireless local area network communication as claimed in claim 2, wherein the controller is connected with a camera and an audio collection device, and the communication system includes a WiFi module. 4. Based on the implementation method of the mobile intelligent security system described in any one of claims 1-3, it is characterized in that: specifically comprise the following steps: (1) The security vehicle collects the sound signal in the protected area through the noise reduction microphone, and transmits the data to the sound wave analysis device for analysis. The analysis device analyzes the sound wave through the FastICA algorithm. When the non-environmental component sound wave amplitude is greater than If the predetermined threshold value is set, and the duration is greater than the acceptable maximum duration of the disturbance, the analysis device will judge that the accident occurred; (2) According to the time difference that the sound wave reaches the sensor of the sound collection array, and the angle of the sound source relative to the sound collection array device, calculate the distance from the sound source to the sensor; (3) The infrared temperature sensor array senses the text and pictures emitted by the human body or fire, makes judgments according to preset standards, and accurately measures the relative angle between the accident point and the sensor installation point; (4) The background processing system accepts the analysis results of the infrared temperature sensor array and the sound wave analysis device, determines the accident point and the coordinates of the security vehicle through the sensing distance and time, calculates and selects the shortest path, and issues a control command to the security vehicle. Instructions for route travel; (5) When the battery management system on the security car finds that the power of the security car is too low, the background processing system will arrange scheduling according to the remaining power of other security cars, and cooperate with the execution of the accident scene inspection task. When the security car returns to the standby point, the The battery management system judges whether to start the wireless charging device according to the remaining power. 5. The implementation method according to claim 4, characterized in that: in the step (2), the arrangement method of the sensors of the sound collection array is: at least three sound collection sensors are arranged, adjusted according to the size difference of the site conditions The number of sensors installed, when the protected area is not a cubic space, but an area composed of multiple cubes, it is necessary to install a set of independent sensors in each cube; because the most sensitive angle range of the array sensor is limited, so When the measurement angle is too small, a large measurement error will occur. Therefore, when the ratio of the height of a protected cubic space to the length of the bottom diagonal line is less than the minimum sensitive angle of the sensor array, it is necessary to increase the number of sensor installation points. They work together to reduce the area of responsibility of each sensor. 6. The realization method according to claim 5, characterized in that: in the step (2), if there is a fixed object in the space, its coordinates and dimensions are input into the background processing system in advance. 7. The realization method as claimed in claim 4, characterized in that: in the step (3), when a person enters illegally, the infrared temperature sensor array will feel the thermal radiation emitted by the human body, and the data will be Pass to the judging device, and the judging device makes the judgment of the illegal entry accident of personnel according to the standard set in advance. 8. The realization method as claimed in claim 4, characterized in that: in the step (3), when a fire occurs, the infrared temperature sensor array feels the temperature of the flame at the first time, and the data is passed to the judge device. 9. The realization method as claimed in claim 4, characterized in that: in the step (5), during the driving process of the security vehicle, the sensor system continuously monitors the accident, and if the accident disappears on the way, it sends a message to the security vehicle. Command to return to standby point. 10. The implementation method as claimed in claim 9, characterized in that: in the step (5), the WiFi module, the camera and the audio collection equipment on the security car are in an open state, and the field data is transmitted to the server by WiFi for further processing. Storage, to ensure that if the security vehicle is destroyed during the inspection of the accident site, the data on the accident site will also be retained.