本作品采用嵌入式系统技术，结合无人机和二维码，借助开源计算机视觉库Open CV和机器人操作系统ROS，实现了室内大型场所的自适应安防巡逻。硬件方面，设计了 Parrot ardrone 2.0无人机作为载体，Minnow Board Turbot主板作为嵌入式核心版的系统。软件方面，编写了无人机飞行控制和图像处理的程序，利用PID控制算法实现了无人机的飞行控制。
整个系统包含无人机、二维码和主板，无人机是直接巡逻的工具，二维码给定飞行路线，主板放置于大型场所的房顶来与无人机通信实现控制。系统的功能是让无人机在博物馆等大型场所无人时，如夜间，进行巡逻，巡逻的路径由起初二维码给定，飞行路径中铺设标记点进行路径的矫正，不同的场所不同的时间都可以通过改变标记点的位置来实现自适应的巡逻方式。在巡逻时，如果无人机检测到前方有可疑人员，能够立刻给主板发送信号，主板保存视频图像，同时发出警报。
在智能安防领域，本作品具有适应性强，机动性强等优势，具有极大的发展前景。
This project combined with UAV and two-dimensional code, implements an adaptive security patrol system of large indoor places using Open CV and ROS. We designed a system based on Parrot ardrone 2.0 UAV and Minnow Board Turbot about hardware. We also made software about UAV flight control and image processing. We use PID controller to implement UAV flight control.
The whole system consists of UAV, two-dimensional code and motherboard. The UAV is a tool to patrol. The two-dimensional code gives flight route. The motherboard is put on the roof of large places to communicate with UAV. The UAV can patrol when the large place, such as museum, is unmanned. The patrol route is given by the initial two-dimensioned code. Flight path can be adjusted by mark points. We can implement adaptive patrol by changing the position of mark points in different places at different times. If the UAV detects suspicious people when on patrol, it will send a signal to the motherboard and the motherboard will save video and set the alarm.
In the field of security intelligence, this project has strong adaptability, flexibility and other advantages. It has great prospects for development.