CN109544971A

CN109544971A - Dispatching method, unmanned plane and unmanned plane cluster based on unmanned plane

Info

Publication number: CN109544971A
Application number: CN201811202367.6A
Authority: CN
Inventors: 胡华智; 薛鹏; 刘畅
Original assignee: Intelligent Equipment (guangzhou) Co Ltd
Current assignee: Intelligent Equipment (guangzhou) Co Ltd
Priority date: 2018-05-31
Filing date: 2018-10-16
Publication date: 2019-03-29

Abstract

The present invention relates to air vehicle technique fields, specifically provide the dispatching method based on unmanned plane, unmanned plane and unmanned plane cluster, this method is specially, it determines first wait the parking stall in parking lot that parks cars, license board information includes license plate number, then the position according to the parking stall determined generates the parking route of vehicle and guides the flight guiding route of unmanned plane, unmanned plane is guided to be flown according to flight guiding route, it treats to park cars according to the parking route of vehicle simultaneously and carries out stopping guide, the mode of stopping guide includes voice guide, pattern displaying guidance or light beam projection guidance.This method can selectively be used from a variety of guidance modes according to Different field situation, make the vehicle driver of parking to be asked quickly the vacant parking stall in vehicle parking to parking lot, the order of parking is enhanced, and is capable of the parking pressure of stopping at release field when the flow that stops is larger.

Description

Scheduling method based on unmanned aerial vehicle, unmanned aerial vehicle and unmanned aerial vehicle cluster

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a scheduling method based on an unmanned aerial vehicle, the unmanned aerial vehicle and an unmanned aerial vehicle cluster.

Background

In recent years, with the year-by-year increase of the automobile keeping quantity, the parking scheduling problem is more and more concerned, for some large shopping malls, hotels, malls and event holding areas, the car capacity of the parking lot may be correspondingly large, therefore, the traffic flow in and out of the parking lot is large, especially in the night time of the working day, the dining time on weekends and other time periods, the number of parked vehicles is increased rapidly in a short time, the parking lot in the large place adopts a mode of manually guiding parking or enabling a driver to search for an empty parking space at present, the parking efficiency of the two modes is low, moreover, the manual guidance mode increases labor cost, and the time cost and the crowdedness degree in a parking lot are increased when a driver searches for a parking space by himself, so that the two modes are unsatisfactory when the driver parks in the presence of a large traffic flow in a rush hour.

Meanwhile, for some temporarily-arranged parking lots for temporarily holding large events, since the temporary parking lots are not provided with infrastructure facilities and personnel such as checkpoints and parking guides, no suitable parking guide method is available at present for solving the parking guide problem under the circumstances.

Disclosure of Invention

Objects of the invention

In order to overcome at least one defect in the prior art, the invention provides the following technical scheme.

(II) technical scheme

As a first aspect of the present invention, the present invention provides a scheduling method based on an unmanned aerial vehicle, including:

determining the parking space of the vehicle to be parked in the parking lot;

generating a parking route of the vehicle and a flight guiding route for guiding the unmanned aerial vehicle according to the determined position of the parking space;

the unmanned aerial vehicle is guided to fly according to the flying guide route, and meanwhile parking guide is carried out on the vehicle to be parked according to the parking route of the vehicle; wherein,

the license plate information comprises a license plate number, and the parking guidance mode comprises at least one of the following modes: voice guidance, pattern display guidance, beam projection guidance.

As a specific implementation manner of the above technical solution, the license plate information further includes license plate types, and the license plate types include a new energy automobile license plate, a small automobile license plate, a large automobile license plate, and a motorcycle license plate.

As a specific implementation manner of the above technical solution, after the parking space of the vehicle to be parked is determined, the counted number of the vacant parking spaces in the parking lot is correspondingly reduced, and the number of the current vacant parking spaces is displayed near the entrance of the parking lot in real time.

As a specific implementation manner of the above technical solution, before the parking guidance is performed on the vehicle to be parked, the method further includes: and decomposing the parking route into a plurality of execution steps, and informing the corresponding execution steps to a vehicle driver in a parking guidance mode by the unmanned aerial vehicle according to the traveling degree of the vehicle to be parked.

As a specific implementation manner of the above technical solution, the voice guidance of the vehicle to be parked includes:

converting the plurality of execution steps into natural language voices respectively;

and the unmanned aerial vehicle is guided to repeatedly play the voice of the current execution step to the vehicle to be parked through a sounder equipped by the unmanned aerial vehicle, and repeatedly play the voice of the next execution step to the vehicle to be parked after the vehicle to be parked finishes the current execution step.

As a specific implementation manner of the above technical solution, the guiding pattern display for the vehicle to be parked includes:

converting the plurality of execution steps into symbols of a natural language pattern, respectively;

the unmanned aerial vehicle is guided to display the pattern symbol of the current execution step to the vehicle to be parked through a display screen equipped by the unmanned aerial vehicle, and the pattern symbol of the next execution step is displayed to the vehicle to be parked after the vehicle to be parked completes the current execution step.

As a specific implementation manner of the above technical solution, the guiding the vehicle to be parked by beam projection includes:

the guiding unmanned aerial vehicle keeps being located in a certain airspace in front of the vehicle to be parked, flies along a flying guiding route, meanwhile, the guiding unmanned aerial vehicle projects visible light beams to the ground through a laser indicator arranged on the guiding unmanned aerial vehicle, and the vehicle to be parked is guided to move through the light beams.

As a second aspect of the present invention, the present invention also provides a drone for dispatch, the drone comprising:

the parking place determining module is used for determining the parking place of the vehicle to be parked in the parking lot;

the route generating module is used for generating a parking route of the vehicle and a flight guiding route of the unmanned aerial vehicle according to the determined position of the parking space;

the flight control module is used for enabling the unmanned aerial vehicle to fly according to the flight guide route; and

the parking guide module is used for parking and guiding the vehicle to be parked according to the parking route of the vehicle and comprises a voice guide unit and/or a pattern display guide unit and/or a light beam projection guide unit; wherein,

the license plate information comprises license plate numbers, and the parking lot layout information comprises the positions, sizes and codes of all parking spaces.

As a specific implementation manner of the above technical solution, the license plate information acquired by the information acquisition module further includes license plate types, and the license plate types include a new energy automobile license plate, a small automobile license plate, a large automobile license plate, and a motorcycle license plate.

As a specific implementation manner of the technical scheme, a billboard is arranged near the entrance of the parking lot, and the billboard counts and displays the number of vacant parking spaces in the parking lot in real time; the billboard is connected with the unmanned aerial vehicle, and after the parking space of the vehicle to be parked is determined by the parking space determining module of the unmanned aerial vehicle, the number of the vacant parking spaces in the parking lot displayed by the billboard is correspondingly reduced.

As a specific implementation manner of the above technical solution, the unmanned aerial vehicle further includes:

the parking guidance module is used for guiding the vehicle to be parked in a parking mode, and the unmanned aerial vehicle informs the vehicle driver of the corresponding execution steps in a parking guidance mode according to the traveling degree of the vehicle to be parked.

As a specific implementation manner of the above technical solution, the voice guidance unit is configured to perform parking guidance on a vehicle to be parked in the voice guidance manner;

the voice guiding unit converts a plurality of execution steps decomposed by the route decomposition module into voice of natural language respectively, controls a sounder equipped for the unmanned aerial vehicle to repeatedly play the voice of the current execution step to the vehicle to be parked, and repeatedly plays the voice of the next execution step to the vehicle to be parked after the vehicle to be parked completes the current execution step until parking guidance is completed.

As a specific implementation manner of the above technical solution, the pattern display guidance unit is configured to perform parking guidance on a vehicle to be parked in the pattern display guidance manner;

the pattern display guiding unit converts a plurality of execution steps decomposed by the route decomposition module into pattern symbols of natural language respectively, controls a display screen equipped by the unmanned aerial vehicle to display the pattern symbols of the current execution step for the vehicle to be parked, and displays the pattern symbols of the next execution step for the vehicle to be parked after the vehicle to be parked completes the current execution step until the parking guidance is completed.

As a specific implementation manner of the above technical solution, the light beam projection guiding unit is configured to perform parking guidance on a vehicle to be parked in the light beam projection guiding manner;

the light beam projection guiding unit enables the unmanned aerial vehicle to be positioned in a certain airspace in front of the vehicle to be parked, the laser indicator equipped on the unmanned aerial vehicle is controlled to project visible light beams to the ground while the unmanned aerial vehicle flies along the flight guiding route, and the vehicle to be parked is guided to move by the light beams until parking guidance is finished; wherein,

the flight guidance route coincides with the parking route.

As a specific implementation manner of the above technical solution, a signal column array is arranged in the parking lot, the signal column array includes at least four signal columns, the unmanned aerial vehicle is electrically connected with three signal columns in the signal column array, which are nearest to the unmanned aerial vehicle, and the position of the unmanned aerial vehicle is determined according to signal intensities between the three signal columns, which are nearest to the unmanned aerial vehicle.

As a third aspect of the present invention, the present invention also provides a cluster of drones for scheduling, the cluster of drones comprising:

the unmanned aerial vehicles in the technical scheme of the unmanned aerial vehicles for scheduling are called first unmanned aerial vehicles or guiding unmanned aerial vehicles;

the aerial photography unmanned aerial vehicle is used for acquiring an overhead view image of the parking lot according to the requirement of the first unmanned aerial vehicle and sending the overhead view image to the first unmanned aerial vehicle; wherein,

the first drone determines a parking space of a vehicle to be parked in the parking lot based on the aerial imagery transmitted by the aerial drone.

As a specific implementation manner of the above technical solution, the unmanned aerial vehicle cluster further includes at least one supervising unmanned aerial vehicle, the supervising unmanned aerial vehicle includes:

the monitoring camera is used for acquiring images of parked vehicles in the parking lot when the monitoring unmanned aerial vehicle flies above the parking lot;

the inspection and identification module is used for identifying the license plate information of the parked vehicle from the image collected by the monitoring camera and inspecting whether the license plate information is the license plate information acquired by the first unmanned information acquisition module; and

and the warning module is used for recording the identified license plate information and warning under the condition that the license plate information identified by the checking and identifying module is not acquired by the first unmanned information acquisition module.

(III) advantageous effects

The unmanned aerial vehicle-based scheduling method, the unmanned aerial vehicle and the unmanned aerial vehicle cluster have the following beneficial effects:

1. the scheduling method and the unmanned aerial vehicle provided by the invention can be used for large-scale parking lots such as large shopping centers, hotels, malls, event holding places and the like, can also be used for parking lots temporarily arranged when large events are temporarily held and parking lots without an Internet of things system, and can guide the unmanned aerial vehicle to perform one-to-one parking guidance on vehicles to be parked, and can be selectively adopted from multiple guidance modes according to different field conditions, so that a driver of the vehicle to be parked can quickly park the vehicle in vacant parking lots, the parking order is enhanced, the parking pressure of the parking lots can be relieved when the parking flow is large, and compared with the situation that the driver automatically searches the vacant parking lots or arranges guidance personnel to perform parking guidance on the vehicle after entering the parking lots, the parking time cost and the labor cost of the parking lots are saved.

2. In the process of parking guidance, the modes of voice parking guidance, pattern display parking guidance and light beam projection parking guidance are adopted, so that a driver can receive information from vision and sense at the same time, and the driver can select a mode which can be received by the driver most when driving safely to receive guidance.

3. The parking area is equipped with the unmanned aerial vehicle cluster, and the unmanned aerial vehicle cluster is including guiding unmanned aerial vehicle and the unmanned aerial vehicle of taking photo by plane, through the parking stall that unmanned aerial vehicle help guide unmanned aerial vehicle confirmed the vehicle of taking photo by plane, and many unmanned aerial vehicles cooperate, can deal with the parking guide service under the large-scale parking area scene like this.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.

Fig. 1 is a schematic flowchart of one embodiment of the scheduling method based on the drone provided in the present invention.

Fig. 2 is a schematic diagram of parking lot layout information presented in the form of a plan view.

Fig. 3 is a schematic view of a parking lot having an elongated shape.

Fig. 4 is a schematic view of a parking lot having a uniform shape.

Fig. 5 is a block diagram of a drone for dispatch according to the present invention.

Fig. 6 is a block diagram of a cluster of drones for scheduling according to the present invention.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate their degree of importance, order, and the like.

The division of modules, units or components herein is merely a logical division, and other divisions may be possible in an actual implementation, for example, a plurality of modules and/or units may be combined or integrated in another system. Modules, units, or components described as separate parts may or may not be physically separate. The components displayed as cells may or may not be physical cells, and may be located in a specific place or distributed in grid cells. Therefore, some or all of the units can be selected according to actual needs to implement the scheme of the embodiment.

The following is one embodiment of the scheduling method based on the unmanned aerial vehicle provided by the present invention, the scheduling method provided by this embodiment, can be used for large-scale parking lots in large shopping centers, hotels, malls, event holding places and the like, can also be used for temporarily holding large-scale events and temporarily arranging parking lots and parking lots without an internet of things system to guide the unmanned aerial vehicle to carry out one-to-one parking guidance on vehicles to be parked, can be selectively adopted from a plurality of guiding modes according to different field conditions, so that a vehicle driver who wants to park the vehicle can quickly park the vehicle in the vacant parking space in the parking lot, the parking order is enhanced, and can alleviate the parking pressure in parking area when parking flow is great, compare in look for vacant parking stall or arrange the guide personnel to park the guide to the vehicle by oneself after the driver gets into the parking area, saved the time cost of parking and the human cost in parking area. Fig. 1 is a schematic flow chart of the present embodiment, where a letter S in fig. 1 indicates a Step (Step), and as shown in fig. 1, the scheduling method includes the following steps:

step 100, the parking space of the vehicle to be parked in the parking lot is determined.

Have a plurality of parking stalls in the parking area, the state on parking stall is existing probably to have the car to park the state, also probably is the no car vacant state, therefore unmanned aerial vehicle is waiting to park the vehicle and carry out the parking guide before, at first will confirm the parking stall of waiting to park the vehicle in the parking area, determine one from the parking stall of no car vacant state promptly and regard as the parking stall of waiting to park the vehicle.

As a specific implementation manner of the above technical solution, before determining the parking space of the vehicle to be parked in the parking lot in step 100, the method further includes the following steps:

and step 010, acquiring license plate information of the vehicle to be parked.

Social vehicles or tourist groups of vehicles come to a parking lot entrance temporarily built due to the holding of events, wait for entering the parking lot to park the vehicles, and at the moment, guide nobody to acquire the license plate information of the vehicles to be parked through the information acquisition module so as to be used in the subsequent parking process of the vehicles.

It should be noted that the acquired license plate information includes a license plate number, and the license plate number is a unique identifier of the vehicle, and a vehicle can be accurately determined by the license plate number.

As a specific implementation manner of the above technical solution, the license plate information further includes a license plate type. The license plate types comprise new energy automobile license plates, small automobile license plates, large automobile license plates, motorcycle license plates and the like. When the license plate number can not be accurately identified due to dirt, the license plate type can help guide the unmanned aerial vehicle to further determine the vehicle.

It can be understood that parking entrance can set up a unmanned aerial vehicle platform of taking off and land, and guide unmanned aerial vehicle stops on this platform of taking off and land when idle, when waiting to park the vehicle and appear, guide unmanned aerial vehicle can fly to waiting to park the vehicle in the shortest time and carry out the guide service that parks. When the parking area is great, the entry in parking area can set up a plurality ofly, and the platform of taking off and land also can set up a plurality ofly correspondingly this moment, and under the general condition, every platform of taking off and land corresponds a parking area entry, but when the platform turnover of taking off and land that waits to park the vehicle more so that being responsible at certain parking area entry was not opened, the guide unmanned aerial vehicle of other platforms of taking off and land can go the support before, shares a part of parking guide work.

The number of the guiding unmanned aerial vehicles can be determined according to the scale of the parking lot, and the number of the guiding unmanned aerial vehicles required by a large parking lot is more than that of a small parking lot. When the vehicles to be parked at the parking entrance are more and cause queuing, after the vehicles to be parked are taken charge of and guided into the parking lot by the front guiding unmanned aerial vehicle, the rear guiding unmanned aerial vehicle can take off from the lifting platform and fly to the vehicles to be parked to start parking guiding service.

The mode that guide unmanned aerial vehicle acquireed and waits to park vehicle license plate information can have the multiple, for example guide unmanned aerial vehicle can acquire through the equipment of self, also can be the equipment of parking area entrance and acquire the back and send for guide unmanned aerial vehicle. As a specific implementation manner of the above technical solution, the step 010 of obtaining the license plate information of the vehicle to be parked includes the following steps:

and step 011, acquiring an image of the vehicle to be parked.

The method for acquiring the image of the vehicle to be parked comprises two modes, wherein the first mode is that the unmanned aerial vehicle is guided to fly to the vehicle to be parked, and the image of the vehicle to be parked is acquired through a camera equipped by the unmanned aerial vehicle; the second is that the parking area entrance is provided with the camera in advance, and when waiting to park the vehicle and come to the parking area entrance, the image of its license plate number is gathered to the camera, then sends for guide unmanned aerial vehicle. Through above two kinds of modes, guide unmanned aerial vehicle all can acquire the image of waiting to park the vehicle.

In step 012, the vehicle license plate image in the image is recognized.

After the unmanned aerial vehicle is guided to obtain the image of the vehicle to be parked, the image of the vehicle number plate part is identified through the image identification unit of the information acquisition module.

And step 013, acquiring license plate information of the vehicle license plate image.

After the unmanned aerial vehicle is guided to recognize the image of the vehicle license plate, the license plate information in the image is extracted by utilizing algorithms such as an edge detection algorithm, a gray image segmentation method and the like in a number acquisition unit of the information acquisition module. Specifically, information such as a license plate number, a license plate type, and the like can be extracted.

And step 020, acquiring an overhead view image of the parking lot, identifying the vacant parking spaces from the overhead view image based on the layout information of the parking lot, and further obtaining the positions and codes of the vacant parking spaces.

The overhead view image is an image showing the entire view of the parking lot from an overhead view angle. After the license plate information of the vehicle to be parked is obtained, the unmanned aerial vehicle is guided to acquire the image shot from the overlooking visual angle of the parking lot through the image acquisition module, and the parking space which is an empty parking space in the parking lot is obtained through image recognition.

As a specific embodiment of the above technical solution, in step 020, the overhead view image of the parking lot is acquired by one of the following two methods:

the first method comprises the following steps: and guiding the unmanned aerial vehicle to automatically acquire images of the parking lot.

The unmanned aerial vehicle is guided to rise to a certain height range, and the camera provided by the unmanned aerial vehicle is controlled and guided to shoot the overlooking image of the parking lot through the image acquisition module. The lower limit of above-mentioned certain altitude range enables the camera to shoot the height of parking area general appearance, and the upper limit is that the image of shooing can be clear to make guide unmanned aerial vehicle discern that the parking stall has car position or empty parking stall.

And the second method comprises the following steps: through the exclusive unmanned aerial vehicle that takes photo by plane that is used for taking photo by plane gather parking lot image.

The unmanned aerial vehicle is guided to send an image acquisition signal to the aerial photography unmanned aerial vehicle which is located above the parking lot and acquires the overlooking images of the parking lot in real time through the image acquisition module, and after the aerial photography unmanned aerial vehicle camera receives the image acquisition signal, the image acquisition module which guides the unmanned aerial vehicle is sent to the overlooking images of the parking lot at the current moment of shooting.

It should be noted that, the aerial photography unmanned aerial vehicle is used as an exclusive unmanned aerial vehicle for shooting images, and is responsible for flying or hovering above the parking lot, and shoots the overlooking images of the parking lot according to the requirements of other unmanned aerial vehicles and sends the overlooking images to the unmanned aerial vehicle of the demand party. The unmanned aerial vehicle of taking photo by plane can have many, and when the unmanned aerial vehicle electric quantity of taking photo by plane of value was not enough, other unmanned aerial vehicle of taking photo by plane take off and take over the unmanned aerial vehicle of taking photo by plane that the electric quantity is not enough, and the unmanned aerial vehicle of taking photo by plane that the electric quantity is not enough flies to oneself back, descends and charges in the past.

After the overlooking image of the parking lot is obtained, the unmanned aerial vehicle is guided to recognize which parking spaces are vacant parking spaces from the image through the parking space recognition module so as to guide the vehicle to one of the vacant parking spaces. The parking space identification module needs to utilize an image identification technology and also needs to utilize the image identification technology. The parking lot layout information includes the positions, sizes and codes of all parking spaces in the parking lot.

The parking lot layout information may be represented in a plan view, as shown in fig. 2, in which P01 through P90 are the codes of parking spaces. The parking space is not shown in fig. 2, and specifically, the center of the parking space P01 in the drawing is n/50 meters away from the center of the parking space P02, whereas the scale of fig. 2 is 1: 50, the center of the parking space P01 in reality is n meters away from the center of the parking space P02. All parking spaces in fig. 2 are parking spaces of compact cars, so that the parking spaces are all the same size, for example, each parking space is m1 meters long and m2 meters wide. The arrows in fig. 2 are the driving direction diagrams of the parking lot, and all the driving passages are driven in one direction. The black squares at the four corners of the parking lot are barrier facilities. It should be noted that the parking space marking line in fig. 2 may not be present in the actual parking lot, the actual parking lot may be an empty space without any parking related device, and the parking space frame in the drawing is included in the parking lot layout information and is a virtual consensus among all the unmanned aerial vehicles.

The parking lot layout information is finally formed by planning boundaries of the parking lot and each functional area (parking area, driving area, and the like) inside the parking lot in advance before the parking lot is actually put into use, dividing positions and sizes of the parking spaces and driving channels, and assigning unique codes to each parking space as IDs of the parking spaces. Therefore, as a specific implementation of the above technical solution, the parking lot layout information further includes the position and size of the parking lot boundary, and the position and size of the driving passage. Therefore, the unmanned aerial vehicle can be further guided to distinguish parking spaces, driving channels, parking lot boundaries and the like, and the condition that the vehicle is guided to be parked outside the driving channels or the parking lots can not occur. Under the condition that the parking space marked lines are arranged in the parking lot, the parking space marked lines in the image can be identified, and the positions of all parking spaces are further determined by means of the parking space marked lines.

In the parking lot layout information, the positions of the parking spaces are used to enable the guiding drone to recognize the position of each corresponding parking space in the overhead view image. The parking lot layout information is a virtual planning drawing, the overlooking image is a real parking drawing, each parking space in the parking lot layout information is in a parking state with a car or a vacant state without the car, the parking space recognition module can know which positions of the parking spaces are in the vacant state without the car after performing image recognition on the overlooking image, the positions of the parking spaces in the vacant state without the car are compared with the positions of the parking spaces in the parking lot layout information, the code of the parking spaces in the vacant state without the car is obtained, and the parking space recognition module accordingly completes the process of recognizing the vacant parking spaces from the overlooking image and further obtaining the positions and the codes of the vacant parking spaces. In the process, the parking space identification module can also quickly and accurately identify the parking space in the empty state without the vehicle by means of the position and the size of the parking lot boundary and the position and the size of the driving channel in the parking lot layout information.

Each parking stall all has unique code for distinguish other parking stalls, also be used for guiding unmanned aerial vehicle as an sign that can show this parking stall when discerning the vacant parking stall in the parking stall.

Different vehicles have different floor areas, large and medium buses of tourist groups need to park corresponding large parking spaces, and small private vehicles need to park corresponding common parking spaces, so that the parking spaces are included in the parking lot layout information, and the unmanned aerial vehicle can be guided to park according to the correct arrangement of the sizes of the vehicles to be parked. It should be noted that the vehicle type of the vehicle can be identified according to the license plate type, so that the unmanned aerial vehicle can be guided to know which size of parking space to search when the license plate type is identified.

The parking lot layout information may be stored in advance in each of the guiding unmanned aerial vehicles responsible for parking guidance. The parking lot layout information in each guiding drone is the same.

And 030, determining the parking space of the vehicle to be parked from the identified vacant parking spaces.

The number of the vacant parking spaces identified by the unmanned aerial vehicle according to the parking space identification module can be one, multiple or zero. And according to the result that the unmanned aerial vehicle is guided to identify the vacant parking spaces, the unmanned aerial vehicle is guided to adopt different strategies to develop the subsequent parking guidance service through the parking space determining module.

If the number of the vacant parking spaces is one, the vehicle to be parked has no other choice and can only be parked in the vacant parking spaces, so that the parking space determining module directly determines the vacant parking spaces as the parking spaces of the vehicle to be parked under the condition that the number of the vacant parking spaces is one, and continues the subsequent parking guiding process.

If there are multiple vacant parking spaces, that is, in the parking space identification process of step 020, the parking space identification module identifies more than one vacant parking space from the overhead view image, then there are multiple choices for the vehicle to be parked, and therefore it is necessary to determine a parking space from multiple spare parking spaces. As a specific embodiment of the above technical solution, in the case that there is more than one vacant parking space identified from the overhead view image, the parking space determining module determines the parking space of the vehicle to be parked in one of the following two ways according to the situation:

a first one; the shortest straight line distance.

And guiding the unmanned aerial vehicle to calculate the linear distance between the vacant parking spaces and the parking spaces of the vehicles to be parked, and selecting the vacant parking spaces with the shortest linear distance as the parking spaces.

After the positions of the vacant parking spaces are obtained through the layout information of the parking lot, a first determining unit of the parking space determining module calculates the linear distance between the vacant parking spaces and the vehicle to be parked, and then the vacant parking space with the shortest linear distance is selected as the parking space of the vehicle to be parked.

Fig. 3 is a schematic view of a parking lot with a slender shape, and as shown in fig. 3, this method is suitable for a parking lot with a slender shape, such as a rectangular parking lot with a large length-width ratio, and for a parking lot with a slender shape, the vacant parking space with the shortest straight line distance is approximately the parking space with the shortest parking route. The method has the advantages that for the parking lot with the slender layout, the calculation time for generating the parking route is saved, and the speed for determining the parking space is optimized.

It is understood that the parking route is a driving route of a vehicle to be parked from an entrance of the parking lot to a corresponding parking space.

And the second method comprises the following steps: the shortest route distance mode.

And guiding the unmanned aerial vehicle to generate a parking route from the vehicle to be parked to the vacant parking space, calculating the distance of the parking route, and selecting the vacant parking space with the shortest distance as the parking space.

After the positions of the vacant parking spaces are obtained through the layout information of the parking lot, a second determining unit of the parking space determining module simulates a path to be driven from a vehicle to be parked to each vacant parking space position, and the vacant parking space with the shortest driving distance is selected as the parking space.

The parking lot layout information layout diagram shown in fig. 2 is a schematic diagram of a parking lot with a uniform shape, and as shown in fig. 2, this method is suitable for a parking lot with a uniform shape, such as a rectangular parking lot with a small length-width ratio, and the parking lot layout is relatively complex, and the parking lot with the shortest straight-line distance is not necessarily the parking lot with the shortest parking route, so that the parking route needs to be simulated. The parking route scheme is optimized for the parking lot with the uniform shape, and parking time is saved.

The vehicle of waiting to park generally waits to guide unmanned aerial vehicle guide parking at parking area entrance, consequently under general condition, the position of the vehicle of waiting to park that guide unmanned aerial vehicle was exactly the position at parking area entrance when selecting the parking stall. And after the parking space is determined, the position and the code of the parking space are further obtained according to the parking lot layout information.

If the number of the vacant parking spaces is zero, it is stated that in the parking space identification process of step 020, the parking space identification module does not identify the vacant parking spaces from the overhead view image, that is, the parking lot is full of vehicles and has no vacant parking spaces. Therefore, as a specific implementation manner of the above technical solution, when it is recognized that all parking spaces in the parking lot are not vacant, the parking space determination module of the guiding unmanned aerial vehicle prompts the vehicle to be parked to wait, and repeatedly acquires the overhead view image of the parking lot and repeatedly recognizes whether each parking space is a vacant parking space until the guiding unmanned aerial vehicle recognizes the vacant parking space in each parking space in the overhead view image.

The guiding unmanned plane can acquire the overlooking image of the parking lot every a short time (such as several seconds), frequently monitor whether vehicles leave the parking lot and generate vacant parking spaces, and prompt the owner to wait for the vacant parking spaces with patience. After the vacant parking spaces are generated, the guiding unmanned plane can normally execute the subsequent parking guiding service.

Guide unmanned aerial vehicle is after the parking stall of the vehicle of waiting to park in the definite determination, because there is the possibility that other guide unmanned aerial vehicles occupy this parking stall in advance before the short time but have not accomplished the guide vehicle and park in this parking stall, consequently, guide unmanned aerial vehicle will at first inquire whether this parking stall has been occupied by other guide unmanned aerial vehicles, the mode of judging whether the parking stall is occupied by other guide unmanned aerial vehicles is the inquiry mating relation table, the mating relation table is recorded every parking stall and is present whether exist and the mating relation between the vehicle, if there is the mating relation then explain this parking stall is occupied, do not exist the mating relation then explain this parking stall is vacant parking stall, can be used to the parking.

Since there are likely to be a plurality of guiding drones equipped in the parking lot for dispatching, there may be interference caused by asynchronous information, for example, after the previous guiding drone a13 determines a parking space P34 for the previous vehicle C25, a13 guides the drone to guide the C25 vehicle to the P34 parking space, while the guiding process is in progress, i.e. when the C25 vehicle is driving to the P34 parking space, the latter guiding drone a14 starts to provide parking guiding service for the latter vehicle C26, and determines the parking space, if for some reason (for example, only the left space P34 in the parking lot is an empty space, etc.), a13 guiding drone and a14 guiding drones both select the P34 parking space as the parking space for the responsible vehicle, a14 guiding drone will also guide the C26 vehicle to the P34 parking space, and interference will occur at this time, and after the C25 vehicle is parked in the P34, the C26 vehicle cannot be parked in the P34 parking space, resulting in a failure of the parking guidance. In order to prevent the above situation from occurring, as a specific implementation manner of the above technical solution, after the unmanned aerial vehicle is guided to determine the parking space of the vehicle to be parked, the unmanned aerial vehicle is further inquired and established a pairing relationship between the vehicle to be parked and the parking space by one of the following manners:

the first method comprises the following steps: and (4) self-checking mode.

And guiding the unmanned aerial vehicle to inquire the pairing relation table stored in the unmanned aerial vehicle through a first query unit of the parking space determining module, and determining whether the parking space has the pairing relation.

And under the condition that the query result shows that the parking space has the pairing relationship, the situation shows that the unmanned aerial vehicle is guided to occupy the parking space before, and the unmanned aerial vehicle is guided to determine the parking space of the vehicle to be parked again. The manner of re-determining the parking space may refer to step 020.

The inquiry result shows that this parking stall does not have under the condition of mating relation, it states that there is not the guide unmanned aerial vehicle at present to occupy this parking stall, first inquiry unit establishes the mating relation between the license plate information of waiting to park the vehicle and the code of this parking stall in the mating relation table, and send to other guide unmanned aerial vehicles and occupy the instruction, it includes the code of this parking stall to occupy the instruction, so that other guide unmanned aerial vehicles update respective inside mating relation tables, later other guide unmanned aerial vehicles can know that this parking stall has been occupied when inquiring respective inside mating relation tables.

This kind of mode can be better be applicable to the parking area that the scale is less. For the parking lot, the parking stall quantity is less, and consequently the quantity of the guide unmanned aerial vehicle that needs also can be less, and guide unmanned aerial vehicle is when communicating with all other guide unmanned aerial vehicles, because the quantity of guide unmanned aerial vehicle is less, consequently the probability of communication failure takes place is less, and the ability requirement to unmanned aerial vehicle parallel communication is not very high.

It should be noted that the pairing relationship table records the pairing relationship between the license plate information of the parked vehicle and the code of the parking space.

And the second method comprises the following steps: and (5) checking the way of the other.

The parking lot is equipped with one or more clusters of drones. If be equipped with an unmanned aerial vehicle cluster, then the parking guide service on whole parking stalls in this unmanned aerial vehicle cluster is responsible for the parking area, if be equipped with a plurality of unmanned aerial vehicle clusters, then the parking guide service on the parking stall in an area is responsible for respectively to every unmanned aerial vehicle cluster, the parking area also can set up a plurality of entries, each entrance all sets up the unmanned aerial vehicle platform of taking off and landing of mentioning in the aforesaid, every unmanned aerial vehicle cluster is responsible for an entry and distributes a platform of taking off and landing, can reduce return journey distance and time after the guide service of unmanned aerial vehicle is accomplished like this, whole unmanned aerial vehicle clusters are responsible for the parking guide service on whole parking stalls in the parking area together.

An unmanned aerial vehicle cluster includes a master control unmanned aerial vehicle and many guide unmanned aerial vehicles, can also include the unmanned aerial vehicle of taking photo by plane that is used for gathering the parking area overlook image mentioned in the above. Guide unmanned aerial vehicle to send to master control unmanned aerial vehicle and occupy the instruction, occupy the instruction and include the license plate information of waiting to park the vehicle and the code number on parking stall, master control unmanned aerial vehicle inquires according to the code number on parking stall and saves in the inside mating relation table of self, determines whether this parking stall exists mating relation.

Under the condition that the inquiry result shows that the parking space has the pairing relation, the fact that the unmanned aerial vehicle occupies the parking space previously is indicated, and the main control unmanned aerial vehicle sends a signal that the parking space is unavailable to the guide unmanned aerial vehicle so that the guide unmanned aerial vehicle can determine the parking space of the vehicle to be parked again.

The inquiry result shows that this parking stall does not have under the condition of mating relation, it does not have unmanned aerial vehicle to occupy this parking stall at present to explain, main control unmanned aerial vehicle establishes the mating relation between this license plate information of waiting to park the vehicle and the code of this parking stall in the mating relation table, so that other guide unmanned aerial vehicles know this parking stall and are occupied when inquiring this parking stall mating relation to main control unmanned aerial vehicle, main control unmanned aerial vehicle sends the usable signal in parking stall to guide unmanned aerial vehicle simultaneously, guide unmanned aerial vehicle can carry out subsequent parking guide step promptly.

It should be noted that, the master control unmanned aerial vehicle is also responsible for the parking guidance work of the vehicle of waiting to park like the guiding unmanned aerial vehicle, and the difference between the master control unmanned aerial vehicle and the guiding unmanned aerial vehicle lies in that the data processing capability and the parallel communication capability of the master control unmanned aerial vehicle are stronger than the guiding unmanned aerial vehicle, so the master control unmanned aerial vehicle utilizes stronger data processing capability to be responsible for communicating with each guiding unmanned aerial vehicle and sending the query result to the guiding unmanned aerial vehicle, and is responsible for the establishment and maintenance work of the pairing relationship table.

The mode can be better suitable for the parking lot with larger scale. To large-scale parking area, parking stall quantity is more, and consequently the quantity of the guide unmanned aerial vehicle that needs also can be more, when adopting above-mentioned first kind mode again this moment, guide unmanned aerial vehicle when communicating with all other guide unmanned aerial vehicles, probably because the more communication fault that leads to of the quantity of guide unmanned aerial vehicle, this requirement is very high to unmanned aerial vehicle parallel communication's ability. Therefore, an unmanned aerial vehicle cluster and a master control unmanned aerial vehicle are arranged, the master control unmanned aerial vehicle has stronger data processing capacity and parallel communication capacity than a guide unmanned aerial vehicle, and therefore parking guide service under a large parking lot scene can be dealt with.

In order to make a vehicle to be parked know the parking condition in a parking lot before the vehicle enters the parking lot so that a driver can change a parking plan in advance under the condition that the parking lot is full, as a specific implementation mode of the technical scheme, a billboard used for counting and displaying the number of the remaining vacant parking spaces in the parking lot in real time is arranged near an entrance of the parking lot, after one unmanned aerial vehicle determines the parking space of the vehicle to be parked, the billboard can inform the parking lot of the number of the vacant parking spaces (namely, the number of the vacant parking spaces is reduced by one), and the updated number of the vacant parking spaces is displayed near the entrance of the parking lot. It will be appreciated that at the very beginning, when no vehicles are parked in the parking lot, the number displayed by the billboard is the number of all parking spaces in the parking lot.

And 200, generating a parking route of the vehicle and a flight guiding route for guiding the unmanned aerial vehicle according to the determined position of the parking space.

After the parking space determining module of the guiding unmanned aerial vehicle determines the parking space of the vehicle to be parked in charge, the guiding unmanned aerial vehicle can generate a parking route of the vehicle and a flight guiding route of the guiding unmanned aerial vehicle through the route generating module. The parking route is a driving route of the vehicle, which includes a vehicle driving instruction, such as how many meters to go straight, how many meters to turn left, etc., the vehicle must travel according to a driving passage in the parking lot, and some parking lots are provided with only a one-way driving passage, so that the parking route may involve a surrounding route. The flight guiding route is a route for guiding the unmanned aerial vehicle to fly, and the unmanned aerial vehicle is guided to fly in the air, so that the unmanned aerial vehicle is not limited by a driving channel, and the unmanned aerial vehicle is not collided with a barrier or other guiding unmanned aerial vehicles, so that the flight guiding route for guiding the unmanned aerial vehicle may not have a right-angle turn like a parking route, but the track of the flight guiding route can be the same as that of the parking route, and the flight guiding route can be specifically determined according to practical application.

And 300, guiding the unmanned aerial vehicle to fly according to the generated flying guide route, and meanwhile, parking the vehicle to be parked according to the generated parking route.

The unmanned aerial vehicle is guided to fly in the air through the control of the flight control module while guiding the unmanned aerial vehicle, the unmanned aerial vehicle is guided to lead a short distance ahead of the vehicle, and the self flying speed and the guiding step are adjusted along with the traveling speed of the vehicle.

And guiding the unmanned aerial vehicle to guide the vehicle to be parked through the parking guide module. The parking guidance may be provided in various ways, including voice guidance, pattern display guidance, and beam projection guidance. The three guiding modes can be selectively matched for use, for example, the unmanned aerial vehicle is guided to adopt voice parking guidance and pattern display parking guidance at the same time, so that the driver can receive information from the vision and sense organs at the same time, and the driver is ensured to select the mode which can be received by the driver most to receive the guidance while driving safely.

As a specific implementation manner of the above technical solution, before the parking guidance is performed on the vehicle to be parked in step 300, the method further includes:

and step 210, dividing the parking route into a plurality of execution steps, and guiding the unmanned aerial vehicle to inform the corresponding execution steps to the vehicle driver in a voice guidance mode, a pattern display guidance mode or a light beam projection guidance mode according to the traveling degree of the vehicle to be parked.

Fig. 4 is a schematic diagram of a parking route and a flight guidance route, as shown in fig. 4, a P45 parking space is an empty space determined by an unmanned aerial vehicle for a vehicle C13 to be parked, a solid line is a vehicle parking route generated by the unmanned aerial vehicle for the vehicle, an arrow of the solid line indicates a traveling direction, a dotted line is a flight guidance route generated by the unmanned aerial vehicle for the unmanned aerial vehicle, an arrow of the dotted line indicates a flight direction, and the unmanned aerial vehicle flies according to the dotted line and guides the vehicle C13 to travel according to the solid line, and finally reaches the P45 parking.

The parking route is a complete route, and is a result of combining various driving actions according to a certain sequence, when the vehicle is parked and guided, a driver needs to carry out driving operation step by step and finally reaches a parking space, so that the guiding unmanned aerial vehicle needs to divide the parking route into a plurality of execution steps through the route division module, and then informs the driver step by step, and after the driver finishes one step or is about to finish one step, informs the content of the next step until the parking guidance is finished.

As a specific implementation manner of the above technical solution, the voice parking guidance for the vehicle to be parked includes the following steps:

first, a voice guidance unit that guides the drone converts a plurality of execution steps into voices of natural language, respectively. Natural language refers to a language that naturally evolves with culture, and english, chinese, and japanese are all natural languages.

Then, the voice guiding unit controls and guides the sounder equipped with the unmanned aerial vehicle to repeatedly play the voice of the current execution step to the vehicle to be parked, and repeatedly plays the voice of the next execution step to the vehicle to be parked after the vehicle to be parked completes the current execution step until the vehicle to be parked is parked in the parking space. The sound generator is a device capable of emitting voice sound, and can be a megaphone, a loudspeaker and the like. The specific voice guidance process is that when the vehicle needs to move forward for 50 meters, the unmanned aerial vehicle is guided to continuously send out the voice of 'please move straight' or the like until the vehicle moves forward for 50 meters or is about to move forward for 50 meters, and then the unmanned aerial vehicle is guided to lead the vehicle in front of the vehicle or in front of the side of the vehicle along the flight guidance route in the process.

As a specific implementation manner of the above technical solution, the pattern display parking guidance for a vehicle to be parked includes the following steps:

first, a pattern guide unit that guides the drone converts each of the plurality of execution steps into a natural language pattern symbol. The pattern symbol may be various direction indicating symbols of different colors, for example, a green left arrow represents a left turn, a green down arrow represents a forward run, etc.

Then, the pattern guiding unit controls and guides the display screen equipped by the unmanned aerial vehicle to display the pattern symbol of the current execution step for the vehicle to be parked, and displays the pattern symbol of the next execution step for the vehicle to be parked after the vehicle to be parked completes the current execution step until the vehicle to be parked is parked in the parking space. Wherein, the display screen can be an LED display screen. In the guiding process, the unmanned aerial vehicle is guided to lead the vehicle in front of the vehicle along the flight guiding route.

The pattern display guide and the voice guide can be selected simultaneously, namely, the pattern display guide and the voice guide are carried out on the vehicle to be parked simultaneously, and the pattern display guide and the voice guide do not conflict with each other.

As a specific implementation manner of the above technical solution, the light beam projection parking guidance for a vehicle to be parked includes the following steps:

the unmanned aerial vehicle is guided to keep being located in a certain airspace in front of the vehicle to be parked, flies along a flight guide route, and meanwhile, a light beam guide unit of the unmanned aerial vehicle is guided to control a laser indicator equipped on the unmanned aerial vehicle to project visible light beams to the ground, so that the vehicle to be parked is guided to advance through the light beams until the vehicle to be parked is parked in a parking space.

Note that, when the light beam guidance is performed, the flight guidance route of the guidance drone is the same as the trajectory of the parking route, and the guidance drone cannot fly relatively freely in the air as when the voice guidance or the pattern display guidance is performed, but flies the same trajectory as the vehicle travel route a distance ahead, similar to a preview in which the time line is a few seconds ahead. The guide unmanned aerial vehicle makes the driver follow aerial light and marchs through throwing the laser pencil to ground, and when the vehicle arrived parking stall department, modes such as laser designator accessible stroboscopic tell the driver and arrive parking stall department.

The following is one of the embodiments of the unmanned aerial vehicle for scheduling provided by the present invention, the unmanned aerial vehicle provided by the present embodiment is an unmanned aerial vehicle implementing the scheduling method described in the above embodiments, the unmanned aerial vehicle can be used in a parking lot temporarily arranged when a large-scale event is temporarily held or a parking lot without an internet of things system, the one-to-one parking guidance for the vehicle to be parked can be selectively adopted from a plurality of guidance modes according to different field conditions, so that the driver of the vehicle which wants to park can park the vehicle to the vacant parking space in the parking lot quickly, the parking order is enhanced, and can alleviate the parking pressure in parking area when parking flow is great, compare in look for vacant parking stall or arrange the guide personnel to park the guide to the vehicle by oneself after the driver gets into the parking area, saved the time cost of parking and the human cost in parking area.

Fig. 5 is a structural block diagram of the present embodiment, and as shown in fig. 5, the unmanned aerial vehicle includes a parking space determining module, a route generating module, a flight control module, and a parking guidance module.

The parking space determining module is used for determining the parking space of the vehicle to be parked in the parking lot.

The route generation module is used for generating a parking route of the vehicle and a flight guiding route of the unmanned aerial vehicle according to the position of the parking space determined by the parking space determination module.

The flight control module is used for enabling the unmanned aerial vehicle to fly according to the flight guide route generated by the route generation module.

The parking guidance module is used for parking guidance of a vehicle to be parked according to a parking route of the vehicle, and comprises one or more of the following units: voice guide unit, pattern display guide unit, and light beam projection guide unit.

As a specific implementation mode of the technical scheme, the unmanned aerial vehicle further comprises an information acquisition module, an image acquisition module and a parking space identification module.

The information acquisition module is used for acquiring the license plate information of the vehicle to be parked. The license plate information comprises a license plate number.

The image acquisition module is used for acquiring an overhead view image of the parking lot.

The parking space recognition module is used for recognizing the vacant parking spaces from the overlooking images acquired by the parking space recognition module based on the parking lot layout information, and then obtaining the positions and codes of the vacant parking spaces. The parking lot layout information comprises the positions, sizes and codes of all parking spaces.

The parking space determining module determines the parking space of the vehicle to be parked from the vacant parking spaces identified by the parking space identifying module.

As a specific implementation manner of the foregoing technical solution, the information obtaining module includes:

and the image acquisition unit is used for acquiring an image of the vehicle to be parked.

And the image identification unit is used for identifying the vehicle license plate image in the image. And

and the number acquisition unit is used for acquiring the license plate information of the vehicle license plate image.

As a specific implementation manner of the above technical solution, the image acquisition unit is a camera equipped on the unmanned aerial vehicle. Or the image acquisition unit is connected with a camera which is arranged at the entrance of the parking lot in advance, acquires an image of the vehicle to be parked by the camera which is arranged at the entrance of the parking lot in advance, and sends the image to the image acquisition unit.

As a specific implementation manner of the above technical solution, the unmanned aerial vehicle further includes a data storage module. The parking lot layout information is stored in the data storage module in advance.

As a specific implementation manner of the above technical solution, the parking lot layout information further includes a position and a size of a parking lot boundary, and a position and a size of a driving lane.

As a specific implementation manner of the above technical solution, a manner of acquiring the overhead view image of the parking lot by the image acquisition module is as follows:

enabling the unmanned aerial vehicle to rise to a certain height range, and controlling a camera equipped for the unmanned aerial vehicle to shoot an overlook image of the parking lot;

or the image acquisition module sends an image acquisition signal to the aerial photography unmanned aerial vehicle which is positioned above the parking lot and is in charge of acquiring the overhead view image of the parking lot, and the aerial photography unmanned aerial vehicle sends the overhead view image of the parking lot at the current moment to the image acquisition module after receiving the image acquisition signal.

As a specific implementation manner of the above technical solution, the parking space determination module includes a first determination unit and/or a second determination unit.

The first determining unit is used for calculating the linear distance between the vacant parking spaces and the parking spaces of the vehicles to be parked under the condition that the parking space identifying module identifies more than one vacant parking space, and selecting the vacant parking space with the shortest linear distance as the parking space.

The second determining unit is used for generating a parking route from the vehicle to be parked to the vacant parking spaces under the condition that the parking space recognition module recognizes more than one vacant parking space, calculating the distance of the parking route, and selecting the vacant parking space with the shortest distance as the parking space.

As a specific implementation of the above technical solution, the parking space identification module is further configured to: under the condition that all parking spaces in the parking lot are not empty parking spaces, the waiting of the vehicle to be parked is prompted, the image acquisition module is enabled to repeatedly acquire overlooking images of the parking lot, and the parking space identification module repeatedly identifies whether each parking space is an empty parking space or not until the empty parking space in each parking space in the overlooking images is identified.

As a specific implementation manner of the above technical solution, the parking space determination module includes a first query unit.

The first query unit is used for querying the pairing relationship table stored in the unmanned aerial vehicle after the parking space determining module determines the parking space of the vehicle to be parked, and determining whether the parking space has the pairing relationship. And under the condition that the parking space has the pairing relation, the parking space determining module is enabled to determine the parking space of the vehicle to be parked again. Under the condition that no pairing relation exists in the parking space, the first query unit establishes the pairing relation between the license plate information of the vehicle to be parked and the code of the parking space in the pairing relation table, and sends an occupation instruction to other unmanned aerial vehicles, wherein the occupation instruction comprises the code of the parking space. The pairing relation table records the pairing relation between the license plate information of the parked vehicles and the codes of the parking spaces.

As a specific implementation mode of the technical scheme, a billboard is arranged near the entrance of the parking lot, and the billboard counts and displays the number of the vacant parking spaces in the parking lot in real time. The billboard is connected with the unmanned aerial vehicle, and after the parking space determining module of the unmanned aerial vehicle determines the parking space of the vehicle to be parked, the number of the vacant parking spaces in the parking lot displayed by the billboard is correspondingly reduced.

As a specific implementation of the above technical solution, the unmanned aerial vehicle further includes a route decomposition module.

The route decomposition module is used for decomposing the parking route into a plurality of execution steps before the parking guide module carries out parking guide on the vehicle to be parked, and the unmanned aerial vehicle of the parking guide module informs a vehicle driver of the corresponding execution steps in a parking guide mode according to the traveling degree of the vehicle to be parked.

As a specific implementation manner of the above technical solution, the voice guidance unit is used for performing parking guidance on the vehicle to be parked in a voice guidance manner. The voice guiding unit converts a plurality of execution steps decomposed by the route decomposition module into voice of natural language respectively, controls a sounder equipped for the unmanned aerial vehicle to repeatedly play the voice of the current execution step for the vehicle to be parked, and repeatedly plays the voice of the next execution step for the vehicle to be parked after the vehicle to be parked completes the current execution step until parking guidance is completed.

As a specific implementation manner of the above technical solution, the pattern display guidance unit is used for performing parking guidance on the vehicle to be parked in a pattern display guidance manner. The pattern display guiding unit converts a plurality of execution steps decomposed by the route decomposition module into pattern symbols of natural language respectively, controls a display screen equipped by the unmanned aerial vehicle to display the pattern symbols of the current execution step for the vehicle to be parked, and displays the pattern symbols of the next execution step for the vehicle to be parked after the vehicle to be parked completes the current execution step until parking guidance is completed.

As a specific implementation manner of the above technical solution, the light beam projection guiding unit is used for performing parking guidance on the vehicle to be parked in a light beam projection guiding manner. The light beam projection guiding unit enables the unmanned aerial vehicle to be located in a certain space on the upper side in front of the vehicle to be parked, the laser indicator equipped on the unmanned aerial vehicle is controlled to project visible light beams to the ground while the unmanned aerial vehicle flies along the flight guiding route, and the vehicle to be parked is guided to advance through the light beams until parking guidance is finished. When the light beam projection guiding unit guides the vehicle to stop, the flight guiding route of the unmanned aerial vehicle is consistent with the stopping route.

Considering that many parking lots are underground parking lots, which are arranged underground, when signal transmission is performed with the ground, signal loss and other phenomena are easily caused due to weak signal strength, for example, when an unmanned aerial vehicle performs position location through a GPS (global positioning system), positioning may not be performed due to weak underground signal strength. Therefore, as a specific implementation manner of the above technical solution, a signal column array is arranged in the parking lot, and the signal column array includes at least four signal columns, for example, X × Y signal columns arranged in a matrix may be uniformly arranged in the parking lot, where X is the number of signal columns arranged in the length direction, and Y is the number of signal columns arranged in the width direction. Unmanned aerial vehicle is connected with three nearest signal post electricity apart from unmanned aerial vehicle in the signal post array, along with the removal of unmanned aerial vehicle in the parking area, also changing thereupon apart from nearest signal post with unmanned aerial vehicle, in being the signal post array that the matrix was arranged, unmanned aerial vehicle keeps constantly being connected with four signal posts to judge unmanned aerial vehicle's position through the signal intensity with these four signal posts with three nearest signal post of unmanned aerial vehicle distance.

It should be noted that, signal strength has represented the distance promptly, has certain linear or nonlinear relation between the two, consequently can learn the distance of unmanned aerial vehicle apart from this signal post through signal strength, and according to three point location principle, three signal posts can fix a position unmanned aerial vehicle's concrete position.

It can be understood that more than three signal posts can also locate the specific position of the drone, and the location result will be more accurate.

The following is one embodiment of the unmanned aerial vehicle cluster for scheduling provided by the present invention, and the unmanned aerial vehicle cluster provided by this embodiment can be applied to a large-scale parking lot, and better cope with parking guidance service in a large parking lot scene. Fig. 6 is a block diagram of the structure of the present embodiment, and as shown in fig. 6, the cluster of drones includes a plurality of first drones and at least one aerial photography drone. In this embodiment, the first drone is described with reference to the foregoing drone for scheduling, which is not described herein again. The first drone is also called a lead drone, and is referred to collectively below as a lead drone.

The guide unmanned aerial vehicle is used for guiding the vehicle to park in the vacant parking stall in the parking lot.

The aerial photography unmanned aerial vehicle is used for acquiring overlooking images of the parking lot according to the requirement of the guide unmanned aerial vehicle and sending the overlooking images to the guide unmanned aerial vehicle.

As a specific implementation manner of the above technical solution, the unmanned aerial vehicle cluster further includes a master control unmanned aerial vehicle.

The master control unmanned aerial vehicle comprises a parking space scheduling module, wherein a pairing relation table is stored in the parking space scheduling module, and the pairing relation table records the pairing relation between the license plate information of a parked vehicle and the code of a parking space.

The parking space determining module for guiding the unmanned aerial vehicle further comprises a second query unit, the second query unit is used for sending an occupation instruction to the parking space scheduling module of the master control unmanned aerial vehicle after the parking space determining module determines the parking space of the vehicle to be parked, the occupation instruction comprises license plate information of the vehicle to be parked and the code of the parking space, the parking space scheduling module inquires and stores the pairing relation table in the inner part of the parking space scheduling module according to the code of the parking space, and whether the pairing relation exists in the parking space is determined.

And under the condition that the query result shows that the parking space has the pairing relationship, the parking space scheduling module sends a signal that the parking space is unavailable to the guiding unmanned aerial vehicle so that the guiding unmanned aerial vehicle can determine the parking space of the vehicle to be parked again.

And under the condition that the query result shows that the parking space does not have the pairing relationship, the parking space scheduling module establishes the pairing relationship between the license plate information of the vehicle to be parked and the code of the parking space in the pairing relationship table and sends a signal that the parking space is available to the guiding unmanned aerial vehicle.

As a specific implementation manner of the above technical solution, the unmanned aerial vehicle cluster further includes at least one monitoring unmanned aerial vehicle. The monitoring unmanned aerial vehicle comprises a monitoring camera, an inspection identification module and an alarm module.

The monitoring camera is used for collecting images of parked vehicles in the parking lot when the monitoring unmanned aerial vehicle flies above the parking lot.

The inspection and recognition module is used for recognizing the license plate information of the parked vehicles from the images collected by the monitoring camera and inspecting whether the license plate information is acquired by the information acquisition module for guiding the unmanned aerial vehicle.

The warning module is used for recording the recognized license plate information and giving an alarm under the condition that the license plate information recognized by the checking and recognizing module is not acquired by the information acquisition module guiding the unmanned aerial vehicle.

To large-scale parking area, the parking stall is a lot, and consequently the quantity of the unmanned aerial vehicle that needs also can be more, if not set up a query point in unison to each unmanned aerial vehicle's query demand this moment, then guide unmanned aerial vehicle when communicating with all other guide unmanned aerial vehicles, probably because other guide unmanned aerial vehicle's a lot leads to the emergence communication trouble, this requirement is very high to unmanned aerial vehicle parallel communication's ability. Therefore, an unmanned aerial vehicle cluster and a master control unmanned aerial vehicle are arranged, the master control unmanned aerial vehicle plays the role of the query point, and the master control unmanned aerial vehicle has stronger data processing capacity and parallel communication capacity than a guiding unmanned aerial vehicle, so that parking guiding service under a large parking lot scene can be dealt with.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A scheduling method based on an unmanned aerial vehicle is characterized by comprising the following steps:

determining the parking space of the vehicle to be parked in the parking lot;

2. The unmanned aerial vehicle dispatching method of claim 1, wherein after the parking spaces of the vehicles to be parked are determined, the counted number of the vacant parking spaces in the parking lot is correspondingly reduced, and the current number of the vacant parking spaces is displayed near the entrance of the parking lot in real time.

3. The unmanned aerial vehicle dispatching method of claim 1, wherein prior to the parking guidance of the vehicle to be parked, further comprising: and decomposing the parking route into a plurality of execution steps, and informing the corresponding execution steps to a vehicle driver in a parking guidance mode by the unmanned aerial vehicle according to the traveling degree of the vehicle to be parked.

4. The unmanned aerial vehicle dispatching method of claim 3, wherein the voice guidance of the vehicle to be parked comprises:

5. The unmanned aerial vehicle dispatching method of claim 3, wherein the pattern display guidance of the vehicle to be parked comprises:

6. The unmanned aerial vehicle dispatching method of claim 3, wherein the directing of the beam projection of the vehicle to be parked comprises:

7. A drone for dispatch, characterized in that it comprises:

8. The unmanned aerial vehicle of claim 7, wherein a billboard is arranged near the entrance of the parking lot, and the billboard counts and displays the number of vacant parking spaces in the parking lot in real time; the billboard is connected with the unmanned aerial vehicle, and after the parking space of the vehicle to be parked is determined by the parking space determining module of the unmanned aerial vehicle, the number of the vacant parking spaces in the parking lot displayed by the billboard is correspondingly reduced.

9. The drone of claim 7, further comprising:

10. The unmanned aerial vehicle of claim 9, wherein the voice guidance unit is configured to perform parking guidance on a vehicle to be parked in the voice guidance manner;

11. The unmanned aerial vehicle of claim 9, wherein the pattern display guidance unit is configured to guide parking of the vehicle to be parked in the pattern display guidance manner;

12. The unmanned aerial vehicle of claim 9, wherein the beam projection guidance unit is configured to guide parking of a vehicle to be parked by the beam projection guidance;

the flight guidance route coincides with the parking route.

13. The unmanned aerial vehicle of claim 7, wherein a signal post array is arranged in the parking lot, the signal post array comprises at least four signal posts, the unmanned aerial vehicle is electrically connected with three signal posts closest to the unmanned aerial vehicle in the signal post array, and the position of the unmanned aerial vehicle is determined according to signal strength between the three signal posts closest to the unmanned aerial vehicle.

14. A cluster of drones for scheduling, characterized in that it comprises:

a plurality of first drone computers according to any one of claims 7 to 13;

15. The drone cluster of claim 14, further comprising at least one supervising drone, the supervising drone comprising: