CN109781124B

CN109781124B - Unmanned aerial vehicle rescue method and device, unmanned aerial vehicle and vehicle

Info

Publication number: CN109781124B
Application number: CN201711122717.3A
Authority: CN
Inventors: 李佳; 王翠; 王萌萌; 安维轻; 王静; 张晓赞
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2017-11-14
Filing date: 2017-11-14
Publication date: 2020-10-27
Anticipated expiration: 2037-11-14
Also published as: CN109781124A

Abstract

The invention provides an unmanned aerial vehicle rescue method, an unmanned aerial vehicle rescue device, an unmanned aerial vehicle and a vehicle, wherein the method is applied to the unmanned aerial vehicle and comprises the following steps: determining that a target vehicle is in a state to be rescued; determining target location information of the target vehicle; sending a first rescue request to a preset rescue center; planning first rescue path information according to the target position information and preset position information of the rescue center; and when first rescue feedback of the rescue center for the first rescue request is received, sending the first rescue path information to the rescue center. The unmanned aerial vehicle rescue method can provide an accurate planned route for reaching a target vehicle as soon as possible for the follow-up rescue action of the rescue center, is convenient for the rescue center to plan a rescue scheme, and reduces the time for reaching a rescue site.

Description

Unmanned aerial vehicle rescue method and device, unmanned aerial vehicle and vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle rescue method and device, an unmanned aerial vehicle and a vehicle.

Background

When the front of the vehicle is bent too far, the traffic condition in front cannot be predicted due to the existence of a vision blind area; when the traffic in front of the vehicle is congested, the congestion state is unknown, and information such as congestion time, distance and the like cannot be predicted; at present, the vehicle-mounted unmanned aerial vehicle can assist a driver and the like to acquire images and transmit video information to a vehicle host system, a driver mobile terminal or emergency contact equipment so as to achieve the purpose of driving assistance.

In the prior art, an unmanned aerial vehicle arranged in a carriage of an automobile is used for acquiring an environment image during emergency rescue; unmanned aerial vehicle includes the organism, set up in the inside central control system of organism, and respectively with the GPS navigator that central control system connects, imaging mechanism, searchlighting mechanism to and megaphone, laser emitter, and be used for GPS navigator, imaging mechanism, searchlighting mechanism, and megaphone, the battery of laser emitter power supply. In addition, the automobile control device with the unmanned aerial vehicle detection system further comprises an automobile and an unmanned aerial vehicle, wherein the front road condition image is shot by the unmanned aerial vehicle positioned in front of the automobile, and the front road condition image is transmitted to the host system of the automobile to be displayed.

When the vehicle has an accident, if a rescue system of the vehicle is damaged, rescue information cannot be sent out in time, so that rescue is affected; furthermore, when rescue is carried out, the rescue vehicle cannot predict the situation of the traffic accident scene, the rescue path judgment is influenced, and the time for reaching the accident scene is increased, and the like.

Disclosure of Invention

In view of this, the present invention aims to provide a rescue method and apparatus for an unmanned aerial vehicle, an unmanned aerial vehicle and a vehicle, so as to provide a planned route to the target vehicle as soon as possible for subsequent rescue actions when the target vehicle needs to be rescued.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

an unmanned aerial vehicle rescue method is applied to an unmanned aerial vehicle, and comprises the following steps:

determining that a target vehicle is in a state to be rescued;

determining target location information of the target vehicle;

sending a first rescue request to a preset rescue center;

planning first rescue path information according to the target position information and preset position information of the rescue center;

and when first rescue feedback of the rescue center for the first rescue request is received, sending the first rescue path information to the rescue center.

Further, the method further comprises:

receiving a communication identifier of a rescue vehicle sent by the rescue center;

establishing communication connection with the rescue vehicle according to the communication identifier;

receiving real-time position information of the rescue vehicle;

planning second rescue path information according to the real-time position information and the target position information;

and sending the second rescue path information to the rescue vehicle.

Further, the method further comprises:

calculating the relative distance between the rescue vehicle and a target vehicle according to the real-time position information and the target position information;

when the relative distance is smaller than a preset distance, controlling the unmanned aerial vehicle to fly to the rescue vehicle according to the real-time position information;

and when the vehicle meets the rescue vehicle, guiding the rescue vehicle to approach the target vehicle according to the target position information.

Further, the step of planning the first rescue path information according to the target position information and the preset position information of the rescue center includes:

acquiring road image information; the road image information comprises historical road image information and/or road image information around the target vehicle;

determining traffic state information of each road through vehicle identification and road identification according to the road image information;

planning first rescue path information according to the traffic state information of each road, the target position information and the preset position information of the rescue center.

Further, the determining the target location information of the target vehicle includes:

acquiring position navigation information sent by the target vehicle;

controlling the unmanned aerial vehicle to fly to the target vehicle according to the position navigation information;

when the target vehicle is detected, target position information of the target vehicle is determined.

Further, when receiving a first rescue feedback of the rescue center for the first rescue request, the method further comprises:

acquiring accident information of the target vehicle;

sending the accident information to the rescue center;

the incident information includes at least one of:

the scene image information of the target vehicle, the accident recording information of the target vehicle, the vehicle state information of the target vehicle and the owner state information of the target vehicle.

Further, the method further comprises:

receiving rescue scheme information which is sent by the rescue center and corresponds to the accident information;

sending the rescue scheme information to the target vehicle for the target vehicle to display the rescue scheme information;

the rescue scheme information includes at least one of:

predicting rescue time, rescue scheme information of the user and rescue scheme information of the user.

Further, when first rescue feedback of the rescue center for the first rescue request is not received, or the first rescue path information meets a preset condition, the method further includes:

determining a search and help seeking range;

searching for a help-seeking object through image recognition in the search and help-seeking range;

when the help seeking object is searched, establishing communication connection with the help seeking object;

when the communication connection is established successfully, sending a second rescue request;

when second rescue feedback of the help object for the second rescue request is received, the unmanned aerial vehicle is controlled to fly to the target vehicle.

Further, the method further comprises:

when the communication connection is failed to be established, executing a preset help seeking scheme;

controlling the unmanned aerial vehicle to fly to the target vehicle;

the preset help-seeking scheme at least comprises at least one of the following contents:

broadcast preset voice package, light unmanned aerial vehicle's the signal lamp of seeking help.

Further, the target vehicle is in a state to be rescued, and the method comprises at least one of the following steps:

receiving information to be rescued sent by the target vehicle, receiving collision information sent by the target vehicle, and detecting that the communication between the unmanned aerial vehicle and the target vehicle is abnormal.

Compared with the prior art, the unmanned aerial vehicle rescue method has the following advantages:

(1) according to the unmanned aerial vehicle rescue method, after a target vehicle is determined to be in a state to be rescued, a rescue request is sent to a preset rescue center, first rescue path information is planned according to target position information of the target vehicle and preset position information of the rescue center, and when first rescue feedback of the rescue center is received, the first rescue path information is sent to the rescue center, so that an accurate planned route which can reach the target vehicle as soon as possible is provided for rescue actions of a subsequent rescue center, the rescue center can plan a rescue scheme conveniently, and the time for reaching a rescue site is reduced.

(2) The unmanned aerial vehicle rescue method can be communicated with a rescue vehicle connected with a rescue center, and can plan second rescue path information and send the second rescue path information to the rescue vehicle according to the real-time position information and the target position information of the rescue vehicle.

(3) The unmanned aerial vehicle rescue method can avoid possible complex road conditions on the rescue site and increase of rescue time caused by the need of searching the target vehicle through the self-piloting of the unmanned aerial vehicle when the rescue vehicle is close to the target vehicle, thereby further improving the rescue efficiency.

(4) According to the unmanned aerial vehicle rescue method, when first rescue feedback of the rescue center for the first rescue request is not received, or when the first rescue path information meets the preset condition, the help seeking object near the target vehicle is searched, the help seeking object is guided to be close to the target vehicle for emergency rescue, the problem that rescue of the rescue center is not timely is avoided, and rescue efficiency is further improved.

Another objective of the present invention is to provide an unmanned rescue device to provide a planned route to a target vehicle as soon as possible for a subsequent rescue operation when the target vehicle needs to be rescued.

an unmanned aerial vehicle rescue device is applied to unmanned aerial vehicle, the device includes:

the state determining module is used for determining that the target vehicle is in a state to be rescued;

a location determination module to determine target location information of the target vehicle;

the first rescue request module is used for sending a first rescue request to a preset rescue center;

the first path planning module is used for planning first rescue path information according to the target position information and preset position information of the rescue center;

and the first path sending module is used for sending the first rescue path information to the rescue center when receiving first rescue feedback of the rescue center aiming at the first rescue request.

Further, the apparatus further comprises:

the communication identifier receiving module is used for receiving the communication identifier of the rescue vehicle sent by the rescue center;

the rescue vehicle communication module is used for establishing communication connection with the rescue vehicle according to the communication identifier;

the real-time position receiving module is used for receiving real-time position information of the rescue vehicle;

the second path planning module is used for planning second rescue path information according to the real-time position information and the target position information;

and the second path sending module is used for sending the second rescue path information to the rescue vehicle.

Further, the apparatus further comprises:

the relative distance calculation module is used for calculating the relative distance between the rescue vehicle and a target vehicle according to the real-time position information and the target position information;

the first flight control module is used for controlling the unmanned aerial vehicle to fly to the rescue vehicle according to the real-time position information when the relative distance is smaller than a preset distance;

and the piloting module is used for guiding the rescue vehicle to approach the target vehicle according to the target position information when the piloting module detects that the piloting module meets the rescue vehicle.

Further, the first path planning module includes:

a road image acquisition unit for acquiring road image information; the road image information comprises historical road image information and/or road image information around the target vehicle;

the road state determining unit is used for determining the traffic state information of each road through vehicle identification and road identification according to the road image information;

and the first path planning unit is used for planning first rescue path information according to the traffic state information of each road, the target position information and the preset position information of the rescue center.

Further, the position determination module includes:

the position navigation information acquisition unit is used for acquiring the position navigation information sent by the target vehicle;

the flight control unit is used for controlling the unmanned aerial vehicle to fly to the target vehicle according to the position navigation information;

a position determination unit configured to determine target position information of the target vehicle when the target vehicle is detected.

Further, when receiving a first rescue feedback of the rescue center for the first rescue request, the apparatus further includes:

the accident information acquisition module is used for acquiring accident information of the target vehicle;

the accident information sending module is used for sending the accident information to the rescue center;

the incident information includes at least one of:

Further, the apparatus further comprises:

the rescue scheme receiving module is used for receiving rescue scheme information which is sent by the rescue center and corresponds to the accident information;

the rescue scheme sending module is used for sending the rescue scheme information to the target vehicle so that the target vehicle can display the rescue scheme information;

the rescue scheme information includes at least one of:

Further, when a first rescue feedback of the rescue center for the first rescue request is not received, or the first rescue path information meets a preset condition, the apparatus further includes:

the searching range determining module is used for determining a searching and help seeking range;

the help seeking object searching module is used for searching a help seeking object in the help seeking range through image recognition;

the help seeking object communication module is used for establishing communication connection with the help seeking object when the help seeking object is searched;

the second rescue request module is used for sending a second rescue request when the communication connection is successfully established;

and the second flight control module is used for controlling the unmanned aerial vehicle to fly to the target vehicle when receiving second rescue feedback of the help seeking object aiming at the second rescue request.

Further, the apparatus further comprises:

the preset help seeking module is used for executing a preset help seeking scheme when the communication connection is failed to be established;

the third flight control module is used for controlling the unmanned aerial vehicle to fly to the target vehicle;

Compared with the prior art, the unmanned aerial vehicle rescue device and the unmanned aerial vehicle rescue method have the same advantages, and are not repeated herein.

The invention also provides an unmanned aerial vehicle which comprises any unmanned aerial vehicle rescue device.

Compared with the prior art, the unmanned aerial vehicle has the same advantages as the unmanned aerial vehicle rescue method, and the details are not repeated.

The invention also provides a vehicle provided with the unmanned aerial vehicle.

Compared with the prior art, the vehicle and the unmanned aerial vehicle rescue method have the same advantages, and are not repeated herein.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a flowchart illustrating steps of an unmanned aerial vehicle rescue method according to an embodiment of the present invention;

fig. 2 is a schematic configuration diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating steps of another rescue method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating steps of a rescue method for an unmanned aerial vehicle according to another embodiment of the present invention;

fig. 5 is one of schematic diagrams of an unmanned aerial vehicle rescue method according to an embodiment of the present invention;

fig. 6 is a second schematic diagram of an unmanned aerial vehicle rescue method according to the embodiment of the invention;

fig. 7 is a schematic view of an unmanned aerial vehicle rescue apparatus according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a vehicle according to an embodiment of the present invention.

Description of reference numerals:

80-vehicle, 81-sensor system, 811-seat sensor, 812-in-vehicle infrared camera, 813-vehicle body pressure sensor, 82-bus, 83-control assembly, 831-data acquisition module, 832-information processing module, 833-storage module, 834-communication module, 90-unmanned aerial vehicle, 91-unmanned aerial vehicle rescue device, and 100-rescue center/rescue vehicle.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In addition, the unmanned aerial vehicle mentioned in the embodiment of the invention can be various unmanned aerial vehicles such as a rotor unmanned aerial vehicle, a fixed wing unmanned aerial vehicle and the like; the embodiment of the invention does not limit the type of the unmanned aerial vehicle.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle rescue method, which is applied to an unmanned aerial vehicle, and the method may include steps 101-105:

in the embodiment of the invention, the unmanned aerial vehicle and the target vehicle can establish communication; the unmanned aerial vehicle can be a vehicle-mounted unmanned aerial vehicle of the target vehicle and provides navigation for the running of the target vehicle; the unmanned aerial vehicle can also be used for communicating with the target vehicle.

Referring to fig. 2, the drone may include or partially include:

a WLAN (Wireless local Area network) antenna, which can use the target vehicle as a WLAN hotspot, and is used for short-distance data transmission between the unmanned aerial vehicle and the target vehicle, thereby saving traffic cost, and the communication distance can reach 100-400 meters;

a 4G/5G (fourth generation mobile communication technology/fifth generation mobile communication technology) antenna, which is used for data transmission between the target vehicle and the unmanned aerial vehicle through a signal base station, can be used as a supplement when a WLAN signal is weak, and is suitable for long-distance data transmission;

a GPS (Global Positioning System) antenna for acquiring a GPS coordinate of the unmanned aerial vehicle in real time;

the camera can comprise an aerial camera for shooting an environment image, a short-focus camera for auxiliary positioning and the like, acquires an image and transmits the image to the micro control unit; the camera has an anti-shake function;

a camera motor for adjusting the shooting angle of the camera;

the camera position sensor is used for acquiring the position of the camera and adjusting the camera by matching with the camera motor;

the gyroscope is used as a part of an inertial navigation system and is used for acquiring angular motion parameters, namely attitude parameters, of the unmanned aerial vehicle;

the acceleration sensor is used as a part of an inertial navigation system and is used for acquiring the acceleration parameters of the unmanned aerial vehicle;

the battery sensor is used for detecting the battery electric quantity of the unmanned aerial vehicle;

the unmanned aerial vehicle motor is used for driving the unmanned aerial vehicle to move;

and the magnetic field sensor is used for detecting the magnitude and the direction of the magnetic field intensity.

It can be understood that the above-mentioned unmanned aerial vehicle includes a micro control unit, a memory, a battery, etc., which are not described herein again.

Above-mentioned unmanned aerial vehicle can also include communication system such as bluetooth module.

The target vehicle may include Telematics (a composite word of Telecommunications and information science information), that is, a vehicle-mounted computer system using a wireless communication technology, or referred to as a vehicle-mounted communication (T-BOX), and performs data interaction with the unmanned aerial vehicle.

It can be understood that the unmanned aerial vehicle and the target vehicle can preferentially adopt 4G/5G communication when the relative distance is long, but it needs to be considered that the environment where the accident of the target vehicle occurs may be in a region where the 4G/5G communication signal is unstable, such as a mountainous area, a dense forest, a plateau area, etc.; wireless local area network communication may also be employed when the relative distance is close.

Step 101: and determining that the target vehicle is in a state to be rescued.

In an embodiment of the present invention, the target vehicle is in a state to be rescued, which may include at least one of the following: receiving information to be rescued sent by the target vehicle, receiving collision information sent by the target vehicle, and detecting that the communication between the unmanned aerial vehicle and the target vehicle is abnormal.

In the embodiment of the present invention, for convenience of description, the owner may be the owner of the target vehicle, or may be the driver or passenger of the target vehicle.

When the target vehicle has an accident, the vehicle owner can actively carry out vehicle-mounted communication and send information to be rescued to the unmanned aerial vehicle; of course, the target vehicle can actively send information to be rescued to the unmanned aerial vehicle after receiving collision information detected by the collision sensor.

Above-mentioned target vehicle also can send above-mentioned collision information for unmanned aerial vehicle after detecting the collision and taking place.

It can be understood that, not only the collision information, but also the vital sign information of the owner of the vehicle can be detected by the target vehicle; when the target vehicle detects that the vital sign information of the vehicle owner is abnormal, the information to be rescued can be sent to the unmanned aerial vehicle. Similarly, the target vehicle may detect vehicle state information such as deformation information of the target vehicle.

Of course, if the unmanned aerial vehicle does not establish communication with the target vehicle, the unmanned aerial vehicle may send information to be rescued to the unmanned aerial vehicle after establishing communication.

The information to be rescued can comprise preset instructions such as rescue request and the like, and can also comprise preset information such as communication identification of a rescue center, accident occurrence time and the like; the embodiment of the present invention is not limited thereto.

When the unmanned aerial vehicle can communicate with a plurality of target vehicles; the information to be rescued may include an identification of the target vehicle to distinguish the target vehicles.

Considering that the target vehicle is difficult to establish communication with the unmanned aerial vehicle after an accident may occur; in a preferred case, the drone and the target vehicle need to maintain communication. Like this, can guarantee that above-mentioned unmanned aerial vehicle can receive above-mentioned collision information, confirm that above-mentioned target vehicle is in the state of waiting to rescue.

The unmanned aerial vehicle determines that the target vehicle may be in a state to be rescued when detecting various communication abnormalities between the unmanned aerial vehicle and the target vehicle, such as abnormal interruption, no response to an active communication request sent by the unmanned aerial vehicle, and the like.

In the embodiment of the present invention, the target vehicle is in a state to be rescued, which includes but is not limited to accidents such as collision of the target vehicle, needs to be rescued by a driver or passengers of the target vehicle, the target vehicle is trapped in a dangerous environment, and the target vehicle is damaged and cannot be driven.

Step 102: and determining the target position information of the target vehicle.

In the embodiment of the invention, the unmanned aerial vehicle can comprise navigation systems such as a GPS navigation system and an inertial navigation system.

When an accident occurs, the drone may be in a vehicle-mounted state, for example, may be located at a stand of a target vehicle; possibly in cruise mode.

When the unmanned aerial vehicle is in a vehicle-mounted state, the target vehicle is determined to be in a state to be rescued, and then the motor can be automatically started and a cruising state can be carried out; at this time, the unmanned aerial vehicle may determine target position information of the target vehicle, and may use the navigation position information of the unmanned aerial vehicle as the target position information of the target vehicle.

The target vehicle may also include the navigation system.

When above-mentioned unmanned aerial vehicle is in the state of cruising, if above-mentioned unmanned aerial vehicle and above-mentioned target table vehicle can communicate, then above-mentioned unmanned aerial vehicle can confirm above-mentioned target position information according to the navigation position information of the target vehicle that above-mentioned target vehicle sent. Of course, the navigation position information of the target vehicle may be current navigation position information, or may also be historical navigation position information within a preset time period from the current time.

When above-mentioned unmanned aerial vehicle is in the state of cruising, if above-mentioned target vehicle is less than preset's distance with above-mentioned unmanned aerial vehicle's relative distance, then can regard as above-mentioned target position information with above-mentioned unmanned aerial vehicle's navigation position information.

The navigation parameters of the target vehicle may include: { xv, yv, zv }, which respectively represent the x coordinate, the y coordinate and the z coordinate of the target vehicle; the navigation parameters of the unmanned aerial vehicle can include: { xa, ya, za, }, denoting the drone x coordinate, drone y coordinate, drone z coordinate, respectively.

Step 103: and sending the first rescue request to a preset rescue center.

In the embodiment of the present invention, after determining that the target vehicle is in a state to be rescued, the first rescue request may be sent to a preset rescue center.

The rescue center may be a fixed or movable rescue center such as a hospital, an emergency rescue station, a rescue vehicle, or the like.

The unmanned aerial vehicle can store communication identification, such as a communication number and the like, of at least one rescue center in advance.

The unmanned aerial vehicle can also store the position information of each rescue center, and then the unmanned aerial vehicle can screen each rescue center according to the navigation position information of the unmanned aerial vehicle to determine the nearest rescue center.

Of course, the unmanned aerial vehicle can also retrieve the preset position information, the communication identifier and the like of the rescue center through the internet.

In the embodiment of the invention, the unmanned aerial vehicle can establish communication with the rescue centers corresponding to the communication identifiers through the communication identifiers respectively, and then sends the first rescue request to the rescue centers.

The first rescue request may include, but is not limited to, a rescue request, an accident location, an accident time, target vehicle information, owner information, and the like. The accident occurrence location may be an approximate location, such as a fine village and town, a road sign, and the like; the accident occurrence time can be information for determining that the target vehicle is in a state to be rescued, or time after the last communication, and the like; in general, the embodiments of the present invention are not limited thereto.

The owner information may include a communication identifier of the mobile terminal of the owner.

Illustratively, the first rescue request may be a short message in a preset format, a preset voice data packet, and the like.

The first rescue request may further include a communication rule for communicating with the drone, for example, a communication identifier of the drone, a protocol or format of information sent by the drone, and a protocol or format of information received by the drone.

Of course, if the unmanned aerial vehicle is in a vehicle-mounted state, the first rescue request may further include accident information recorded by a target vehicle sent by the vehicle to the unmanned aerial vehicle, a driving route, image information of a vehicle owner in the vehicle, and the like.

In the embodiment of the present invention, after the step 101, the step 102 may be preferentially executed, and then the step 103 may be executed; the step 103 may be executed first, and then the step 102 may be executed; in summary, the execution sequence of the

steps

102 and 103 is not limited by the embodiment of the present invention.

Step 104: and planning first rescue path information according to the target position information and preset position information of the rescue center.

In an embodiment of the present invention, the unmanned aerial vehicle may use target position information of the target vehicle as a destination, use preset position information of the rescue center as a starting point, and plan first rescue path information.

In an embodiment of the present invention, the starting point may also be preset position information between position information of the rescue center and the target position information; of course, the preset location information may be symbolic, widely known location information.

In the embodiment of the invention, the unmanned aerial vehicle can acquire historical road image information acquired by the unmanned aerial vehicle in a cruising state; the cruise state can be actively carried out, and the information of the surrounding road of the target vehicle is obtained; the driving record image information of the target vehicle, the image information of an AVM (Around View Monitor, panoramic parking video system), and the like can also be obtained.

The unmanned aerial vehicle can also acquire historical path information as auxiliary information to plan the first rescue path information.

acquiring road image information; the road image information includes historical road image information and/or road image information around the target vehicle;

and planning first rescue path information according to the traffic state information of each road, the target position information and the preset position information of the rescue center.

For example, the unmanned aerial vehicle may perform image processing on the road image information, retrieve each vehicle in the processed image through image recognition, and recognize each road in the processed image through a road template; obtaining information such as the position relation between each identified vehicle and each identified road, the distance between each vehicle and the like; calculating the ratio of the total area occupied by each vehicle on each road to the road area for each road; and determining the traffic state information of each road according to the ratio.

The traffic state information may be a congestion parameter representing a congestion status of the road; it is understood that the larger the above ratio, the larger the above road congestion parameter.

Then, searching a plurality of pieces of rescue path information by taking the target position information as a terminal point and taking preset position information of the rescue center as a starting point; and then determining the rescue path information with the optimal traffic state as first rescue path information according to the traffic state information of each road in the plurality of pieces of rescue path information.

For example, the optimal rescue path information may be rescue path information with the lightest average congestion condition among the plurality of pieces of rescue path information; the optimal rescue path information may be rescue path information having the shortest total passing time among the plurality of pieces of rescue path information, if the passing time corresponding to the preset traffic state information is acquired according to the traffic state information of each road.

Accordingly, in the embodiment of the present invention, first rescue path information corresponding to the rescue center may be planned according to the target location information and preset location information of at least one rescue center.

The first rescue path information may include information on each road that needs to be passed along the way from preset position information of the rescue center to the target position information, and may also include turn information, traffic light information passed along the way, gradient information, speed limit information, total path length, expected time spent, and the like.

Step 105: and when first rescue feedback aiming at the first rescue request by the rescue center is received, sending the first rescue path information to the rescue center.

In an embodiment of the present invention, when receiving a first rescue feedback from the rescue center for the first rescue request, the first rescue path information is sent to the rescue center.

Certainly, in the embodiment of the present invention, a plurality of first rescue path information respectively corresponding to the plurality of rescue centers may be planned, and when a first rescue feedback of a certain rescue center for the first rescue request is received, the first rescue path information corresponding to the rescue center is sent to the rescue center; when the first rescue feedback of a certain rescue center for the first rescue request is not received within a preset time period, no operation is performed.

The first rescue feedback may be response information of the rescue center to the first rescue request, may further be confirmation information for the rescue center to specify that a rescue action is to be taken, and may further include rescue information such as a rescue action or a departure time of a rescue vehicle; the embodiments of the present invention are not limited in this regard.

The first rescue feedback can be forwarded to the target vehicle through the unmanned aerial vehicle for displaying, so that the vehicle owner can know the first rescue feedback as soon as possible.

According to the unmanned aerial vehicle rescue method, after the target vehicle is determined to be in the state to be rescued, a rescue request is sent to a preset rescue center, first rescue path information is planned according to the target position information of the target vehicle and the preset position information of the rescue center, and when first rescue feedback of the rescue center is received, the first rescue path information is sent to the rescue center, so that an accurate planned route for reaching the target vehicle as soon as possible is provided for the follow-up rescue actions of the rescue center, the rescue center can plan a rescue scheme conveniently, and the time for reaching a rescue site is reduced.

Referring to fig. 3, an embodiment of the present invention provides a rescue method for an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle, and the method may include steps 301 and 310:

step 301: and determining that the target vehicle is in a state to be rescued.

Step 302: and determining the target position information of the target vehicle.

Further, the step 302 of determining the target position information of the target vehicle may include:

acquiring position navigation information sent by the target vehicle;

and when the target vehicle is detected, determining target position information of the target vehicle.

In the embodiment of the present invention, when the unmanned aerial vehicle is in a cruising state, for example, when an accident occurs or before communication between a target vehicle and the unmanned aerial vehicle is interrupted, the position navigation information sent by the target vehicle may be historical position navigation information, is not current position navigation information, and has a deviation in time; in addition, the target position information may be deviated, for example, when the target vehicle is deviated from the accident occurrence position after an accident, for example, when the target vehicle falls off a cliff; or the environment or road conditions around the target vehicle are relatively complex; in a word, the unmanned aerial vehicle needs to be controlled to fly to the target vehicle, the target position information of the target vehicle is determined, and the accurate and determined target position information is acquired, so that the subsequent rescue actions are prevented from being hindered.

The detecting of the target vehicle may include at least one of the following:

the camera of the unmanned aerial vehicle detects the normal connection of the wireless local area network between the target vehicle, the unmanned aerial vehicle and the target vehicle through image recognition.

The unmanned aerial vehicle can be pre-stored with standard image information of the target vehicle, so that the target vehicle is determined to be actually in the visual field range of the camera of the unmanned aerial vehicle through the image recognition; the camera of the unmanned aerial vehicle can be a short-focus camera; the wireless local area network connection between the unmanned aerial vehicle and the target vehicle is normal, namely, the distance between the target vehicle and the unmanned aerial vehicle is within a preset range, such as 5-20 meters.

Illustratively, when the target vehicle is detected, the current position information of the drone is used as the target position information.

Step 303: and sending the first rescue request to a preset rescue center.

Step 304: and planning first rescue path information according to the target position information and preset position information of the rescue center.

Step 305: and when first rescue feedback aiming at the first rescue request by the rescue center is received, sending the first rescue path information to the rescue center.

Further, when first rescue feedback of the rescue center for the first rescue request is received, the method further includes:

acquiring accident information of the target vehicle;

sending the accident information to the rescue center;

the accident information includes at least one of the following:

the scene image information of the target vehicle, the accident record information of the target vehicle, the vehicle state information of the target vehicle and the owner state information of the target vehicle.

Above-mentioned unmanned aerial vehicle can cruise through the within range of predetermineeing around above-mentioned target vehicle, then acquires above-mentioned target vehicle's on-the-spot image information through above-mentioned unmanned aerial vehicle's camera.

When the unmanned aerial vehicle can establish communication with the target vehicle, particularly when the unmanned aerial vehicle reaches the target position information, the unmanned aerial vehicle and the target vehicle can perform higher-quality communication through a wireless local area network; the unmanned aerial vehicle can inform the target vehicle of sending accident recording information of the target vehicle, vehicle state information of the target vehicle, owner state information of the target vehicle and the like; the target vehicle may also be actively transmitting the information.

The accident recording information of the target vehicle may include image information, an AVM image, and the like recorded by a vehicle event data recorder of the vehicle; the owner status information of the target vehicle includes at least one of the following: identity information of the vehicle owner and vital sign information of the vehicle owner; the vehicle state information of the target vehicle includes at least one of: the identification information of the vehicle may be, for example, a license plate number, body deformation information of the vehicle, or communication identification information of the vehicle, for example, a communication number of an in-vehicle communication system of the vehicle.

Certainly, in the embodiment of the present invention, whether the owner needs to be rescued may be determined according to the vital sign information of the owner; if the owner needs to be rescued urgently, the help-seeking objects around the target vehicle can be searched for urgent help-seeking, and the detailed contents can be described in the subsequent urgent help-seeking.

The rescue center can contact with rescue vehicles, formulate rescue schemes, and contact with other rescue stations or rescue organizations according to the accident information. For example, if the target vehicle is at risk of fire, the rescue center may be required to contact the fire organization by dialing 119; if the owner of the target vehicle needs an emergency, an ambulance, etc. may need to be contacted by dialing 120.

Further, the method further comprises:

the rescue scheme information comprises at least one of the following contents:

The target vehicle can display the rescue scheme in various modes such as picture playing, sound playing and the like, so that a vehicle owner can know the rescue scheme, the willingness of the vehicle owner is enhanced or the panic of the vehicle owner is reduced, and the vehicle owner can be guided to save oneself and the like.

Step 306: and receiving the communication identification of the rescue vehicle sent by the rescue center.

The rescue vehicle may be a rescue vehicle of the rescue center, or may be another rescue vehicle, and in short, belongs to a rescue vehicle associated with the first rescue request by the rescue center; the unmanned aerial vehicle can receive the communication identification of the rescue vehicle sent by the rescue center, and is convenient to establish communication with the rescue vehicle.

Step 307: and establishing communication connection with the rescue vehicle according to the communication identifier.

For example, the communication identifier may be a communication number of the rescue vehicle, and may also be a communication number of a vehicle owner of the rescue vehicle; sending a communication request to the rescue vehicle according to the communication identifier of the rescue vehicle; and after the response information of the rescue vehicle is received, finishing establishing communication connection with the rescue vehicle. Certainly, after receiving the communication identifier of the unmanned aerial vehicle sent by the rescue center, the rescue vehicle can also actively establish communication connection with the unmanned aerial vehicle.

Step 308: and receiving the real-time position information of the rescue vehicle.

The rescue vehicle can comprise or partially comprise navigation systems such as GPS navigation, inertial navigation and the like, or a navigation system of a mobile terminal of a vehicle owner of the rescue vehicle is used, so that real-time position information of the rescue vehicle can be acquired in real time; the rescue vehicle sends the real-time position information to the unmanned aerial vehicle.

Step 309: and planning second rescue path information according to the real-time position information and the target position information.

The unmanned aerial vehicle can use the real-time position information as a starting point, use the target position information as a terminal point, and plan second rescue path information.

The planning method is described with reference to step 104, and is not described herein again.

Since the rescue vehicle may not be sent from the rescue center, for example, the rescue vehicle is the rescue vehicle which is closest to the accident occurrence point and is associated with the accident occurrence point in the first rescue request by the rescue center; the rescue vehicle can not strictly run according to the first rescue path information due to an emergency, for example, a certain road cannot pass due to an emergency traffic accident; therefore, the second rescue path information can be planned in real time according to the real-time position information of the rescue vehicle and the target position information, has self-adaptability, can deal with the sudden situation which the rescue vehicle may encounter, is convenient for the rescue vehicle to arrive at a rescue site as soon as possible, and improves the rescue efficiency.

Step 310: and transmitting the second rescue path information to the rescue vehicle.

In an embodiment of the present invention, the second rescue path information is transmitted to the rescue vehicle.

Exemplarily, the unmanned aerial vehicle may be located in the target position information, and may also cruise around the target position information.

Further, the method may further include:

calculating the relative distance between the rescue vehicle and the target vehicle according to the real-time position information and the target position information;

and guiding the rescue vehicle to approach the target vehicle according to the target position information when the encounter with the rescue vehicle is detected.

Because the endurance mileage of the unmanned aerial vehicle is limited, the unmanned aerial vehicle can not be supported to conduct whole-course piloting on the rescue vehicle. Therefore, when the relative distance between the rescue vehicle and the unmanned aerial vehicle is smaller than the preset distance, the unmanned aerial vehicle can be controlled to fly to the rescue vehicle, and after meeting the rescue vehicle, the unmanned aerial vehicle is controlled to fly to the target vehicle, so that the rescue vehicle is guided to lean against the target vehicle.

In the embodiment of the invention, the endurance mileage of the unmanned aerial vehicle can be calculated according to the electric quantity information of the battery of the unmanned aerial vehicle; and determining the preset distance according to the endurance mileage. It can be understood that the preset distance may be half of the cruising range, and may also be calculated according to the speed information of the rescue vehicle, the speed information of the unmanned aerial vehicle, the second rescue path information, and the real-time position information of the rescue vehicle.

For example, the detection of the encounter with the rescue vehicle may be determined by detecting a relative distance between the unmanned aerial vehicle and the rescue vehicle, or may be determined by sending an encounter determination protocol to the vehicle by the unmanned aerial vehicle, and when the rescue vehicle encounters the unmanned aerial vehicle, the rescue vehicle sends a corresponding encounter instruction to the unmanned aerial vehicle according to the encounter determination protocol, so that the unmanned aerial vehicle detects the encounter with the rescue vehicle according to the encounter instruction. Of course, the image recognition mode is also possible, and the rescue vehicle can also transmit a standard rescue vehicle image to the unmanned aerial vehicle in advance; and will not be described in detail herein.

When the rescue vehicle is close to the target vehicle, the unmanned aerial vehicle is guided in person, so that the situation that the rescue site is possibly under a complex road condition and the rescue time is increased due to the fact that the target vehicle needs to be searched is avoided, and the rescue efficiency is further improved.

When the relative distance between the unmanned aerial vehicle and the rescue vehicle is short, the rescue vehicle and the unmanned aerial vehicle can also establish a wireless local area network for communication, for example, the wireless local area network is established through Bluetooth; the problem that the mobile communication signal strength is too weak due to the environment, for example, the 4G/5G signal strength is too weak, so that the communication quality is reduced can be avoided.

In the embodiment of the present invention, the method for controlling the unmanned aerial vehicle to fly may include various modes such as PID (proportional-integral-derivative) control and fuzzy control.

In an embodiment of the present invention, since the communication signal strength near the target location information may be weak, when the unmanned aerial vehicle detects that the communication signal strength with the rescue center or the rescue vehicle is lower than a preset threshold, the unmanned aerial vehicle may be controlled to fly within a preset range, search for a communicable range, and then establish communication with the rescue center or the rescue vehicle.

(1) according to the unmanned aerial vehicle rescue method, after the target vehicle is determined to be in the state to be rescued, a rescue request is sent to a preset rescue center, first rescue path information is planned according to the target position information of the target vehicle and the preset position information of the rescue center, and when first rescue feedback of the rescue center is received, the first rescue path information is sent to the rescue center, so that an accurate planned route for reaching the target vehicle as soon as possible is provided for the follow-up rescue actions of the rescue center, the rescue center can plan a rescue scheme conveniently, and the time for reaching a rescue site is reduced.

(2) The unmanned aerial vehicle rescue method can be communicated with a rescue vehicle in contact with a rescue center, and can plan second rescue path information and send the second rescue path information to the rescue vehicle according to the real-time position information and the target position information of the rescue vehicle.

(3) According to the unmanned aerial vehicle rescue method, when the rescue vehicle is close to the target vehicle, the unmanned aerial vehicle can be guided to navigate in person, so that the possible complex road conditions of the rescue site and the increase of rescue time caused by the need of searching the target vehicle are avoided, and the rescue efficiency is further improved.

Referring to fig. 4, an embodiment of the present invention provides a rescue method for an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle, and the method may include steps 401 and 410:

step 401: and determining that the target vehicle is in a state to be rescued.

Step 402: and determining the target position information of the target vehicle.

Step 403: and sending the first rescue request to a preset rescue center.

Step 404: and planning first rescue path information according to the target position information and preset position information of the rescue center.

Step 405: and when first rescue feedback aiming at the first rescue request by the rescue center is received, sending the first rescue path information to the rescue center.

Step 406: and when first rescue feedback of the rescue center aiming at the first rescue request is not received or the first rescue path information meets a preset condition, determining a search and help seeking range.

In an embodiment of the present invention, when the first rescue feedback of the rescue center for the first rescue request is not received within a preset time period, which means that the rescue center is likely to fail to perform a rescue action, or cannot perform a rescue action as soon as possible, the unmanned aerial vehicle may be controlled to search for other rescue objects around the target vehicle for assistance.

Illustratively, the first rescue path information meeting the preset condition includes at least one of the following: the total path length of the first rescue path information is greater than a preset path length, and the estimated time taken by the first rescue path information is greater than a preset time taken.

The preset path length, the preset elapsed time, and the like may be variable and may be ranked according to accident information transmitted from the vehicle.

Illustratively, the accident severity level corresponding to the vehicle body deformation information is obtained according to the vehicle body deformation information of the target vehicle and the preset corresponding relation between the vehicle body deformation information and the accident severity level. For example, if the accident severity level is a first level with extreme severity, the preset time corresponding to the first level is obtained according to the corresponding relationship between the preset accident severity level and the preset time. It will be appreciated that the more severe the accident, the shorter the above-mentioned presetting takes.

The determining the search help range may include: calculating the cruising mileage according to the battery electric quantity of the unmanned aerial vehicle; and determining a search and help seeking range according to the target position information and the cruising mileage.

Exemplarily, the preset search radius can be calculated according to the ratio of the cruising mileage to the preset search radius; and taking the range of the preset search radius surrounding the target position information as a search help range.

Step 407: and searching for the help-seeking object through image recognition in the search and help-seeking range.

In the search and help seeking range, a searcher is used as a help seeking object through face image recognition; and/or searching vehicles as help seeking objects through vehicle image recognition.

Step 408: and when the help-seeking object is searched, establishing communication connection with the help-seeking object.

When the help-seeking object is searched, a communication request can be sent to a communication system of the help-seeking object, such as a mobile terminal of a person and a vehicle-mounted communication system of a vehicle, and then communication connection is established after the communication system of the help-seeking object responds to the communication request.

In the embodiment of the invention, the unmanned aerial vehicle is controlled to establish Bluetooth connection with the communication system of the help object through the Bluetooth module.

Step 409: and when the communication connection is successfully established, sending a second rescue request.

And when the communication establishment connection between the unmanned aerial vehicle and the communication system of the help object is successful, sending a second rescue request to the communication system of the help object for the help object to acquire the second rescue request. The second rescue request is similar to the first rescue request, and is not described herein again.

Step 410: and when second rescue feedback of the help seeking object aiming at the second rescue request is received, controlling the unmanned aerial vehicle to fly to the target vehicle.

When receiving a second rescue feedback of the help seeking object aiming at the second rescue request, controlling the unmanned aerial vehicle to fly to the target vehicle according to the target position information and the current position information of the unmanned aerial vehicle, so that the help seeking object is likely to approach the target vehicle along with the unmanned aerial vehicle.

It can be understood that, above-mentioned unmanned aerial vehicle of control flies to above-mentioned target vehicle, can not need to know above-mentioned unmanned aerial vehicle's current position information, but can control unmanned aerial vehicle according to the flight record that unmanned aerial vehicle stored and return near the target vehicle.

Of course, in the embodiment of the present invention, the type of the help object may be determined; controlling the speed of the unmanned aerial vehicle flying to the target vehicle according to the type of the help object; for example, the types of the help object may include, but are not limited to: vehicles, personnel, etc.

Further, the method may further include:

when the communication connection is failed to be established, executing a preset help-seeking scheme;

controlling the unmanned aerial vehicle to fly to the target vehicle;

broadcast preset voice package of seeking help, light above-mentioned unmanned aerial vehicle's the signal lamp of seeking help.

When failing to establish communication with the above-mentioned object of seeking help, for example, when unable to establish communication, then inform the object of seeking help needs the rescue through playing preset pronunciation package of seeking help and/or lighting modes such as the signal lamp of seeking help of above-mentioned unmanned aerial vehicle, then control above-mentioned unmanned aerial vehicle to fly to above-mentioned target vehicle, then above-mentioned object of seeking help is likely to be followed above-mentioned target vehicle by above-mentioned unmanned aerial vehicle and is close to above-mentioned target vehicle.

For example, the help voice packet may include voice information of the rescue request; the help signal lamp can form SOS (international general SOS) and other help signs after being lighted.

That is, the embodiment of the invention can guide the help seeking object to approach the target vehicle for emergency rescue by autonomously searching the help seeking object near the target vehicle under the condition that communication obstacle exists.

Of course, in the embodiment of the present invention, after the help-seeking object receives the second rescue request, or after the unmanned aerial vehicle executes the preset help-seeking scheme, the help-seeking object may report rescue information to a rescue center, and the like.

(2) According to the unmanned aerial vehicle rescue method, when the first rescue feedback of the rescue center aiming at the first rescue request is not received, or the first rescue path information meets the preset condition, the help seeking object near the target vehicle is searched, the help seeking object is guided to be close to the target vehicle for emergency rescue, the problem that rescue in the rescue center is not timely is avoided, and the rescue efficiency is further improved.

Referring to fig. 5 and 6, schematic diagrams of an unmanned aerial vehicle rescue method according to an embodiment of the invention are shown. It should be noted that the unmanned aerial vehicle may pre-store a communication identifier of an emergency contact, establish communication with the emergency contact, and send accident information to the emergency contact; the vehicle owner can communicate with the emergency contact through the mobile terminal of the vehicle owner in a waking state; after the communication identification of the mobile terminal of the vehicle owner is obtained by the rescue center or the rescue vehicle, information such as a rescue scheme and the like can be sent to the mobile terminal of the vehicle owner for the vehicle owner to obtain.

Referring to fig. 7, an embodiment of the present invention provides an unmanned aerial vehicle rescue apparatus, which is applied to an unmanned aerial vehicle, and the apparatus may include:

a state determining module 701, configured to determine that a target vehicle is in a state to be rescued;

a position determining module 702, configured to determine target position information of the target vehicle;

a first rescue request module 703, configured to send a first rescue request to a preset rescue center;

a first path planning module 704, configured to plan first rescue path information according to the target location information and preset location information of the rescue center;

a first path sending module 705, configured to send the first rescue path information to the rescue center when receiving a first rescue feedback of the rescue center for the first rescue request.

Further, the above apparatus may further include:

the real-time position receiving module is used for receiving the real-time position information of the rescue vehicle;

Further, the above apparatus may further include:

the relative distance calculation module is used for calculating the relative distance between the rescue vehicle and the target vehicle according to the real-time position information and the target position information;

Further, the first path planning module 704 may include:

a road image acquisition unit for acquiring road image information; the road image information includes historical road image information and/or road image information around the target vehicle;

a road state determining unit for determining traffic state information of each road through vehicle identification and road identification according to the road image information;

Further, the position determining module 702 may include:

a position navigation information obtaining unit, configured to obtain position navigation information sent by the target vehicle;

and a position determining unit configured to determine target position information of the target vehicle when the target vehicle is detected.

Further, when receiving a first rescue feedback of the rescue center for the first rescue request, the apparatus may further include:

the accident information acquisition module is used for acquiring the accident information of the target vehicle;

the accident information includes at least one of the following:

Further, the above apparatus may further include:

a rescue scheme receiving module, configured to receive rescue scheme information corresponding to the accident information sent by the rescue center;

the rescue scheme sending module is used for sending the rescue scheme information to the target vehicle for the target vehicle to display the rescue scheme information;

the rescue scheme information comprises at least one of the following contents:

Further, when a first rescue feedback of the rescue center for the first rescue request is not received, or the first rescue path information satisfies a preset condition, the apparatus may further include:

Further, the above apparatus may further include:

the preset help-seeking module is used for executing a preset help-seeking scheme when the communication connection is failed to be established;

Compared with the prior art, the unmanned aerial vehicle rescue device and the unmanned aerial vehicle rescue method have the same advantages and are not repeated herein.

The embodiment of the invention also provides an unmanned aerial vehicle which comprises any one of the unmanned aerial vehicle rescue devices.

Compared with the prior art, the unmanned aerial vehicle and the unmanned aerial vehicle rescue method have the same advantages and are not repeated herein.

The embodiment of the invention also provides a vehicle provided with the unmanned aerial vehicle. The unmanned aerial vehicle can be a vehicle-mounted unmanned aerial vehicle of the vehicle or a non-vehicle-mounted unmanned aerial vehicle; but the vehicle can communicate with the drone to accomplish the various solutions described in the above embodiments.

Illustratively, referring to fig. 8, the vehicle 80 may include a sensor system 81, a bus 82, a control assembly 83; the bus 82 is used to transmit data detected by the sensor system 81 to the control unit 83. The drone 90 may include a drone rescue device 91; the vehicle 80 may communicate with the drone 90; the drone 90 may communicate with a rescue center/rescue vehicle 100.

The sensor system 81 may include various sensors, such as a seat sensor 811, an in-vehicle infrared camera 812, a body pressure sensor 813, etc., for detecting vehicle state information, vehicle owner state information, etc. The vehicle main position is detected, for example, by the seat sensor 811; detecting vital sign information of the owner, such as body temperature information, body posture, facial expression, pupil state and the like by using an in-vehicle infrared camera 812; the vehicle body deformation information is detected by the vehicle body pressure sensor 813 provided in the body of the target vehicle; other sensors may also be used to collect the vehicle state, such as an oil leak detection sensor or the like to detect whether the target vehicle leaks oil.

The bus 82 may be a CAN (Controller Area Network) bus, for example.

The control assembly 83 may include a data acquisition module 831, an information processing module 832, a storage module 833 and a communication module 834; the data acquisition module 831, the information processing module 832 and the storage module 833 are respectively used for acquiring, processing and storing data sent by the sensor system 81 through the bus 82 to obtain vehicle state information, owner state information and the like of the vehicle; the communication module 834 is used for communicating with the unmanned aerial vehicle rescue device 91 of the unmanned aerial vehicle 90 to perform interaction of vehicle state information, vehicle owner state information, rescue information and the like.

It is to be understood that the above-described vehicle 80 in the embodiment of the invention corresponds to the above-described target vehicle.

The vehicle and the unmanned aerial vehicle rescue method have the same advantages compared with the prior art, and are not repeated herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An unmanned aerial vehicle rescue method is applied to an unmanned aerial vehicle, and comprises the following steps:

determining that a target vehicle is in a state to be rescued;

determining target location information of the target vehicle;

sending a first rescue request to a preset rescue center;

when first rescue feedback of the rescue center for the first rescue request is received, sending the first rescue path information to the rescue center;

when first rescue feedback of the rescue center for the first rescue request is not received, or the first rescue path information meets a preset condition, the method further comprises the following steps:

determining a search and help seeking range;

2. The method of claim 1, further comprising:

receiving real-time position information of the rescue vehicle;

and sending the second rescue path information to the rescue vehicle.

3. The method of claim 2, further comprising:

4. The method as claimed in claim 1, wherein the step of planning the first rescue path information according to the target location information and the preset location information of the rescue center comprises:

5. The method of claim 1, wherein the step of determining target location information of the target vehicle comprises:

acquiring position navigation information sent by the target vehicle;

6. The method of claim 1, further comprising:

controlling the unmanned aerial vehicle to fly to the target vehicle;

7. The utility model provides an unmanned aerial vehicle rescue device which characterized in that is applied to unmanned aerial vehicle, the device includes:

the first path sending module is used for sending the first rescue path information to the rescue center when receiving first rescue feedback of the rescue center aiming at the first rescue request;

when first rescue feedback of the rescue center for the first rescue request is not received, or when the first rescue path information meets a preset condition, the device further comprises:

8. An unmanned aerial vehicle comprising the unmanned aerial vehicle rescue apparatus of claim 7.

9. A vehicle, characterized in that is provided with a drone according to claim 8.