CN109781124A - A kind of unmanned plane rescue mode, device, unmanned plane and vehicle - Google Patents

A kind of unmanned plane rescue mode, device, unmanned plane and vehicle Download PDF

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Publication number
CN109781124A
CN109781124A CN201711122717.3A CN201711122717A CN109781124A CN 109781124 A CN109781124 A CN 109781124A CN 201711122717 A CN201711122717 A CN 201711122717A CN 109781124 A CN109781124 A CN 109781124A
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mentioned
rescue
information
unmanned plane
target vehicle
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CN109781124B (en
Inventor
李佳
王翠
王萌萌
安维轻
王静
张晓赞
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Abstract

The present invention provides a kind of unmanned plane rescue mode, device, unmanned plane and vehicle, the method is applied to unmanned plane, comprising: determines that target vehicle is in state to be rescued；Determine the target position information of the target vehicle；The first aid request is sent to preset rescue center；According to the target position information and the location information of the preset rescue center, the first rescue path information is planned；When receiving first rescue feedback of the rescue center for first aid request, the first rescue path information is sent to the rescue center.Unmanned plane rescue mode of the present invention can provide the accurate programme path for reaching target vehicle as early as possible for the rescue action at subsequent rescue center, plan rescue method convenient for rescue center, reduce the time for reaching rescue site.

Description

A kind of unmanned plane rescue mode, device, unmanned plane and vehicle
Technical field
The present invention relates to air vehicle technique field, in particular to a kind of unmanned plane rescue mode, device, unmanned plane and vehicle ?.
Background technique
When vehicle front is excessively curved, because there are vision dead zones, upcoming traffic situation can not be prejudged；When vehicle front traffic is gathered around When stifled, unknown congestion status can not prejudge the information such as duration of congestion, distance；Currently, vehicle-mounted unmanned aerial vehicle can assist driver etc. Acquisition image, video information are transmitted in vehicle host system, driver's mobile terminal or emergency contact's equipment, to reach auxiliary Help the purpose of driving.
There are a kind of unmanned planes being set in the compartment of automobile for first technology, ambient image when for emergency relief It obtains；The unmanned plane includes body, is set to the central control system of the internal body, and is controlled respectively with the center The GPS navigator of system connection, imaging mechanism, searchlighting mechanism and loudspeaker, laser emitter, and it is used for GPS navigation Instrument, imaging mechanism, searchlighting mechanism and loudspeaker, the battery of laser emitter power supply.It additionally, there may be a kind of with unmanned plane The automotive controls of detection system, including automobile and unmanned plane, by the unmanned plane shooting front road conditions for being located at vehicle front Image, and the host system for being transmitted to automobile is shown.
But when accident occurs for vehicle, if the rescue system of vehicle damages, rescue information, shadow can not be issued in time Ring rescue；Moreover, when being rescued, breakdown lorry can not predict scene of a traffic accident situation, influence to rescue road Diameter judgement causes to reach the serious problems such as the time increase of the scene of the accident.
Summary of the invention
In view of this, the present invention is directed to propose a kind of unmanned plane rescue mode, device, unmanned plane and vehicle, in target When vehicle needs to rescue, the programme path for reaching target vehicle as early as possible is provided for subsequent rescue action.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of unmanned plane rescue mode is applied to unmanned plane, which comprises
Determine that target vehicle is in state to be rescued；
Determine the target position information of the target vehicle；
The first aid request is sent to preset rescue center；
According to the target position information and the location information of the preset rescue center, the first rescue path letter is planned Breath；
When receiving first rescue feedback of the rescue center for first aid request, described first is sent Rescue path information is to the rescue center.
Further, the method also includes:
Receive the communication identifier for the breakdown lorry that the rescue center sends；
According to the communication identifier, establishes and communicate to connect with the breakdown lorry；
Receive the real-time position information of the breakdown lorry；
According to the real-time position information and the target position information, the second rescue path information is planned；
The second rescue path information is sent to the breakdown lorry.
Further, the method also includes:
According to the real-time position information and the target position information, the phase of the breakdown lorry with target vehicle is calculated It adjusts the distance；
When the relative distance is less than pre-determined distance, according to the real-time position information, controls the unmanned plane and fly to The breakdown lorry；
When detect meet with the breakdown lorry when, according to the target position information, the breakdown lorry is guided to lean on The nearly target vehicle.
Further, described according to the target position information and the location information of the preset rescue center, planning The step of first rescue path information includes:
Obtain road image information；The road image information includes history road image information and/or the target carriage Surrounding road image information；
The traffic behavior letter of each road is determined by vehicle identification and road Identification according to the road image information Breath；
According to the traffic state information of each road, the target position information and the preset rescue center Location information plans the first rescue path information.
Further, the target position information of the determination target vehicle includes:
Obtain the position navigation information that the target vehicle is sent；
According to the position navigation information, controls the unmanned plane and fly to the target vehicle；
When detecting the target vehicle, the target position information of the target vehicle is determined.
Further, when receiving first rescue feedback of the rescue center for first aid request, institute State method further include:
Obtain the accident information of the target vehicle；
The accident information is sent to the rescue center；
The accident information includes at least one of the following contents:
The scene image information of the target vehicle, the accident record information of the target vehicle, the target vehicle Car status information, car owner's status information of the target vehicle.
Further, the method also includes:
Receive the rescue method information corresponding with the accident information that the rescue center sends；
The rescue method information is sent to the target vehicle, shows that the rescue method is believed for the target vehicle Breath；
The rescue method information includes at least one of the following contents:
It is expected that rescue time, he rescue scheme information, scheme information of saving oneself.
Further, when not receiving first rescue feedback of the rescue center for first aid request, Or the first rescue path information is when meeting preset condition, the method also includes:
It determines and searches range of seeking help；
It searches in range of seeking help described through image recognition, searches recourse；
When searching the recourse, establishes and communicate to connect with the recourse；
When the communication connection is successfully established, the second aid request is sent；
When receive the recourse for second aid request second rescue feedback when, control it is described nobody Machine flies to the target vehicle.
Further, the method also includes:
When failure is established in the communication connection, default scheme of seeking help is executed；
It controls the unmanned plane and flies to the target vehicle；
The default scheme of seeking help is including at least at least one of the following contents:
The appeal letter signal lamp for playing preset voice packet of seeking help, lighting the unmanned plane.
Further, the target vehicle is at least one of state, including the following contents to be rescued:
Receive that the target vehicle sends to rescue information, receive collision information that the target vehicle sends, Detect the communication abnormality of the unmanned plane Yu the target vehicle.
Compared with the existing technology, unmanned plane rescue mode of the present invention has the advantage that
(1) unmanned plane rescue mode of the present invention is determining target vehicle in after rescue state, and sending is rescued It requests to preset rescue center, according to the target position information of the target vehicle and the position of the preset rescue center Information plans the first rescue path information, and in the first rescue feedback for receiving above-mentioned rescue center, above-mentioned first is rescued It helps routing information and is sent to above-mentioned rescue center, provide the standard of arrival target vehicle as early as possible for the rescue action at subsequent rescue center True programme path plans rescue method convenient for rescue center, reduces the time for reaching rescue site.
(2) unmanned plane rescue mode of the present invention can be communicated with the breakdown lorry that rescue center contacts, can To plan the second rescue path information and send according to the real-time position information of above-mentioned breakdown lorry and the target position information To the breakdown lorry because above-mentioned breakdown lorry may not be by rescue center, it is also possible to because of emergency event Breakdown lorry can not be travelled in strict accordance with above-mentioned first rescue path information, therefore above-mentioned with real-time and adaptivity Second rescue path information can reach as early as possible rescue site in order to the breakdown lorry, improve rescue efficiency.
(3) unmanned plane rescue mode of the present invention can be when breakdown lorry and target vehicle be close, through nobody The pilotage in person of machine, avoids the possible complex road condition of rescue site and needs to search target vehicle leading to the increasing of rescue time Add, further increases rescue efficiency.
(4) unmanned plane rescue mode of the present invention do not receive the rescue center for it is described first rescue ask When the first rescue feedback asked or when the first rescue path information meets preset condition, search near the target vehicle Recourse, guide the recourse to carry out emergency relief close to the target vehicle, avoid because rescue center rescuing The problem of helping not in time further increases rescue efficiency.
Another object of the present invention is to propose a kind of unmanned plane deliverance apparatus, to be when target vehicle needs to rescue Subsequent rescue action provides the programme path for reaching target vehicle as early as possible.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of unmanned plane deliverance apparatus, is applied to unmanned plane, and described device includes:
State determining module, for determining that target vehicle is in state to be rescued；
Position determination module, for determining the target position information of the target vehicle；
First aid request module, for sending the first aid request to preset rescue center；
First path planning module, for being believed according to the position of the target position information and the preset rescue center Breath plans the first rescue path information；
First path sending module is rescued for that ought receive the rescue center for the first of first aid request When helping feedback, the first rescue path information is sent to the rescue center.
Further, described device further include:
Communication identifier receiving module, for receiving the communication identifier for the breakdown lorry that the rescue center sends；
Breakdown lorry communication module, for establishing and communicating to connect with the breakdown lorry according to the communication identifier；
Real time position receiving module, for receiving the real-time position information of the breakdown lorry；
Second path planning module, for according to the real-time position information and the target position information, planning second Rescue path information；
Second path sending module, for sending the second rescue path information to the breakdown lorry.
Further, described device further include:
Relative distance computing module, for according to the real-time position information and the target position information, described in calculating The relative distance of breakdown lorry and target vehicle；
First flies control module, for according to the real-time position information, controlling when the relative distance is less than pre-determined distance It makes the unmanned plane and flies to the breakdown lorry；
Pilotage module, for when detect meet with the breakdown lorry when, according to the target position information, guide institute Breakdown lorry is stated close to the target vehicle.
Further, the first path planning module includes:
Road image acquiring unit, for obtaining road image information；The road image information includes history mileage chart As information and/or the surrounding road image information of the target vehicle；
Road condition determination unit, for being determined according to the road image information by vehicle identification and road Identification The traffic state information of each road；
First path planning unit, for traffic state information, the target position information according to each road With the location information of the preset rescue center, the first rescue path information is planned.
Further, the position determination module includes:
Position navigation information acquisition unit, the position navigation information sent for obtaining the target vehicle；
Flight control units, for controlling the unmanned plane and flying to the target vehicle according to the position navigation information；
Position determination unit, for when detecting the target vehicle, determining that the target position of the target vehicle is believed Breath.
Further, when receiving first rescue feedback of the rescue center for first aid request, institute State device further include:
Accident information obtains module, for obtaining the accident information of the target vehicle；
Accident information sending module, for sending the accident information to the rescue center；
The accident information includes at least one of the following contents:
The scene image information of the target vehicle, the accident record information of the target vehicle, the target vehicle Car status information, car owner's status information of the target vehicle.
Further, described device further include:
Rescue method receiving module, the rescue party corresponding with the accident information sent for receiving the rescue center Case information；
Rescue method sending module, for sending the rescue method information to the target vehicle, for the target carriage Show the rescue method information；
The rescue method information includes at least one of the following contents:
It is expected that rescue time, he rescue scheme information, scheme information of saving oneself.
Further, when not receiving first rescue feedback of the rescue center for first aid request, Or the first rescue path information is when meeting preset condition, described device further include:
Search area determining module searches range of seeking help for determining；
Recourse search module searches recourse for searching in range of seeking help described through image recognition；
Recourse communication module, for establishing communication link with the recourse when searching the recourse It connects；
Second aid request module, for sending the second aid request when the communication connection is successfully established；
Second flies control module, for anti-for the second rescue of second aid request when receiving the recourse When feedback, controls the unmanned plane and fly to the target vehicle.
Further, described device further include:
Default module of seeking help, for promptly when failure is established in the communication connection, executing default scheme of seeking help；
Third flies control module, flies to the target vehicle for controlling the unmanned plane；
The default scheme of seeking help is including at least at least one of the following contents:
The appeal letter signal lamp for playing preset voice packet of seeking help, lighting the unmanned plane.
Further, the target vehicle is at least one of state, including the following contents to be rescued:
Receive that the target vehicle sends to rescue information, receive collision information that the target vehicle sends, Detect the communication abnormality of the unmanned plane Yu the target vehicle.
Possessed advantage is identical compared with the existing technology with above-mentioned unmanned plane rescue mode for the unmanned plane deliverance apparatus, Details are not described herein.
The present invention also provides a kind of unmanned planes, including any unmanned plane deliverance apparatus.
Possessed advantage is identical compared with the existing technology with above-mentioned unmanned plane rescue mode for the unmanned plane deliverance apparatus, Details are not described herein.
The present invention also provides a kind of vehicle, it is provided with the unmanned plane.
Possessed advantage is identical compared with the existing technology with above-mentioned unmanned plane rescue mode for the vehicle, no longer superfluous herein It states.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of step flow chart of unmanned plane rescue mode described in the embodiment of the present invention；
Fig. 2 is a kind of configuration schematic diagram of unmanned plane described in the embodiment of the present invention；
Fig. 3 is the step flow chart of another unmanned plane rescue mode described in the embodiment of the present invention；
Fig. 4 is the step flow chart of another unmanned plane rescue mode described in the embodiment of the present invention；
Fig. 5 is a kind of one of schematic diagram of unmanned plane rescue mode described in the embodiment of the present invention；
Fig. 6 is two of a kind of schematic diagram of unmanned plane rescue mode described in the embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of unmanned plane deliverance apparatus described in the embodiment of the present invention；
Fig. 8 is a kind of schematic diagram of vehicle described in the embodiment of the present invention.
Description of symbols:
80- vehicle, 81- sensing system, 811- seat sensor, 812- car infrared camera, 813- vehicle body pressure Sensor, 82- bus, 83- control assembly, 831- data acquisition module, 832- message processing module, 833- memory module, 834- communication module, 90- unmanned plane, 91- unmanned plane deliverance apparatus, 100- rescue center/breakdown lorry.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase Mutually combination.
In addition, the unmanned plane being previously mentioned in an embodiment of the present invention, can refer to rotor wing unmanned aerial vehicle, fixed-wing unmanned plane Etc. all kinds of unmanned planes；The embodiment of the present invention is not intended to limit the type of above-mentioned unmanned plane.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Shown in referring to Fig.1, the embodiment of the invention provides a kind of unmanned plane rescue modes, are applied to unmanned plane, above-mentioned side Method may include step 101-105:
In embodiments of the present invention, it can establish and communicate between above-mentioned unmanned plane and target vehicle；Above-mentioned unmanned plane can be with For the vehicle-mounted unmanned aerial vehicle of above-mentioned target vehicle, the traveling for above-mentioned target vehicle provides navigation；Or it can be with above-mentioned mesh The unmanned plane that mark vehicle is communicated.
Referring to shown in Fig. 2, above-mentioned unmanned plane may include or part includes:
WLAN (Wireless Loc.al Area Networks, WLAN) antenna, can be with above-mentioned target vehicle For WLAN hot spot, for by carrying out short range data transmission, saving campus network between unmanned plane and target vehicle, communication away from From can achieve 100-400 meters；
4G/5G (fourth generation mobile communication technology/the 5th third-generation mobile communication technology) antenna is used for above-mentioned target vehicle and nothing Carried out data transmission between man-machine by signal base station, can be used as WLAN signal it is weaker when supplement, the number suitable for long range According to transmission；
GPS (Global Positioning System, global positioning system) antenna, for obtaining unmanned plane in real time GPS coordinate；
Camera may include the camera of taking photo by plane for shooting environmental image, the short focus camera for auxiliary positioning Deng, obtain image simultaneously be transferred to micro-control unit；Camera should have stabilization function；
Camera motor, for adjusting the shooting angle of above-mentioned camera；
Camera position sensor cooperates above-mentioned camera motor adjustment camera shooting for obtaining the position of above-mentioned camera Head；
Gyroscope, as a part of inertial navigation system, for obtaining the angular movement parameter of above-mentioned unmanned plane, i.e. posture Parameter；
Acceleration transducer, as a part of inertial navigation system, for obtaining the acceleration parameter of above-mentioned unmanned plane；
Battery sensor, for detecting the battery capacity of above-mentioned unmanned plane；
Unmanned plane motor, for driving the movement of above-mentioned unmanned plane；
Magnetic field sensor, for detecting the size and Orientation of magnetic field strength.
It is understood that above-mentioned unmanned plane includes micro-control unit, memory, battery etc., which is not described herein again.
Above-mentioned unmanned plane can also including bluetooth module etc. communication systems.
Above-mentioned target vehicle may include Telematics (the telecommunications Telecommunications and letter of telecommunication Cease the compound word of science Informatics), that is, apply the vehicle-mounted computer system of wireless communication technique, or referred to as vehicle mounted communication (T-BOX), data interaction is carried out with above-mentioned unmanned plane.
It is understood that above-mentioned unmanned plane and target vehicle can relative distance farther out when it is preferentially logical using 4G/5G Letter, but the environment for needing the accident in view of above-mentioned target vehicle to occur is likely to be at the 4G/5G such as mountain area, thick forest, plateau and leads to Believe the area of jitter；Wireless LAN communication can also be used when relative distance is closer.
Step 101: determining that target vehicle is in state to be rescued.
In this hair inventive embodiments, above-mentioned target vehicle is in state to be rescued, may include in the following contents extremely Few one kind: receive that above-mentioned target vehicle sends to rescue information, receive collision information, inspection that above-mentioned target vehicle is sent Measure the communication abnormality of above-mentioned unmanned plane Yu above-mentioned target vehicle.
In embodiments of the present invention, for ease of description, car owner can be the car owner of above-mentioned target vehicle, it is also possible to above-mentioned The driver or passenger of target vehicle.
When there is accident in above-mentioned target vehicle, car owner can active vehicle mounted communication by send to rescue information to nobody Machine；Certainly, above-mentioned target vehicle can be after the collision information for receiving crash sensor detection, and active transmission waits for rescue information To unmanned plane.
After above-mentioned target vehicle can also occur detecting collision, above-mentioned collision information is sent to unmanned plane.
It is understood that not being singly collision information, above-mentioned target vehicle can also detect the vital sign information of car owner； When the vital sign information exception of above-mentioned target vehicle detection to car owner, can send to rescue information to above-mentioned unmanned plane. Similarly, above-mentioned target vehicle can detecte the car status informations such as the deformation information of target vehicle.
Certainly, it communicates, can be sent wait rescue after establishing communication if above-mentioned unmanned plane is not set up with target vehicle Information is helped to unmanned plane.
Above-mentioned to rescue information may include the preset instructions such as request rescue, can also include the logical of preset rescue center The information such as beacon knowledge, traffic injury time；The embodiment of the present invention is without limitation.
Above-mentioned to rescue information may include the preset instructions such as request rescue, can also include the logical of preset rescue center The information such as beacon knowledge, traffic injury time；The embodiment of the present invention is without limitation.
When above-mentioned unmanned plane can be communicated with multiple target vehicles；Above-mentioned to rescue information may include above-mentioned target The mark of vehicle, to distinguish each target vehicle.
In view of target vehicle is likely to occur after accident, it is difficult to be communicated with unmanned plane foundation；On in situations where it is preferred, It states unmanned plane and needs to keep communicating with above-mentioned target vehicle.In this manner it is ensured that above-mentioned unmanned plane can receive above-mentioned collision Information determines that above-mentioned target vehicle is in state to be rescued.
Above-mentioned unmanned plane detects the communication abnormality of above-mentioned unmanned plane and target vehicle, such as abnormal interrupt, is directed to nobody The active communication request that machine is sent such as does not respond at the various exceptions, it is determined that target vehicle is likely to be at state to be rescued.
It is previously mentioned target vehicle in an embodiment of the present invention and is in state to be rescued, including but not limited to target vehicle goes out Now accidents, the driver of target vehicle or the passenger such as collision need to succour, target vehicle is trapped in hazardous environment, target vehicle The various situations such as there is damage and causes cannot to drive.
Step 102: determining the target position information of above-mentioned target vehicle.
In embodiments of the present invention, above-mentioned unmanned plane may include the navigation such as GPS navigation system, inertial navigation system system System.
When a fault occurs, unmanned plane is likely to be at vehicle-mounted state, such as is likely located on the aircraft gate of target vehicle；? It is likely to be at cruising condition.
When above-mentioned unmanned plane is in vehicle-mounted state, determine that above-mentioned target vehicle is in state to be rescued, then it can be automatic Starting motor simultaneously carries out cruising condition；It, can be at this point, above-mentioned unmanned plane can determine the target position information of above-mentioned target vehicle Target position information according to the navigation position information of above-mentioned unmanned plane as above-mentioned target vehicle.
Above-mentioned target vehicle also may include above-mentioned navigation system.
When above-mentioned unmanned plane is in cruising condition, if above-mentioned unmanned plane and above-mentioned object table vehicle can communicate, on The navigation position information for stating the target vehicle that unmanned plane can be sent according to above-mentioned target vehicle determines above-mentioned target position information. Certainly, the navigation position information of above-mentioned target vehicle can be current navigation position information, or exist apart from current time Historical navigation location information in preset time period.
When above-mentioned unmanned plane is in cruising condition, if the relative distance of above-mentioned target vehicle and above-mentioned unmanned plane is less than in advance The distance first set, then can be using the navigation position information of above-mentioned unmanned plane as above-mentioned target position information.
The navigational parameter of above-mentioned target vehicle may include: { xv, yv, zv }, respectively indicate target vehicle x coordinate, target Vehicle y-coordinate, target vehicle z coordinate；The navigational parameter of above-mentioned unmanned plane may include: { xa, ya, za, }, respectively indicate nobody Machine x coordinate, unmanned plane y-coordinate, unmanned plane z coordinate.
Step 103: sending the first aid request to preset rescue center.
In embodiments of the present invention, after determining that above-mentioned target vehicle is in wait the state of rescuing, above-mentioned the can be sent One aid request is to preset rescue center.
Illustratively, above-mentioned rescue center can be fixed or transportable for hospital, Rescue Station, breakdown lorry etc. Rescue center.
Above-mentioned unmanned plane can store the communication identifier of at least one rescue center, such as communicating number etc. in advance.
Above-mentioned unmanned plane can also store the location information of each rescue center, then above-mentioned unmanned plane can be according to unmanned plane Navigation position information screens above-mentioned each rescue center, determines apart from nearest rescue center.
Certainly, above-mentioned unmanned plane can also be by the location information of Internal retrieval to above-mentioned preset rescue center, logical Beacon knowledge etc..
In embodiments of the present invention, above-mentioned unmanned plane can by each above-mentioned communication identifier respectively with above-mentioned communication identifier pair The rescue center answered establishes communication, then sends the first aid request to above-mentioned each rescue center.
Above-mentioned first aid request can include but is not limited to aid request, place where the accident occurred point, traffic injury time, mesh Mark information of vehicles, owner information etc..Wherein, above-mentioned place where the accident occurred point can be roughly point, such as be fine to villages and small towns, road Mark etc.；Above-mentioned traffic injury time can be in the information of state to be rescued for determining target vehicle, or last time is led to Time etc. after letter；In short, the embodiment of the present invention to this with no restriction.
Above-mentioned owner information may include the communication identifier of the mobile terminal of car owner.
Illustratively, above-mentioned first aid request can be short message, the default VoP etc. of preset format.
Above-mentioned first aid request can also include the rule of communication communicated with above-mentioned unmanned plane, for example, it is above-mentioned nobody The agreement for the information that the communication identifier of machine, above-mentioned unmanned plane are sent or the agreement or lattice of format, the received information of above-mentioned unmanned plane Formula.
Certainly, if above-mentioned unmanned plane is in vehicle-mounted state, above-mentioned first aid request can also include above-mentioned vehicle It is sent to the accident information of the target vehicle record of above-mentioned unmanned plane, traffic route, image information of interior car owner etc..
In embodiments of the present invention, after above-mentioned steps 101, above-mentioned steps 102 can be preferentially executed, then execute above-mentioned Step 103；Above-mentioned steps 103 can also be preferentially executed, then execute above-mentioned steps 102；In short, the embodiment of the present invention is to above-mentioned step Rapid 102 and step 103 execution sequence and with no restrictions.
Step 104: according to above-mentioned target position information and the location information of preset above-mentioned rescue center, planning first is rescued Help routing information.
In embodiments of the present invention, the target position information of above-mentioned target vehicle can be terminal by above-mentioned unmanned plane, on The location information of preset rescue center is stated as starting point, can plan the first rescue path information.
In embodiments of the present invention, above-mentioned starting point may be above-mentioned rescue center location information and above-mentioned target position Preset position information between information；Certainly, above-mentioned preset position information can be believed for significant, well-known position Breath.
In embodiments of the present invention, history road of the available above-mentioned unmanned plane of above-mentioned unmanned plane acquired in cruising condition Road image information；Cruising condition can also be actively carried out, obtain the surrounding road information of above-mentioned target vehicle；It can also obtain State the driving recording image information of target vehicle, AVM (Around ViewMonitor, panorama park image system) image information Deng.
Above-mentioned unmanned plane can also obtain historical path information as auxiliary information, to plan above-mentioned first rescue path letter Breath.
Further, above-mentioned according to above-mentioned target position information and the location information of preset above-mentioned rescue center, planning The step of first rescue path information includes:
Obtain road image information；Above-mentioned road image information includes history road image information and/or above-mentioned target carriage Surrounding road image information；
The traffic behavior letter of each road is determined by vehicle identification and road Identification according to above-mentioned road image information Breath；
According to the traffic state information of above-mentioned each road, above-mentioned target position information and preset above-mentioned rescue center Location information plans the first rescue path information.
Illustratively, above-mentioned unmanned plane can carry out image procossing to above-mentioned road image information, be examined by image recognition Each vehicle in rope treated image, each road in treated image is identified by road template；It obtains The information such as the distance between the positional relationship of the above-mentioned each vehicle identified and each road identified, each vehicle；For each Road calculates the ratio that the gross area shared by each vehicle on above-mentioned road accounts for above-mentioned road ground product；According to above-mentioned ratio Determine the traffic state information of above-mentioned each road.
Above-mentioned traffic state information can be the congestion parameter of the congestion of the above-mentioned road of characterization；It is understood that Above-mentioned ratio is bigger, then above-mentioned congestion in road parameter is bigger.
Then, using above-mentioned target position information as terminal, using the location information of preset above-mentioned rescue center as starting point, inspection Rope goes out a plurality of rescue path information；Then according to the traffic state information of each road in above-mentioned a plurality of rescue path information, Determine that the optimal rescue path information of traffic behavior is the first rescue path information.
Illustratively, above-mentioned optimal rescue path information can be congestion shape average in above-mentioned a plurality of rescue path information The most light rescue path information of condition；Can also according to the traffic state information of above-mentioned each road, obtain with it is preset with it is above-mentioned Traffic state information is corresponding by the time, then above-mentioned optimal rescue path information can be above-mentioned a plurality of rescue path information In total pass through time shortest rescue path information.
It correspondingly, in embodiments of the present invention, can be according to above-mentioned target position information and preset at least one is above-mentioned The location information of rescue center plans the first rescue path information corresponding with above-mentioned rescue center.
Above-mentioned first rescue path information may include from the location information of preset above-mentioned rescue center to above-mentioned target Location information need on the way by each road information, certainly can also include turn information, pass through on the way traffic lights letter Breath, grade information, speed-limiting messages, total path length, estimated cost time etc..
Step 105: when receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, sending Above-mentioned first rescue path information is to above-mentioned rescue center.
In embodiments of the present invention, to receive above-mentioned rescue center anti-for the first rescue of above-mentioned first aid request When feedback, above-mentioned first rescue path information is sent to above-mentioned rescue center.
Certainly, it can plan and be rescued with above-mentioned multiple rescue center corresponding multiple first in embodiments of the present invention Routing information is then sent above-mentioned when receiving the first rescue feedback of some rescue center for above-mentioned first aid request The corresponding first rescue path information of rescue center is to above-mentioned rescue center；When not receiving some rescue within a preset period of time It, then can be without operation when center is fed back for the first rescue of above-mentioned first aid request.
Above-mentioned first rescue feedback can be above-mentioned rescue center to the response message of above-mentioned first aid request, can also be with The confirmation message of rescue action further can be clearly taken for above-mentioned rescue center, further can also include rescue row The rescue informations such as dynamic or breakdown lorry departure time；The embodiment of the present invention to this with no restriction.
Above-mentioned first rescue feedback can be transmitted to above-mentioned target vehicle by above-mentioned unmanned plane and be shown, and use up car owner Above-mentioned first rescue feedback is recognized fastly.
The above-mentioned unmanned plane rescue mode of the present invention is determining that target vehicle is in after rescue state, issues aid request To preset rescue center, believed according to the position of the target position information of above-mentioned target vehicle and preset above-mentioned rescue center Breath plans the first rescue path information, and in the first rescue feedback for receiving above-mentioned rescue center, above-mentioned first is rescued Routing information is sent to above-mentioned rescue center, for subsequent rescue center rescue action provide as early as possible reach target vehicle it is accurate Programme path, convenient for rescue center plan rescue method, reduce reach rescue site time.
Referring to shown in Fig. 3, the embodiment of the invention provides a kind of unmanned plane rescue modes, are applied to unmanned plane, above-mentioned side Method may include step 301-310:
Step 301: determining that target vehicle is in state to be rescued.
Step 302: determining the target position information of above-mentioned target vehicle.
Further, the step 302 of the target position information of the above-mentioned target vehicle of above-mentioned determination may include:
Obtain the position navigation information that above-mentioned target vehicle is sent；
According to above-mentioned position navigation information, controls above-mentioned unmanned plane and fly to above-mentioned target vehicle；
When detecting above-mentioned target vehicle, the target position information of above-mentioned target vehicle is determined.
In embodiments of the present invention, when above-mentioned unmanned plane is in cruising condition, illustratively, target vehicle and unmanned plane Between when accident occurs or before communication disruption, then the position navigation information that above-mentioned target vehicle is sent may be historical position Navigation information is not current location navigation information, and there are temporal deviations；In addition, above-mentioned target position information there is also Deviation, such as above-mentioned target vehicle retrodeviate that occur position from accident far accident occurs, such as fall down situations such as falling steep cliff；Or Environment or road conditions around the above-mentioned target vehicle of person is complex；In short, needing to control above-mentioned unmanned plane flies to above-mentioned target carriage , it determines the target position information of above-mentioned target vehicle, obtains target position information accurately, determining, avoid therefore to rear Continuous rescue action causes obstacle.
It is above-mentioned to detect that above-mentioned target vehicle at least may include at least one of the following contents:
The camera of above-mentioned unmanned plane detects above-mentioned target vehicle, above-mentioned unmanned plane and above-mentioned target by image recognition WLAN connection between vehicle is normal.
Above-mentioned unmanned plane can store the standard picture information of above-mentioned target vehicle in advance, therefore be known by above-mentioned image Not, determine that above-mentioned target vehicle is in the camera of above-mentioned unmanned plane within sweep of the eye really；The camera of above-mentioned unmanned plane It can be short focus camera；WLAN connection between above-mentioned unmanned plane and above-mentioned target vehicle is normal, i.e., above-mentioned target Vehicle at a distance from above-mentioned unmanned plane within a preset range, such as within 5 meters -20 meters.
Illustratively, when detecting above-mentioned target vehicle, using the current location information of above-mentioned unmanned plane as above-mentioned mesh Cursor position information.
Step 303: sending the first aid request to preset rescue center.
Step 304: according to above-mentioned target position information and the location information of preset above-mentioned rescue center, planning first is rescued Help routing information.
Step 305: when receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, sending Above-mentioned first rescue path information is to above-mentioned rescue center.
Further, when receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, on State method further include:
Obtain the accident information of above-mentioned target vehicle；
Above-mentioned accident information is sent to above-mentioned rescue center；
Above-mentioned accident information includes at least one of the following contents:
The scene image information of above-mentioned target vehicle, the accident record information of above-mentioned target vehicle, above-mentioned target vehicle Car status information, car owner's status information of above-mentioned target vehicle.
Above-mentioned unmanned plane can be by cruising, then by above-mentioned in the preset range around above-mentioned target vehicle The camera of unmanned plane obtains the scene image information of above-mentioned target vehicle.
When above-mentioned unmanned plane can be established with above-mentioned target vehicle to be communicated, above-mentioned mesh especially is reached in above-mentioned unmanned plane Cursor position information, unmanned plane and target vehicle can carry out higher-quality communication by WLAN；Above-mentioned unmanned plane can With notify above-mentioned target vehicle send the accident record information of above-mentioned target vehicle, the car status information of above-mentioned target vehicle, Car owner's status information of above-mentioned target vehicle etc.；Above-mentioned target vehicle can also be in active transmission above- mentioned information.
The accident record information of above-mentioned target vehicle may include above-mentioned vehicle automobile data recorder record image information, AVM image etc.；Car owner's status information of above-mentioned target vehicle includes at least one of the following contents: the identity letter of above-mentioned car owner It ceases, the vital sign information of above-mentioned car owner；The car status information of above-mentioned target vehicle includes at least one of the following contents: The identity information of above-mentioned vehicle, such as the communication identifier information of the car body deformation information of license plate number, above-mentioned vehicle, above-mentioned vehicle, Such as the communicating number of the Vehicular communication system of above-mentioned vehicle.
Certainly, in embodiments of the present invention, it can judge whether car owner is badly in need of according to the vital sign information of above-mentioned car owner Rescue；If above-mentioned car owner needs to be rescued immediately, the recourse around above-mentioned target vehicle can be searched and seek seeking help in case of emergency, specifically The description of the visible subsequent emergency relief of content.
Above-mentioned rescue center can contact breakdown lorry according to above-mentioned accident information, formulate rescue method, contact other and rescue Help station or relief group.Illustratively, if there are fire risks for target vehicle, rescue center may be needed by dialing 119 Contact fire protection organization；If the car owner of target vehicle needs first aid, may need by dialing 120 connection ambulances etc..
Further, the above method further include:
Receive the rescue method information corresponding with above-mentioned accident information that above-mentioned rescue center sends；
Above-mentioned rescue method information is sent to above-mentioned target vehicle, shows that above-mentioned rescue method is believed for above-mentioned target vehicle Breath；
Above-mentioned rescue method information includes at least one of the following contents:
It is expected that rescue time, he rescue scheme information, scheme information of saving oneself.
Above-mentioned target vehicle can show above-mentioned rescue method by various ways such as broadcasting pictures, broadcasting sound Show, so that car owner recognizes above-mentioned rescue method, enhances the panic mood of car owner sought will living or reduce car owner, can also refer to Guide-car is main to save oneself etc..
Step 306: receiving the communication identifier for the breakdown lorry that above-mentioned rescue center sends.
Above-mentioned breakdown lorry can be the breakdown lorry of above-mentioned rescue center, be also possible to other breakdown lorrys, belong in a word The breakdown lorry of above-mentioned first aid request connection is directed in above-mentioned rescue center；Above-mentioned unmanned plane can receive in above-mentioned rescue The communication identifier for the breakdown lorry that the heart is sent, convenient for being communicated with the foundation of above-mentioned breakdown lorry.
Step 307: according to above-mentioned communication identifier, establishing and communicate to connect with above-mentioned breakdown lorry.
Illustratively, above-mentioned communication identifier can be the communicating number of above-mentioned breakdown lorry, or above-mentioned relief car Car owner communicating number；According to the communication identifier of above-mentioned breakdown lorry, communication request is sent to above-mentioned breakdown lorry；When connecing After the response message for receiving above-mentioned breakdown lorry, complete to establish communication connection with above-mentioned breakdown lorry.Certainly, above-mentioned breakdown lorry After receiving the communication identifier of unmanned plane of rescue center's transmission, it can also actively establish and communicate to connect with above-mentioned unmanned plane.
Step 308: receiving the real-time position information of above-mentioned breakdown lorry.
Above-mentioned breakdown lorry may include or part includes the navigation system such as GPS navigation, inertial navigation, or using above-mentioned The navigation system of the mobile terminal of the car owner of breakdown lorry, to obtain the real-time position information of above-mentioned breakdown lorry in real time；On It states breakdown lorry and above-mentioned real-time position information is sent to above-mentioned unmanned plane.
Step 309: according to above-mentioned real-time position information and above-mentioned target position information, planning the second rescue path information.
Above-mentioned unmanned plane can using above-mentioned real-time position information as starting point, using above-mentioned target position information as terminal, Plan the second rescue path information.
Above-mentioned planning mode is referring to the description of above-mentioned steps 104, and which is not described herein again.
Because above-mentioned breakdown lorry may not be by rescue center, such as above-mentioned breakdown lorry be above-mentioned rescue Center is according to the place where the accident occurred point connection in above-mentioned first aid request, nearest apart from above-mentioned place where the accident occurred point rescue Vehicle；It may also can not be travelled in strict accordance with above-mentioned first rescue path information because of the above-mentioned breakdown lorry of emergency event, example The traffic accident that such as happens suddenly causes certain road that cannot pass through；Therefore above-mentioned second rescue path information can be in real time according to above-mentioned The real-time position information of breakdown lorry and above-mentioned target position information are planned have adaptivity, can cope with relief car Emergency situations being likely encountered reach rescue site convenient for above-mentioned breakdown lorry as early as possible, improve rescue efficiency.
Step 310: sending above-mentioned second rescue path information to above-mentioned breakdown lorry.
In embodiments of the present invention, above-mentioned second rescue path information is sent to above-mentioned breakdown lorry.
Illustratively, above-mentioned unmanned plane can be located at above-mentioned target position information, can also be in above-mentioned target position information Surrounding is cruised.
Further, the above method can also include:
According to above-mentioned real-time position information and above-mentioned target position information, the phase of above-mentioned breakdown lorry with target vehicle is calculated It adjusts the distance；
When above-mentioned relative distance is less than pre-determined distance, according to above-mentioned real-time position information, controls above-mentioned unmanned plane and fly to Above-mentioned breakdown lorry；
When detect meet with above-mentioned breakdown lorry when, according to above-mentioned target position information, above-mentioned breakdown lorry is guided to lean on Nearly above-mentioned target vehicle.
Because the course continuation mileage of above-mentioned unmanned plane is limited, it may not be possible to it is whole to support that above-mentioned unmanned plane carries out breakdown lorry Pilotage.Therefore when the relative distance of above-mentioned breakdown lorry and above-mentioned unmanned plane is less than pre-determined distance, it can control above-mentioned nothing It is man-machine to fly to above-mentioned breakdown lorry, and after meeting with above-mentioned breakdown lorry, and control above-mentioned unmanned plane and fly to above-mentioned target carriage , guide above-mentioned breakdown lorry by target vehicle with this.
In embodiments of the present invention, above-mentioned unmanned plane can be calculated according to the information about power of the battery of above-mentioned unmanned plane Course continuation mileage；According to above-mentioned course continuation mileage, above-mentioned pre-determined distance is determined.It is understood that above-mentioned pre-determined distance can be upper The half of course continuation mileage is stated, it can also be according to the velocity information of above-mentioned breakdown lorry, the velocity information of above-mentioned unmanned plane, above-mentioned Two rescue path information and the real-time position information of above-mentioned breakdown lorry are calculated.
Illustratively, above-mentioned detect is met with above-mentioned breakdown lorry, can be rescued by detecting above-mentioned unmanned plane with above-mentioned The relative distance of vehicle is helped to determine, determining agreement of meeting can also be sent to above-mentioned vehicle by above-mentioned unmanned plane, by above-mentioned Breakdown lorry is sent to unmanned plane according to above-mentioned determining agreement of meeting and meets accordingly instruction when meeting with unmanned plane, so that Unmanned plane meets according to above-mentioned command detection of meeting to above-mentioned breakdown lorry.Certainly, the mode of image recognition is also possible, Standard breakdown lorry image can also be sent to above-mentioned unmanned plane in advance from above-mentioned breakdown lorry；Which is not described herein again.
When above-mentioned breakdown lorry and above-mentioned target vehicle are close, by the pilotage in person of unmanned plane, rescue site is avoided It possible complex road condition and needs to search target vehicle and leads to the increase of rescue time, further increase rescue efficiency.
When the relative distance of above-mentioned unmanned plane and breakdown lorry is closer, above-mentioned breakdown lorry also can establish with unmanned plane WLAN is communicated, such as establishes WLAN by bluetooth；It can be to avoid because environment causes mobile communication to be believed The problem of number intensity is too weak, such as 4G/5G signal strength is too weak, and communication quality is caused to decline.
In embodiments of the present invention, controlling the method that above-mentioned unmanned plane flies may include that (proportional, integral-is micro- by PID Point) various ways such as control, fuzzy control.
In embodiments of the present invention, because possible communication signal strength is weaker near above-mentioned target position information, when above-mentioned When unmanned plane is detected with the communication signal strength of above-mentioned rescue center or breakdown lorry lower than preset threshold, it can control above-mentioned Unmanned plane flies within a preset range, search can communication context, then resettle logical with above-mentioned rescue center or breakdown lorry Letter.
Compared with the existing technology, the above-mentioned unmanned plane rescue mode of the present invention has the advantage that
(1) the above-mentioned unmanned plane rescue mode of the present invention is determining target vehicle in after rescue state, and sending is rescued It requests to preset rescue center, according to the target position information of above-mentioned target vehicle and the position of preset above-mentioned rescue center Information plans the first rescue path information, and in the first rescue feedback for receiving above-mentioned rescue center, above-mentioned first is rescued It helps routing information and is sent to above-mentioned rescue center, provide the standard of arrival target vehicle as early as possible for the rescue action at subsequent rescue center True programme path plans rescue method convenient for rescue center, reduces the time for reaching rescue site.
(2) the above-mentioned unmanned plane rescue mode of the present invention can be communicated with the breakdown lorry that rescue center contacts, can To plan the second rescue path information and send according to the real-time position information of above-mentioned breakdown lorry and above-mentioned target position information To above-mentioned breakdown lorry because above-mentioned breakdown lorry may not be by rescue center, it is also possible to because of emergency event Breakdown lorry can not be travelled in strict accordance with above-mentioned first rescue path information, therefore above-mentioned with real-time and adaptivity Second rescue path information can reach as early as possible rescue site in order to above-mentioned breakdown lorry, improve rescue efficiency.
(3) the above-mentioned unmanned plane rescue mode of the present invention can be when breakdown lorry and target vehicle be close, through nobody The pilotage in person of machine, avoids the possible complex road condition of rescue site and needs to search target vehicle leading to the increasing of rescue time Add, further increases rescue efficiency.
Referring to shown in Fig. 4, the embodiment of the invention provides a kind of unmanned plane rescue modes, are applied to unmanned plane, above-mentioned side Method may include step 401-410:
Step 401: determining that target vehicle is in state to be rescued.
Step 402: determining the target position information of above-mentioned target vehicle.
Step 403: sending the first aid request to preset rescue center.
Step 404: according to above-mentioned target position information and the location information of preset above-mentioned rescue center, planning first is rescued Help routing information.
Step 405: when receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, sending Above-mentioned first rescue path information is to above-mentioned rescue center.
Step 406: when not receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, or When above-mentioned first rescue path information meets preset condition, determines and search range of seeking help.
In embodiments of the present invention, when do not receive within a preset period of time above-mentioned rescue center for it is above-mentioned first rescue When the first rescue feedback of request, it is meant that above-mentioned rescue center is likely to that rescue action can not be executed, or can not hold as early as possible Row rescue action is required assistance then can control above-mentioned unmanned plane and search other rescue objects around above-mentioned target vehicle.
Illustratively, it includes at least one of the following contents that above-mentioned first rescue path information, which meets preset condition: on The total path length for stating the first rescue path information is greater than the estimated cost of preset path length, above-mentioned first rescue path information Time is greater than the default cost time.
Above-mentioned preset path length, the default thing that spends time etc. to can be variation, can be sent according to above-mentioned vehicle Therefore information is graded to obtain.
Exemplary property, it is tight according to the car body deformation information of target vehicle and preset car body deformation information and accident The corresponding relationship of weight grade, obtains accident menace level corresponding with above-mentioned car body deformation information.Such as accident menace level is Extremely serious the first estate, then according to preset accident menace level and it is default spend time taking corresponding relationship, obtain with it is upper State the first estate corresponding default cost time.It is understood that accident is more serious, the above-mentioned default cost time is shorter.
Above-mentioned determining range of seeking help of searching may include: according to the battery capacity of above-mentioned unmanned plane, and calculating can course continuation mileage； According to above-mentioned target position information and it is above-mentioned can course continuation mileage, determine to search and seek help range.
Illustratively, can according to it is above-mentioned can course continuation mileage and default search radius ratio value, default search is calculated Radius；It seeks help around the range of the default search radius of above-mentioned target position information range as search.
Step 407: seeking help in range in above-mentioned search through image recognition, search recourse.
It seeks help in range in above-mentioned search, is identified by facial image, search personnel as recourse；And/or pass through Vehicle image identification searches vehicle as recourse.
Step 408: when searching above-mentioned recourse, establishing and communicate to connect with above-mentioned recourse.
It, can be to the mobile end of the communication system of above-mentioned recourse, such as personnel when searching above-mentioned recourse It holds, the in-vehicle communication system of vehicle transmission communication request, and then responds above-mentioned communication in the communication system of above-mentioned recourse and ask After asking, communication connection is established.
In embodiments of the present invention, the communication system construction in a systematic way that above-mentioned unmanned plane passes through bluetooth module and above-mentioned recourse is controlled Vertical bluetooth connection.
Step 409: when above-mentioned communication connection is successfully established, sending the second aid request.
When the connection setup successful connection between above-mentioned unmanned plane and the communication system of recourse, Xiang Shangshu seeks help pair The communication system of elephant sends the second aid request, knows above-mentioned second aid request for above-mentioned recourse.Above-mentioned second rescue Request is similar with above-mentioned first aid request, and which is not described herein again.
Step 410: when receiving second rescue feedback of the above-mentioned recourse for above-mentioned second aid request, control Above-mentioned unmanned plane flies to above-mentioned target vehicle.
When receiving second rescue feedback of the above-mentioned recourse for above-mentioned second aid request, according to above-mentioned target The current location information of location information and above-mentioned unmanned plane controls above-mentioned unmanned plane and flies to above-mentioned target vehicle, then above-mentioned to seek help Object is likely to follow above-mentioned unmanned plane close to above-mentioned target vehicle.
It is understood that the above-mentioned above-mentioned unmanned plane of control flies to above-mentioned target vehicle, can not need to know above-mentioned The current location information of unmanned plane, but unmanned plane can be controlled back to target carriage according to the flight record that unmanned plane stores Near.
Certainly, in embodiments of the present invention, it can be determined that the type of above-mentioned recourse；According to the class of above-mentioned recourse Type controls the speed that above-mentioned unmanned plane flies to above-mentioned target vehicle；Illustratively, the type of above-mentioned recourse may include but It is not limited to: vehicle, personnel etc..
Further, the above method can also include:
When failure is established in above-mentioned communication connection, default scheme of seeking help is executed；
It controls above-mentioned unmanned plane and flies to above-mentioned target vehicle；
Above-mentioned default scheme of seeking help is including at least at least one of the following contents:
The appeal letter signal lamp for playing preset voice packet of seeking help, lighting above-mentioned unmanned plane.
When establishing communication failure with above-mentioned recourse, such as communication can not be established, then by playing preset seek help The modes such as voice packet and/or the appeal letter signal lamp for lighting above-mentioned unmanned plane inform that recourse needs to rescue, and then control above-mentioned Unmanned plane flies to above-mentioned target vehicle, then above-mentioned recourse is likely to follow above-mentioned unmanned plane close to above-mentioned target vehicle.
Illustratively, above-mentioned voice packet of seeking help may include the voice messaging of aid request；Above-mentioned appeal letter signal lamp is in point The emergency marks such as SOS (international emergency signal) can be formed after bright.
That is, the embodiment of the present invention can pass through independent searching target there are the communication barrier Recourse near vehicle, guidance recourse carry out emergency relief close to target vehicle.
Certainly, in embodiments of the present invention, above-mentioned second aid request is received in above-mentioned recourse, or above-mentioned After unmanned plane executes above-mentioned default scheme of seeking help, rescue information can be reported to rescue center etc. by above-mentioned recourse.
Compared with the existing technology, the above-mentioned unmanned plane rescue mode of the present invention has the advantage that
(1) the above-mentioned unmanned plane rescue mode of the present invention is determining target vehicle in after rescue state, and sending is rescued It requests to preset rescue center, according to the target position information of above-mentioned target vehicle and the position of preset above-mentioned rescue center Information plans the first rescue path information, and in the first rescue feedback for receiving above-mentioned rescue center, above-mentioned first is rescued It helps routing information and is sent to above-mentioned rescue center, provide the standard of arrival target vehicle as early as possible for the rescue action at subsequent rescue center True programme path plans rescue method convenient for rescue center, reduces the time for reaching rescue site.
(2) the above-mentioned unmanned plane rescue mode of the present invention is asked for above-mentioned first rescue not receiving above-mentioned rescue center When the first rescue feedback asked or when above-mentioned first rescue path information meets preset condition, search near above-mentioned target vehicle Recourse, guide above-mentioned recourse to carry out emergency relief close to above-mentioned target vehicle, avoid because rescue center rescuing The problem of helping not in time further increases rescue efficiency.
Shown in referring to figure 5 and figure 6, a kind of schematic diagram of unmanned plane rescue mode of the embodiment of the present invention is shown.It needs Illustrate, above-mentioned unmanned plane can prestore the communication identifier of emergency contact, and establish and communicate with above-mentioned emergency contact, can Accident information is sent to above-mentioned emergency contact；Above-mentioned car owner can pass through the mobile end of car owner in the state of awake End is communicated with above-mentioned emergency contact；The communication identifier of the mobile terminal of above-mentioned car owner is by rescue center or breakdown lorry After knowing, the information such as rescue method can be sent to the mobile terminal of above-mentioned car owner, known for car owner.
Referring to shown in Fig. 7, the embodiment of the invention provides a kind of unmanned plane deliverance apparatus, are applied to unmanned plane, above-mentioned dress It sets and may include:
State determining module 701, for determining that target vehicle is in state to be rescued；
Position determination module 702, for determining the target position information of above-mentioned target vehicle；
First aid request module 703, for sending the first aid request to preset rescue center；
First path planning module 704, for the position according to above-mentioned target position information and preset above-mentioned rescue center Confidence breath, plans the first rescue path information；
First path sending module 705, for when receiving above-mentioned rescue center for the of above-mentioned first aid request When one rescue feedback, above-mentioned first rescue path information is sent to above-mentioned rescue center.
Further, above-mentioned apparatus can also include:
Communication identifier receiving module, for receiving the communication identifier for the breakdown lorry that above-mentioned rescue center sends；
Breakdown lorry communication module, for establishing and communicating to connect with above-mentioned breakdown lorry according to above-mentioned communication identifier；
Real time position receiving module, for receiving the real-time position information of above-mentioned breakdown lorry；
Second path planning module, for according to above-mentioned real-time position information and above-mentioned target position information, planning second Rescue path information；
Second path sending module, for sending above-mentioned second rescue path information to above-mentioned breakdown lorry.
Further, above-mentioned apparatus can also include:
Relative distance computing module, for calculating above-mentioned according to above-mentioned real-time position information and above-mentioned target position information The relative distance of breakdown lorry and target vehicle；
First flies control module, for according to above-mentioned real-time position information, controlling when above-mentioned relative distance is less than pre-determined distance It makes above-mentioned unmanned plane and flies to above-mentioned breakdown lorry；
Pilotage module, for when detect meet with above-mentioned breakdown lorry when, according to above-mentioned target position information, in guidance Breakdown lorry is stated close to above-mentioned target vehicle.
Further, above-mentioned first path planning module 704 may include:
Road image acquiring unit, for obtaining road image information；Above-mentioned road image information includes history mileage chart As information and/or the surrounding road image information of above-mentioned target vehicle；
Road condition determination unit, for being determined according to above-mentioned road image information by vehicle identification and road Identification The traffic state information of each road；
First path planning unit, for traffic state information, the above-mentioned target position information according to above-mentioned each road With the location information of preset above-mentioned rescue center, the first rescue path information is planned.
Further, above-mentioned position determination module 702 may include:
Position navigation information acquisition unit, the position navigation information sent for obtaining above-mentioned target vehicle；
Flight control units, for controlling above-mentioned unmanned plane and flying to above-mentioned target vehicle according to above-mentioned position navigation information；
Position determination unit, for when detecting above-mentioned target vehicle, determining that the target position of above-mentioned target vehicle is believed Breath.
Further, when receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, on Stating device can also include:
Accident information obtains module, for obtaining the accident information of above-mentioned target vehicle；
Accident information sending module, for sending above-mentioned accident information to above-mentioned rescue center；
Above-mentioned accident information includes at least one of the following contents:
The scene image information of above-mentioned target vehicle, the accident record information of above-mentioned target vehicle, above-mentioned target vehicle Car status information, car owner's status information of above-mentioned target vehicle.
Further, above-mentioned apparatus can also include:
Rescue method receiving module, the rescue party corresponding with above-mentioned accident information sent for receiving above-mentioned rescue center Case information；
Rescue method sending module, for sending above-mentioned rescue method information to above-mentioned target vehicle, for above-mentioned target carriage Show above-mentioned rescue method information；
Above-mentioned rescue method information includes at least one of the following contents:
It is expected that rescue time, he rescue scheme information, scheme information of saving oneself.
Further, when not receiving first rescue feedback of the above-mentioned rescue center for above-mentioned first aid request, Or above-mentioned first rescue path information, when meeting preset condition, above-mentioned apparatus can also include:
Search area determining module searches range of seeking help for determining；
Recourse search module searches recourse for seeking help in range in above-mentioned search through image recognition；
Recourse communication module, for establishing communication link with above-mentioned recourse when searching above-mentioned recourse It connects；
Second aid request module, for sending the second aid request when above-mentioned communication connection is successfully established；
Second flies control module, for anti-for the second rescue of above-mentioned second aid request when receiving above-mentioned recourse When feedback, controls above-mentioned unmanned plane and fly to above-mentioned target vehicle.
Further, above-mentioned apparatus can also include:
Default module of seeking help, for promptly when failure is established in above-mentioned communication connection, executing default scheme of seeking help；
Third flies control module, flies to above-mentioned target vehicle for controlling above-mentioned unmanned plane；
Above-mentioned default scheme of seeking help is including at least at least one of the following contents:
The appeal letter signal lamp for playing preset voice packet of seeking help, lighting above-mentioned unmanned plane.
Further, above-mentioned target vehicle is at least one of state, including the following contents to be rescued:
Receive that above-mentioned target vehicle sends to rescue information, receive collision information that above-mentioned target vehicle sends, Detect the communication abnormality of above-mentioned unmanned plane Yu above-mentioned target vehicle.
Possessed advantage is identical compared with the existing technology with above-mentioned unmanned plane rescue mode for above-mentioned unmanned plane deliverance apparatus, Details are not described herein.
The embodiment of the invention also provides a kind of unmanned planes, including any above-mentioned unmanned plane deliverance apparatus.
Possessed advantage is identical compared with the existing technology with above-mentioned unmanned plane rescue mode for above-mentioned unmanned plane deliverance apparatus, Details are not described herein.
The embodiment of the invention also provides a kind of vehicles, are provided with above-mentioned unmanned plane.Above-mentioned unmanned plane can be above-mentioned The vehicle-mounted unmanned aerial vehicle of vehicle, or off-board unmanned plane；But above-mentioned vehicle can be communicated with above-mentioned unmanned plane, with Complete each technical solution as described in above-described embodiment.
Illustratively, referring to shown in Fig. 8, above-mentioned vehicle 80 may include sensing system 81, bus 82, control assembly 83；Above-mentioned bus 82 is used to for the data that the sensor system 81 detects to be sent to control assembly 83.Above-mentioned unmanned plane 90 can To include unmanned plane deliverance apparatus 91；Above-mentioned vehicle 80 can be communicated with above-mentioned unmanned plane 90；Above-mentioned unmanned plane 90 can be with It is communicated with rescue center/breakdown lorry 100.
The sensor system 81 may include various kinds of sensors, such as seat sensor 811, interior infrared camera 812, vehicle body pressure sensor 813 etc., for detecting car status information and car owner's status information etc..Such as it is sensed by seat Device 811 detects occupant position；Using the interior infrared camera 812 detection body temperature information of car owner, body posture, facial expression, The vital sign informations such as pupil status；Car body is detected using the vehicle body pressure sensor 813 for being set to target vehicle vehicle body to deform Information；Vehicle-state can also be acquired using other sensors, such as detect target vehicle by Oil Leakage Detecting sensor etc. to be No oil leak.
Illustratively, above-mentioned bus 82 can be CAN (Controller Area Network, controller local area network) Bus.
Above-mentioned control assembly 83 may include data acquisition module 831, message processing module 832, memory module 833 and lead to Interrogate module 834；Above-mentioned data acquisition module 831, message processing module 832, memory module 833 are respectively used to the sensor System 81 carries out data acquisition, information processing and storage by the data that bus 82 is sent, to obtain the vehicle-state of the vehicle Information, car owner's status information etc.；Above-mentioned communication module 834 is used for and the unmanned plane deliverance apparatus 91 of above-mentioned unmanned plane 90 is led to Letter carries out the interaction of car status information, car owner's status information, rescue information etc..
It is understood that above-mentioned vehicle 80 in embodiments of the present invention is corresponding with target vehicle described above.
Possessed advantage is identical compared with the existing technology with above-mentioned unmanned plane rescue mode for above-mentioned vehicle, no longer superfluous herein It states.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of unmanned plane rescue mode, which is characterized in that be applied to unmanned plane, which comprises
Determine that target vehicle is in state to be rescued；
Determine the target position information of the target vehicle；
The first aid request is sent to preset rescue center；
According to the target position information and the location information of the preset rescue center, the first rescue path information is planned；
When receiving first rescue feedback of the rescue center for first aid request, first rescue is sent Routing information is to the rescue center.
2. the method according to claim 1, wherein the method also includes:
Receive the communication identifier for the breakdown lorry that the rescue center sends；
According to the communication identifier, establishes and communicate to connect with the breakdown lorry；
Receive the real-time position information of the breakdown lorry；
According to the real-time position information and the target position information, the second rescue path information is planned；
The second rescue path information is sent to the breakdown lorry.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
According to the real-time position information and the target position information, calculate the breakdown lorry and target vehicle it is opposite away from From；
When the relative distance is less than pre-determined distance, according to the real-time position information, control the unmanned plane fly to it is described Breakdown lorry；
When detect meet with the breakdown lorry when, according to the target position information, guide the breakdown lorry close to institute State target vehicle.
4. the method according to claim 1, wherein described according to the target position information and preset described The location information of rescue center, plan the first rescue path information the step of include:
Obtain road image information；The road image information includes history road image information and/or the target vehicle Surrounding road image information；
The traffic state information of each road is determined by vehicle identification and road Identification according to the road image information；
According to the position of the traffic state information of each road, the target position information and the preset rescue center Information plans the first rescue path information.
5. the method according to claim 1, wherein the target position information of the determination target vehicle Step includes:
Obtain the position navigation information that the target vehicle is sent；
According to the position navigation information, controls the unmanned plane and fly to the target vehicle；
When detecting the target vehicle, the target position information of the target vehicle is determined.
6. the method according to any one of claims 1 to 5, which is characterized in that when not receiving rescue center's needle It is described when being fed back to the first rescue of first aid request or when the first rescue path information meets preset condition Method further include:
It determines and searches range of seeking help；
It searches in range of seeking help described through image recognition, searches recourse；
When searching the recourse, establishes and communicate to connect with the recourse；
When the communication connection is successfully established, the second aid request is sent；
When receiving second rescue feedback of the recourse for second aid request, controls the unmanned plane and fly To the target vehicle.
7. according to the method described in claim 6, it is characterized in that, the method also includes:
When failure is established in the communication connection, default scheme of seeking help is executed；
It controls the unmanned plane and flies to the target vehicle；
The default scheme of seeking help is including at least at least one of the following contents:
The appeal letter signal lamp for playing preset voice packet of seeking help, lighting the unmanned plane.
8. a kind of unmanned plane deliverance apparatus, which is characterized in that be applied to unmanned plane, described device includes:
State determining module, for determining that target vehicle is in state to be rescued；
Position determination module, for determining the target position information of the target vehicle；
First aid request module, for sending the first aid request to preset rescue center；
First path planning module, for the location information according to the target position information and the preset rescue center, Plan the first rescue path information；
First path sending module, for anti-for the first rescue of first aid request when receiving the rescue center When feedback, the first rescue path information is sent to the rescue center.
9. a kind of unmanned plane, which is characterized in that including unmanned plane deliverance apparatus as claimed in claim 8.
10. a kind of vehicle, which is characterized in that be provided with unmanned plane as claimed in claim 9.
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