CN107680378A - A kind of accident surveying method, system, equipment and computer-readable storage medium - Google Patents
A kind of accident surveying method, system, equipment and computer-readable storage medium Download PDFInfo
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- CN107680378A CN107680378A CN201711084533.2A CN201711084533A CN107680378A CN 107680378 A CN107680378 A CN 107680378A CN 201711084533 A CN201711084533 A CN 201711084533A CN 107680378 A CN107680378 A CN 107680378A
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- unmanned plane
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
Abstract
The invention discloses a kind of accident surveying method, system, equipment and computer-readable storage medium, wherein this method includes：Place where the accident occurred point is determined according to accident alarming information；Determine to go to the unmanned plane of place where the accident occurred point in the range of dispatcher-controlled territory；Planning unmanned plane goes to the path of place where the accident occurred point；Control unmanned plane goes to place where the accident occurred point according to the path of planning, to carry out accident prospecting based on unmanned plane, including takes pictures and carries out 3 D scene rebuilding, commander's accident vehicle is moved to safety area.A kind of accident surveying method, system, equipment and computer-readable storage medium disclosed by the invention can cause unmanned plane quickly to reach the scene of the accident, and carry out accident prospecting by unmanned plane, compared with carrying out prospecting with the arrival of the traffic police in the prior art scene of the accident, the disposal efficiency of processing traffic accident is improved.In summary, it solves the technical problem for how improving disposal traffic accident efficiency to a certain extent.
Description
Technical field
The present invention relates to robotic technology field, more specifically to a kind of accident surveying method, system, equipment and
Computer-readable storage medium.
Background technology
As automobile as popular consumer products enters huge numbers of families, the road in city becomes increasingly crowded, once
Generation traffic accident, phenomena such as traffic congestion can be caused.
It is existing processing traffic accident method be：Scene of a traffic accident original state is maintained, waits traffic police etc. to carry out corresponding position
Reason.
However, the method for existing processing traffic accident needs to wait traffic police to carry out accordingly into the scene of a traffic accident
Processing, treatment effeciency is low, in waiting process, can cause serious traffic jam, or even can cause secondary traffic accident.
In summary, how improving the efficiency of disposal traffic accident, to be that current those skilled in the art are urgently to be resolved hurrily ask
Topic.
The content of the invention
It is an object of the invention to provide a kind of accident surveying method, and it can solve how to improve disposal friendship to a certain extent
The technical problem of interpreter's event efficiency.Present invention also offers a kind of accident survey system, equipment and computer-readable storage medium.
To achieve these goals, the present invention provides following technical scheme：
A kind of accident surveying method, including：
Place where the accident occurred point is determined according to accident alarming information；
Determine to go to the unmanned plane of the place where the accident occurred point in the range of dispatcher-controlled territory；
Plan that the unmanned plane goes to the path of the place where the accident occurred point；
The unmanned plane is controlled to go to the place where the accident occurred point according to the path of planning, to be carried out based on the unmanned plane
Accident is reconnoitred.
Preferably, the unmanned plane for determining to go to the place where the accident occurred point in the range of dispatcher-controlled territory, including：
Obtain the positional information of idle unmanned plane in the range of dispatcher-controlled territory；
Between positional information calculation based on each the idle unmanned plane idle unmanned plane and place where the accident occurred point
Distance；
It is nobody that go to the place where the accident occurred point to determine the idle unmanned plane corresponding to the minimum N number of distance of numerical value
Machine, N are positive integer.
Preferably, the planning unmanned plane goes to the path of the place where the accident occurred point, including：
Obtain the cartographic model between the place where the accident occurred point and the unmanned plane；
The shortest path between the unmanned plane and place where the accident occurred point is determined on the cartographic model；
Determine that the shortest path goes to the path of the place where the accident occurred point for the unmanned plane.
Preferably, the cartographic model obtained between the place where the accident occurred point and the unmanned plane, including：
The positional information of the place where the accident occurred point and the unmanned plane is sent to information inquiry device；
Cartographic model between the place where the accident occurred point and the unmanned plane that reception described information requestor inquires.
Preferably, it is described that accident prospecting is carried out based on the unmanned plane, including：
The scene of the accident is taken pictures based on the unmanned plane；
Based on the unmanned plane will take pictures result carry out quick three-dimensional reconstructing, generate accident three-dimensional scene, so as to based on
The accident three-dimensional scene carries out crash analysis.
Preferably, after generating accident three-dimensional scene based on the unmanned plane, in addition to：
Based on the unmanned plane, accident vehicle is moved to safety zone by prompting accident both sides.
Present invention also offers a kind of accident survey system, including：
Location-determining module, for determining place where the accident occurred point according to accident alarming information；
Unmanned plane determining module, for determining to go to the unmanned plane of the place where the accident occurred point in the range of dispatcher-controlled territory；
Planning module, for planning that the unmanned plane goes to the path of the place where the accident occurred point；
Control module, for controlling the unmanned plane to go to the place where the accident occurred point according to the path of planning, with based on
The unmanned plane carries out accident prospecting.
Present invention also offers a kind of accident exploration equipment, including：
Memory, for storing computer program；
Processor, a kind of as above any step of accident surveying method is realized during for performing the computer program
Suddenly.
Preferably, in addition to：
Unmanned plane, the instruction sent for receiving the processor, and corresponding action is completed in the instruction based on transmission.
Present invention also offers a kind of computer-readable storage medium, computer journey is stored with the computer-readable storage medium
Sequence, when the computer program is executed by processor realize as above a kind of any accident surveying method the step of.
A kind of accident surveying method provided by the invention, place where the accident occurred point is first determined according to accident alarming information；Then
It is determined that go to the unmanned plane of place where the accident occurred point；Then planning unmanned plane goes to the path of place where the accident occurred point；Finally control nothing
Place where the accident occurred point is gone in the man-machine path according to planning, to carry out accident prospecting based on unmanned plane；Due to the build of unmanned plane
It is small, can be with quick response and in road or aerial traveling, and can cause nothing by accident surveying method provided by the invention
It is man-machine to reach the scene of the accident in an optimal manner, and accident prospecting is carried out by unmanned plane, reach accident with traffic police in the prior art
Scene carries out prospecting and compared, and substantially increases the treatment effeciency of processing traffic accident.In summary, a kind of thing provided by the invention
Therefore surveying method solves the technical problem for how improving disposal traffic accident efficiency to a certain extent.Provided by the invention one
Kind accident survey system, equipment and computer-readable storage medium also solve corresponding technical problem.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of flow chart of accident surveying method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of accident survey system provided in an embodiment of the present invention；
Fig. 3 is the structural representation that a kind of accident reconnoitres intelligent robot system in practical application；
Fig. 4 is a kind of structural representation of accident exploration equipment provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In practical application, the action executing main body of each step in a kind of accident surveying method provided in an embodiment of the present invention
Can be a kind of accident survey system provided in an embodiment of the present invention, and the system can be built in computer, server, robot
Deng on, so the action executing main body of each step can also be electricity in a kind of accident surveying method provided in an embodiment of the present invention
Brain, server, robot etc..For convenience, here will be each in a kind of accident surveying method provided in an embodiment of the present invention
The action executing main body of individual step is set as a kind of accident survey system provided in an embodiment of the present invention, referred to as survey system.
Referring to Fig. 1, Fig. 1 is a kind of flow chart of accident surveying method provided in an embodiment of the present invention.
A kind of accident surveying method provided in an embodiment of the present invention, may comprise steps of：
Step S101：Place where the accident occurred point is determined according to accident alarming information.
In practical application, survey system first can determine place where the accident occurred point according to accident alarming information.Because reality is raw
In work, accident side is mostly by mobile phone alarm, namely what survey system received is accident audio alert information, at this moment, prospecting system
System can retrieve venue keywords in audio alert information, then in the location information storehouse prestored by venue keywords with
Location information carries out character match, finally determines the place where the accident occurred point in audio alert information；In order to mitigate survey system
Matching pressure, survey system after audio alert information is received, can also individually inquire the correlation of accident side place where the accident occurred point
Information, place where the accident occurred point is determined according to the relevant information.In practical application, survey system can also be by global positioning system
To determine that place where the accident occurred point, such as survey system start global positioning system and come after the alarm call of accident side is received
Positioning is tracked to alarm mobile phone, place where the accident occurred point is determined with this.
Step S102：Determine to go to the unmanned plane of place where the accident occurred point in the range of dispatcher-controlled territory.
Survey system, can be to determine in the range of dispatcher-controlled territory after place where the accident occurred point is determined according to accident alarming information
Go to the unmanned plane of place where the accident occurred point.Dispatcher-controlled territory scope mentioned here refers to storing the region of unmanned plane, actual to answer
In, dispatcher-controlled territory may range from each traffic control center etc..Further, since the reason such as performance of unmanned plane, prospecting system
It can be nearest principle that system, which determines to go to the principle of the unmanned plane of place where the accident occurred point, that is, determine nearest apart from place where the accident occurred point
Unmanned plane be the unmanned plane for going to place where the accident occurred point；It can also be most fast principle, that is, determine to reach place where the accident occurred point
Time most short unmanned plane is the unmanned plane for going to place where the accident occurred point；It can also be the principle of optimality, that is, determine best performance
Unmanned plane is the unmanned plane for going to place where the accident occurred point；Idle principle is can also be, that is, determines idle unmanned plane to go to accident
The unmanned plane of scene.In concrete application scene, survey system can determine phase according to being actually needed according to corresponding principle
The unmanned plane answered, the present invention are not specifically limited herein.
Step S103：Planning unmanned plane goes to the path of place where the accident occurred point.
Survey system, can be to plan that unmanned plane goes to accident to send out after determining and going to the unmanned plane of place where the accident occurred point
The path of dried rhizome of rehmannia point.It should be pointed out that in practical application, it can be more that survey system, which determines to go to the unmanned plane of place where the accident occurred point,
Frame, at this moment need to plan that the unmanned plane goes to the path of place where the accident occurred point for each frame unmanned plane.Survey system is unmanned plane
The principle that path planning is followed can be most fast principle, i.e., unmanned plane can quickly be gone to according to the path of most fast principle planning
Place where the accident occurred point；Can also be nearest principle, i.e., place where the accident occurred point is gone in the path that unmanned plane is planned according to nearest principle
Stroke it is most short.
Step S104：Control unmanned plane goes to place where the accident occurred point according to the path of planning, to enter to act based on unmanned plane
Therefore reconnoitre.
In practical application, behind the path of the good unmanned plane of planning, survey system can by the path transmission planned to
The unmanned plane, unmanned plane is allowed to go to place where the accident occurred point according to the autonomous path planned；It can also be that survey system is remotely grasped
Control unmanned plane goes to place where the accident occurred point according to the path of planning.After unmanned plane reaches place where the accident occurred point, survey system
Remotely to reconnoitre the scene of the accident by unmanned plane.
A kind of accident surveying method provided by the invention, place where the accident occurred point is first determined according to accident alarming information；Then
It is determined that go to the unmanned plane of place where the accident occurred point；Then planning unmanned plane goes to the path of place where the accident occurred point；Finally control nothing
Place where the accident occurred point is gone in the man-machine path according to planning, to carry out accident prospecting based on unmanned plane；Due to the build of unmanned plane
It is small, can be with quick response and in road or aerial traveling, and can cause nothing by accident surveying method provided by the invention
It is man-machine to reach the scene of the accident in an optimal manner, and accident prospecting is carried out by unmanned plane, reach accident with traffic police in the prior art
Scene carries out prospecting and compared, and substantially increases the treatment effeciency of processing traffic accident.In summary, a kind of thing provided by the invention
Therefore surveying method solves the technical problem for how improving disposal traffic accident efficiency to a certain extent.
A kind of accident surveying method provided in an embodiment of the present invention, is specifically as follows：
Place where the accident occurred point is determined according to accident alarming information；
Obtain the positional information of idle unmanned plane in the range of dispatcher-controlled territory；
Distance between positional information calculation based on each the idle unmanned plane idle unmanned plane and place where the accident occurred point；
Determine that the idle unmanned plane corresponding to the minimum N number of distance of numerical value is the unmanned plane for going to place where the accident occurred point；
Planning unmanned plane goes to the path of place where the accident occurred point；
Control unmanned plane goes to place where the accident occurred point according to the path of planning, to carry out accident prospecting based on unmanned plane.
In practical application, survey system determines to go to the process of the unmanned plane of place where the accident occurred point to have in the range of dispatcher-controlled territory
Body can be：Survey system first obtains the positional information of idle unmanned plane in the range of dispatcher-controlled territory, then idle according to each
Distance between the positional information calculation of the unmanned plane idle unmanned plane and place where the accident occurred point, finally determine the N number of of numerical value minimum
It is the unmanned plane for going to place where the accident occurred point apart from corresponding idle unmanned plane.For rule, sent out apart from accident
Air line distance between dried rhizome of rehmannia point nearest idle unmanned plane and place where the accident occurred point is most short, so survey system can be calculated directly
Air line distance between each idle unmanned plane and place where the accident occurred point, naturally it is also possible to have other calculating principles, the present invention exists
Here it is not specifically limited；After the air line distance between each idle unmanned plane and place where the accident occurred point is obtained, survey system
First all air line distance can be sorted according to the principle of numerical value from small to large, then chosen corresponding to top n air line distance
Unmanned plane be the unmanned plane for going to place where the accident occurred point.Here N is positive integer.
A kind of accident surveying method provided in an embodiment of the present invention, is specifically as follows：
Place where the accident occurred point is determined according to accident alarming information；
It is determined that go to the unmanned plane of place where the accident occurred point；
Obtain the cartographic model between place where the accident occurred point and unmanned plane；
The shortest path between unmanned plane and place where the accident occurred point is determined on cartographic model；
Determine that shortest path goes to the path of place where the accident occurred point for unmanned plane；
Control unmanned plane goes to place where the accident occurred point according to the path of planning, to carry out accident prospecting based on unmanned plane.
In practical application, survey system can plan that unmanned plane goes to the path of place where the accident occurred point according to nearest principle,
Detailed process can be：Survey system first obtains the cartographic model between place where the accident occurred point and unmanned plane, then in cartographic model
The upper shortest path determined between unmanned plane and place where the accident occurred point, it is that unmanned plane goes to place where the accident occurred finally to determine shortest path
The path of point.In concrete application scene, survey system can itself preserve cartographic model in search place where the accident occurred point with
Cartographic model between unmanned plane or obtained by the cartographic model system in the external world between place where the accident occurred point and unmanned plane
Cartographic model.After cartographic model is obtained, survey system can be with the determination unmanned plane on cartographic model and place where the accident occurred point
Between shortest path, can be that position and the accident for the connection unmanned plane that survey system constructs predetermined number on cartographic model are sent out
The continuous lines of dried rhizome of rehmannia point, in the process, survey system can follow along the principle of connecting way construction connecting line and construct connection
Line or construct connecting line etc. according to the principle for avoiding the floor highly higher than unmanned plane during flying；Thus can produce a plurality of
Line, afterwards, survey system can calculate the length of each connecting line, and it is shortest path to choose the most short connecting line of length.
The quantity of connecting line can determine according to being actually needed, such as 50,80,100 etc..
In practical application, survey system can go to the path of place where the accident occurred point according to most fast principle planning unmanned plane,
Detailed process can be：Survey system first obtains the cartographic model between place where the accident occurred point and unmanned plane；Will be high on cartographic model
Degree is hidden less than the model of the flying height of unmanned plane, and the company of predetermined number is constructed on the cartographic model after hiding processing
Take over a job thus the connecting line of scene and unmanned plane；Calculate the length of each connecting line；Choose the minimum N number of length institute of numerical value
Corresponding unmanned plane is the unmanned plane for going to place where the accident occurred point.Associated description during this can refer to survey system according to
The associated description that nearest principle planning unmanned plane is gone in the path process of place where the accident occurred point, is repeated no more here.
A kind of accident surveying method provided in an embodiment of the present invention, is specifically as follows：
Place where the accident occurred point is determined according to accident alarming information；
It is determined that go to the unmanned plane of place where the accident occurred point；
The positional information of place where the accident occurred point and unmanned plane is sent to information inquiry device；
Cartographic model between place where the accident occurred point and unmanned plane that receive information requestor inquires；
The shortest path between unmanned plane and place where the accident occurred point is determined on cartographic model；
Determine that shortest path goes to the path of place where the accident occurred point for unmanned plane；
Control unmanned plane goes to place where the accident occurred point according to the path of planning, to carry out accident prospecting based on unmanned plane.
In practical application, survey system obtains the process of the cartographic model between place where the accident occurred point and unmanned plane specifically can be with
For：Survey system sends the positional information of place where the accident occurred point and unmanned plane to information inquiry device；Information inquiry device can be according to thing
Therefore scene cartographic model corresponding with the place information inquiry of unmanned plane, and the cartographic model inquired is sent to prospecting
System；The corresponding map model that survey system receive information requestor is sent, so far, survey system gets place where the accident occurred point
Cartographic model between unmanned plane.It should be pointed out that information inquiry device here can be cloud server, map system etc.；
Information inquiry device can be that cartographic model etc. is inquired about in the large data center for be stored with cartographic model.
A kind of accident surveying method provided in an embodiment of the present invention, is specifically as follows：
Place where the accident occurred point is determined according to accident alarming information；
It is determined that go to the unmanned plane of place where the accident occurred point；
Planning unmanned plane goes to the path of place where the accident occurred point；
Control unmanned plane goes to place where the accident occurred point according to the path of planning；
The scene of the accident is taken pictures based on unmanned plane；
Based on unmanned plane will take pictures result carry out quick three-dimensional reconstructing, generate accident three-dimensional scene, so as to based on accident
Three-dimensional scene carries out crash analysis.
In practical application, the process that survey system carries out accident prospecting based on unmanned plane is specifically as follows：Survey system base
The scene of the accident is taken pictures in unmanned plane, here take pictures follow records all information related to accident
Principle；Be then based on unmanned plane will take pictures result carry out quick three-dimensional reconstructing, generate accident three-dimensional scene, i.e., by three-dimensional
Reconstruction technique preserves the 3-D view of the scene of the accident, subsequently to carry out crash analysis according to accident three-dimensional scene.In addition, survey
The system of examining can also be used cooperatively with handheld terminal, for example accident three-dimensional scene is sent to handheld terminal so that hand-held whole
The user at end can carry out crash analysis according to accident three-dimensional scene in real time, and handheld terminal mentioned here includes mobile phone, put down
Plate computer etc..
In a kind of accident surveying method provided in an embodiment of the present invention, based on unmanned plane generation accident three-dimensional scene it
Afterwards, can also include：
Based on unmanned plane, accident vehicle is moved to safety zone by prompting accident both sides.
In practical application, survey system is also based on nobody after accident three-dimensional scene is generated based on unmanned plane
Accident vehicle is moved to safety zone by machine prompting accident both sides.For example the voice broadcast service system prompting accident based on unmanned plane is double
Accident vehicle is moved to safety zone etc. by side, can so avoid influence of the accident vehicle to other vehicles, can be certain
Generation of secondary traffic accident etc. is avoided in degree.
Present invention also offers a kind of accident survey system, and it has a kind of accident prospecting side provided in an embodiment of the present invention
The corresponding effect that method has.Referring to Fig. 2, Fig. 2 is a kind of structural representation of accident survey system provided in an embodiment of the present invention
Figure.
A kind of accident survey system provided in an embodiment of the present invention, can include：
Location-determining module 101, for determining place where the accident occurred point according to accident alarming information；
Unmanned plane determining module 102, for determining to go to the unmanned plane of place where the accident occurred point in the range of dispatcher-controlled territory；
Planning module 103, for planning that unmanned plane goes to the path of place where the accident occurred point；
Control module 104, for controlling unmanned plane to go to place where the accident occurred point according to the path of planning, with based on unmanned plane
Carry out accident prospecting.
In a kind of accident survey system provided in an embodiment of the present invention, unmanned plane determining module can include：
Position acquisition unit, for obtaining the positional information of idle unmanned plane in the range of dispatcher-controlled territory；
Metrics calculation unit, for the idle unmanned plane of the positional information calculation based on each idle unmanned plane and accident
Distance between scene；
Unmanned plane determining unit, the idle unmanned plane corresponding to N number of distance minimum for determining numerical value are to go to accident
The unmanned plane of scene, N are positive integer.
In a kind of accident survey system provided in an embodiment of the present invention, planning module can include：
Model acquiring unit, for obtaining the cartographic model between place where the accident occurred point and unmanned plane；
First determining unit, for determining the shortest path between unmanned plane and place where the accident occurred point on cartographic model；
Second determining unit, for determining that shortest path is the path that unmanned plane goes to place where the accident occurred point.
In a kind of accident survey system provided in an embodiment of the present invention, model acquiring unit can include：
Transmission sub-unit, for sending the positional information of place where the accident occurred point and unmanned plane to information inquiry device；
Receiving subelement, the ground artwork between the place where the accident occurred point and unmanned plane that are inquired for receive information requestor
Type.
In a kind of accident survey system provided in an embodiment of the present invention, control module can include：
Photographing unit, for being taken pictures based on unmanned plane to the scene of the accident；
Three-dimensional reconstruction unit, for based on unmanned plane will take pictures result carry out quick three-dimensional reconstructing, generate accident three dimensional field
Jing Tu, to carry out crash analysis based on accident three-dimensional scene.
In a kind of accident survey system provided in an embodiment of the present invention, it can also include：
Reminding module, for after three-dimensional reconstruction unit generates accident three-dimensional scene, prompting accident double based on unmanned plane
Accident vehicle is moved to safety zone by side.
In practical application, some change can be carried out on the basis of a kind of accident survey system provided in an embodiment of the present invention
Enter, form into suitable for the system under different application scene, for example be combined into the intelligent robot system suitable for robot.Please
Refering to Fig. 3, Fig. 3 is the structural representation that a kind of accident reconnoitres intelligent robot system in practical application.
A kind of accident prospecting intelligent robot system in practical application can include：Execution level, key-course and data Layer.
Execution level includes unmanned vehicle, image/video acquisition system, quick three-dimensional reconstructing system, light warning system, voice broadcast service
System, handheld terminal, communication system, global positioning system etc.；Key-course includes reporting events system, path planning system, intelligence
System, intelligent operation control system, cloud server etc. can be dispatched；Data Layer is including large data center etc..Unmanned vehicle can
Quick three-dimensional weight is carried out to be taken pictures by image/video acquisition system to the scene of the accident, by quick three-dimensional reconstructing system
Build, evaded by light warning system warning passerby, move accident vehicle by voice broadcast service system prompting accident both sides
Move and allow traffic police to check three-dimensional hazard plot, by communication system and key-course or data Layer to safety zone etc., by handheld terminal
Contact etc., accident self-position or place where the accident occurred point etc. are determined by global positioning system；Reporting events system receives accident
Warning message is simultaneously uploaded to intelligent operation control system；Intelligent operation control system carries out path planning and unmanned vehicle
Scheduling, and by path planning system by path transmission to unmanned vehicle, dispatch system by unmanned vehicle by intelligence
Transmitting scheduling information is to execution level；Intelligent operation control system can also by cloud server data Layer large data center
Middle query-related information, such as cartographic model etc..
Present invention also offers a kind of accident exploration equipment and computer-readable storage medium, it is respectively provided with the embodiment of the present invention and carried
The corresponding effect that a kind of accident surveying method supplied has.Referring to Fig. 4, Fig. 4 is a kind of accident provided in an embodiment of the present invention
The structural representation of exploration equipment.
A kind of accident exploration equipment provided in an embodiment of the present invention, can include：
Memory 201, for storing computer program；
Processor 202, a kind of accident prospecting as above described by any embodiment is realized during for performing computer program
The step of method.
In a kind of accident exploration equipment provided in an embodiment of the present invention, it can also include：
Corresponding action is completed in unmanned plane, the instruction sent for reception processing device, and the instruction based on transmission.
In a kind of computer-readable storage medium provided in an embodiment of the present invention, computer journey is stored with computer-readable storage medium
Sequence, the step of a kind of as above accident surveying method described by any embodiment is realized when computer program is executed by processor.
Relevant portion says in a kind of accident survey system provided in an embodiment of the present invention, equipment and computer-readable storage medium
The bright detailed description for referring to corresponding part in a kind of accident surveying method provided in an embodiment of the present invention, will not be repeated here.
In addition, portion consistent with corresponding to technical scheme realization principle in the prior art in above-mentioned technical proposal provided in an embodiment of the present invention
Divide and unspecified, in order to avoid excessively repeat.
The foregoing description of the disclosed embodiments, those skilled in the art are enable to realize or using the present invention.To this
A variety of modifications of a little embodiments will be apparent for a person skilled in the art, and generic principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
The embodiments shown herein is formed on, and is to fit to consistent with principles disclosed herein and features of novelty most wide
Scope.
Claims (10)
- A kind of 1. accident surveying method, it is characterised in that including：Place where the accident occurred point is determined according to accident alarming information；Determine to go to the unmanned plane of the place where the accident occurred point in the range of dispatcher-controlled territory；Plan that the unmanned plane goes to the path of the place where the accident occurred point；The unmanned plane is controlled to go to the place where the accident occurred point according to the path of planning, to carry out accident based on the unmanned plane Prospecting.
- 2. according to the method for claim 1, it is characterised in that go to the accident to send out in the range of the determination dispatcher-controlled territory The unmanned plane of dried rhizome of rehmannia point, including：Obtain the positional information of idle unmanned plane in the range of dispatcher-controlled territory；Distance between positional information calculation based on each the idle unmanned plane idle unmanned plane and place where the accident occurred point；Determine that the idle unmanned plane corresponding to the minimum N number of distance of numerical value is the unmanned plane for going to the place where the accident occurred point, N is Positive integer.
- 3. according to the method for claim 1, it is characterised in that the planning unmanned plane goes to the place where the accident occurred The path of point, including：Obtain the cartographic model between the place where the accident occurred point and the unmanned plane；The shortest path between the unmanned plane and place where the accident occurred point is determined on the cartographic model；Determine that the shortest path goes to the path of the place where the accident occurred point for the unmanned plane.
- 4. according to the method for claim 3, it is characterised in that described to obtain the place where the accident occurred point and the unmanned plane Between cartographic model, including：The positional information of the place where the accident occurred point and the unmanned plane is sent to information inquiry device；Cartographic model between the place where the accident occurred point and the unmanned plane that reception described information requestor inquires.
- 5. according to the method described in any one of Claims 1-4, it is characterised in that described to carry out accident based on the unmanned plane Prospecting, including：The scene of the accident is taken pictures based on the unmanned plane；Based on the unmanned plane will take pictures result carry out quick three-dimensional reconstructing, generate accident three-dimensional scene, so as to based on described Accident three-dimensional scene carries out crash analysis.
- 6. according to the method for claim 5, it is characterised in that based on unmanned plane generation accident three-dimensional scene it Afterwards, in addition to：Based on the unmanned plane, accident vehicle is moved to safety zone by prompting accident both sides.
- A kind of 7. accident survey system, it is characterised in that including：Location-determining module, for determining place where the accident occurred point according to accident alarming information；Unmanned plane determining module, for determining to go to the unmanned plane of the place where the accident occurred point in the range of dispatcher-controlled territory；Planning module, for planning that the unmanned plane goes to the path of the place where the accident occurred point；Control module, for controlling the unmanned plane to go to the place where the accident occurred point according to the path of planning, with based on described Unmanned plane carries out accident prospecting.
- A kind of 8. accident exploration equipment, it is characterised in that including：Memory, for storing computer program；Processor, a kind of accident prospecting side as described in any one of claim 1 to 6 is realized during for performing the computer program The step of method.
- 9. equipment according to claim 8, it is characterised in that also include：Unmanned plane, the instruction sent for receiving the processor, and corresponding action is completed in the instruction based on transmission.
- 10. a kind of computer-readable storage medium, it is characterised in that computer program, institute are stored with the computer-readable storage medium State and realized when computer program is executed by processor as described in any one of claim 1 to 6 the step of a kind of accident surveying method.
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| CN115331462B (en) * | 2022-07-28 | 2023-09-01 | 广州赛宝联睿信息科技有限公司 | Intelligent fire control special service vehicle control method based on vehicle-road cooperation |
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