Air-to-land UAV near-field sensing message transmission and pairing system and method

Abstract

The present invention discloses a near-field sensing message transmission and pairing system for air-to-land UAVs and a method thereof. The system drives an unmanned aerial vehicle to advance to the route of an unmanned ground vehicle to continuously sense whether obstacles or traffic control appear. If so, a diversion signal is generated to be transmitted to the unmanned ground vehicle, so that the unmanned ground vehicle calculates an alternative route based on map information, current coordinates, obstacle coordinates and destination coordinates to replace the original route, thereby increasing the reaction time of the unmanned ground vehicle, so as to achieve the technical effect of improving the immediacy of the unmanned ground vehicle in avoiding roadblocks.

Description

Technical Field

[0001] The present invention relates to a transmission and pairing system and method thereof, in particular to a near-field sensing message transmission and pairing system and method thereof for air-to-land unmanned aerial vehicles. Background Art

[0002] In recent years, with the popularization and vigorous development of driverless technology, it is no longer uncommon to see self-driving cars on the road. However, due to the lack of human drivers, the emergency response capabilities of self-driving cars still need to be strengthened. Therefore, how to improve the emergency response capabilities of self-driving cars has become one of the problems that manufacturers are eager to solve.

[0003] Generally speaking, traditional unmanned ground vehicles (such as self-driving cars) have camera components and distance measuring components, and can identify various objects on the road, and obtain positioning coordinates in conjunction with a positioning system. When an obstacle or traffic control is detected and the vehicle cannot move forward, it may be too late to react or change routes. For example, when there is an impassable obstacle in front of a single lane and there is a vehicle behind, the vehicle can only wait for the vehicle behind to reverse. Therefore, there is a problem of poor immediacy of unmanned ground vehicles in avoiding roadblocks.

[0004] In view of this, some manufacturers have proposed the technical means of artificial assistance system, which transmits the relevant information of the self-driving car to the remote end when the self-driving car encounters an emergency, and the remote driver remotely drives the self-driving car to eliminate the emergency. However, this method can only solve a limited number of emergencies. For example, in the single lane example mentioned above, even if the remote driver takes over, he still needs to wait for the vehicle behind to reverse. He cannot know in advance that there is an obstacle ahead and change the route immediately to avoid being caught in a dilemma. Therefore, there is a problem of poor immediacy of unmanned ground vehicles avoiding roadblocks.

[0005] In summary, it can be seen that the existing technology has long had the problem of poor immediacy of unmanned ground vehicles avoiding roadblocks, so it is necessary to propose improved technical means to solve this problem. Summary of the invention

[0006] The invention discloses a near-field sensing message transmission and pairing system for air-to-land unmanned aerial vehicles and a method thereof.

[0007] First, the present invention discloses a near-field sensing message transmission and pairing system for air-to-land drones, which includes: an unmanned aerial vehicle and an unmanned ground vehicle. The unmanned aerial vehicle includes: a detection module, a transceiver module and a flight module. Among them, the detection module is used to enable the sensor and the image recognition unit to continuously sense obstacles or traffic control features on the ground of the forward route when the unmanned aerial vehicle moves along the forward route; the transceiver module is connected to the detection module, and is used to generate a diversion signal including obstacle coordinates according to the position of the obstacle or traffic control feature for transmission when an obstacle or traffic control feature is sensed, and receive the forward route and the alternative route; and the flight module is connected to the transceiver module, and is used to control the unmanned aerial vehicle to fly along the forward route, and when the alternative route is received, control the unmanned aerial vehicle to change from the forward route to the alternative route. Next, in the part of the unmanned ground vehicle, the unmanned ground vehicle and the unmanned aerial vehicle are paired through wireless communication to transmit messages, and when the plane distance between the unmanned aerial vehicle and the unmanned ground vehicle meets the interval distance, the unmanned ground vehicle moves along the same forward route. This unmanned ground vehicle includes: a positioning module, a map module, a transmission module and a calculation module. Among them, the positioning module is used to continuously obtain the current coordinates through the positioning system when the unmanned ground vehicle moves along the forward route; the map module is used to store map information, and this map information includes geographic information and a forward route from the current coordinates to the destination coordinates; the transmission module is connected to the positioning module and the map module, and is used to initially transmit the forward route to the unmanned aerial vehicle so that the unmanned aerial vehicle moves along the forward route, and receives the diversion signal sent by the unmanned aerial vehicle; and the calculation module is connected to the positioning module, the map module and the transmission module, and is used to load the map information from the map module when receiving the diversion signal to match the current coordinates, obstacle coordinates and destination coordinates to calculate an alternative route, and then transmit the alternative route to the unmanned aerial vehicle through the transmission module.

[0008] In addition, the present invention also discloses a near-field sensing message transmission and pairing method for air-to-land UAVs, which is applied in a collaborative operation environment with an unmanned aerial vehicle and an unmanned ground vehicle, and the steps include: the unmanned ground vehicle and the unmanned aerial vehicle are paired through wireless communication to transmit messages, wherein the unmanned ground vehicle initially transmits the forward route to the unmanned aerial vehicle, so that the unmanned aerial vehicle first moves along the forward route until the plane distance between the unmanned aerial vehicle and the unmanned ground vehicle meets the interval distance, and the unmanned ground vehicle then moves along the same forward route; when the unmanned aerial vehicle moves along the forward route, the sensor and the image recognition unit are enabled to continuously sense obstacles or traffic control features on the ground along the forward route, and when the unmanned ground ... When the surface vehicle moves along the forward route, it continuously obtains the current coordinates through the positioning system; when the unmanned aerial vehicle senses an obstacle or a traffic control feature, it generates a rerouting signal including the obstacle coordinates according to the position of the obstacle or the traffic control feature and sends it to the unmanned ground vehicle; when the unmanned ground vehicle receives the rerouting signal, it loads the stored map information, wherein the map information includes geographic information and the forward route from the current coordinates to the destination coordinates; the unmanned ground vehicle calculates an alternative route based on the loaded map information, the current coordinates, the obstacle coordinates and the destination coordinates, and transmits the alternative route to the unmanned aerial vehicle; and when the unmanned aerial vehicle receives the alternative route, it controls the unmanned aerial vehicle to change from the forward route to flying along the alternative route.

[0009] The system and method disclosed in the present invention are as described above. The difference from the prior art is that the present invention continuously senses whether obstacles or traffic control appear by driving the unmanned aerial vehicle to advance to the unmanned ground vehicle's forward route. If so, a reroute signal is generated to be transmitted to the unmanned ground vehicle, so that the unmanned ground vehicle calculates an alternative route based on map information, current coordinates, obstacle coordinates and destination coordinates to replace the original forward route, thereby increasing the response time of the unmanned ground vehicle.

[0010] Through the above-mentioned technical means, the present invention can achieve the technical effect of improving the immediacy of unmanned ground vehicles in avoiding roadblocks. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The system block diagram of the air-to-land UAV near-field sensing message transmission and pairing system of the present invention.

[0012] Figure 2A and Figure 2B The present invention is a method flow chart of the air-to-land UAV near-field sensing message transmission and pairing method.

[0013] Figure 3 A schematic diagram of the application of the present invention to the coordinated operation of air-land UAVs.

[0014] Figure 4It is a schematic diagram of applying the present invention to sense traffic control features.

[0015] Description of reference numerals:

[0016] 110 Unmanned Aerial Vehicle

[0017] 111 Detection Module

[0018] 112 Transceiver module

[0019] 113 Flight Module

[0020] 120 Unmanned Ground Vehicle

[0021] 121 Positioning module

[0022] 122 Image Module

[0023] 123 Transmission Module

[0024] 124 Computing Module

[0025] 310, 410 Unmanned Aerial Vehicles

[0026] 320 Unmanned Ground Vehicle

[0027] 331 Separation distance

[0028] 332 Obstacles

[0029] 420 Warning triangle DETAILED DESCRIPTION

[0030] The following will describe the implementation methods of the present invention in detail with reference to drawings and examples, so that the implementation process of how the present invention applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0031] Please read first Figure 1 , Figure 1The system block diagram of the air-to-land UAV near-field sensing message transmission and pairing system of the present invention includes: an unmanned aerial vehicle 110 and an unmanned ground vehicle 120. The unmanned aerial vehicle 110 includes: a detection module 111, a transceiver module 112 and a flight module 113. Among them, the detection module 111 is used to enable the sensor and the image recognition unit to continuously sense obstacles or traffic control features on the ground of the forward route when the unmanned aerial vehicle moves along the forward route. In actual implementation, in addition to the image sensor, the sensor also includes at least one of a near-field optical sensor and a distance sensor to sense the planar distance between the unmanned aerial vehicle 110 and the unmanned ground vehicle 120, and transmit the planar distance to the unmanned ground vehicle 120. In addition, sensing obstacles or traffic control features can be achieved through artificial intelligence algorithms, such as: Deep Learning's Region based Convolutional Neural Network (R-CNN), Fast Region based Convolutional Neural Network (Fast R-CNN), Faster Regionbased Convolutional Neural Network (Faster R-CNN), Mask R-CNN, and YOLO models for recognition. For example, obstacles or traffic control features are first input as training data into an artificial intelligence model for training, and then the sensed image can be input into the trained artificial intelligence model to determine whether it matches the obstacle or traffic control feature.

[0032] The transceiver module 112 is connected to the detection module 111, and is used to generate a redirection signal including the obstacle coordinates according to the location of the obstacle or the traffic control feature for transmission when an obstacle or a traffic control feature is sensed, and receive the forward route and the alternative route. In actual implementation, the unmanned ground vehicle 120 receives the plane distance and when it is determined that the plane distance meets the interval distance, the unmanned ground vehicle 120 is driven to move along the forward route, and when the plane distance is less than the interval distance, the unmanned ground vehicle 120 stops moving. In addition, the transceiver module 112 of the unmanned ground vehicle 120 can continuously transmit the current coordinates to the unmanned aerial vehicle 110. When the unmanned aerial vehicle 110 detects that the power is lower than the threshold, the unmanned aerial vehicle 110 is driven to move to the position of the unmanned ground vehicle 120 according to the current coordinates, wherein the threshold allows dynamic adjustment according to the interval distance, so that the threshold is positively correlated with the interval distance. For example, assuming that the interval distance is longer, the threshold is adjusted higher. For example: when the interval distance changes from 5 meters to 10 meters, the threshold is adjusted from 20% of the power to 40% of the power, so that the unmanned aerial vehicle 110 has enough power to move to the unmanned ground vehicle 120 to land for charging.

[0033] The flight module 113 is connected to the transceiver module 112 to control the unmanned aerial vehicle 110 to fly along the forward route, and upon receiving the alternative route from the unmanned ground vehicle 120, the flight module 113 controls the unmanned aerial vehicle 110 to change from the forward route to the alternative route. In actual implementation, the forward route and the alternative route are both routes calculated based on a map, current coordinates, and destination coordinates, wherein the forward route is the shortest route (or shortest path), and the alternative route is the shortest route calculated by taking into account the locations of obstacles or traffic control features.

[0034] Next, in the part of the unmanned ground vehicle 120, the unmanned ground vehicle 120 and the unmanned aerial vehicle 110 are paired through wireless communication to transmit messages, and when the plane distance between the unmanned aerial vehicle 110 and the unmanned ground vehicle 120 meets the interval distance, the unmanned ground vehicle 120 moves along the same forward route. This unmanned ground vehicle 120 includes: a positioning module 121, a map module 122, a transmission module 123 and a calculation module 124. Among them, the positioning module 121 is used to continuously obtain the current coordinates (such as longitude and latitude) through the positioning system when the unmanned ground vehicle moves along the forward route. In actual implementation, the positioning module 121 can be implemented using the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS), the Galileo Positioning System (Galileo), the Global Navigation Satellite System (GLONASS) or similar positioning systems.

[0035] The map module 122 is used to store map information, which includes geographic information and a route from current coordinates to destination coordinates. In actual implementation, the map module 122 can be implemented by a geographic information system (GIS) and allows input, storage, query, analysis and display of geographic data.

[0036] The transmission module 123 is connected to the positioning module 121 and the image data module 122, and is used to initially transmit the route to the unmanned aerial vehicle 110 so that the unmanned aerial vehicle 110 moves along the route, and receive the redirection signal sent by the unmanned aerial vehicle 110. In actual implementation, the transmission module 123 can transmit the route and redirection signal through wireless communication technology, such as wireless network, cellular network, short-range point-to-point communication, wireless sensor network, etc.

[0037] The calculation module 124 is connected to the positioning module 121, the map module 122 and the transmission module 123, and is used to load the map information from the map module 122 to calculate the alternative route in combination with the current coordinates, the obstacle coordinates and the destination coordinates when receiving the diversion signal, and then transmit the alternative route to the unmanned aerial vehicle 110 through the transmission module 123. In actual implementation, the calculation of the alternative route can be achieved by Dijkstra Algorithm, K Shortest Path (KSP) or other similar algorithms.

[0038] It should be particularly noted that in actual implementation, the modules described in the present invention can be implemented in various ways, including software, hardware or any combination thereof. For example, in some embodiments, each module can be implemented using software and hardware or one of them. In addition, the present invention can also be partially or completely implemented based on hardware. For example, one or more modules in the system can be implemented by integrated circuit chips, single-chip microcomputers, complex programmable logic devices (CPLD), field programmable gate arrays (FPGA), etc. The present invention can be a system, method and / or computer program. The computer program can include a computer-readable storage medium, which carries computer-readable program instructions for enabling a processor to implement various aspects of the present invention. The computer-readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. The computer-readable storage medium can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device or any suitable combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: a hard disk, a random access memory, a read-only memory, a flash memory, an optical disk, a floppy disk, and any suitable combination of the above. The computer-readable storage medium used herein is not interpreted as an instantaneous signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (e.g., an optical signal through an optical fiber cable), or an electrical signal transmitted by an electric wire. In addition, the computer-readable program instructions described herein can be downloaded from the computer-readable storage medium to each computing / processing device, or downloaded to an external computer device or an external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, hubs, and / or gateways. The network card or network interface in each computing / processing device receives the computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.The computer program instructions for performing the operations of the present invention may be assembly language instructions, instruction set architecture instructions, machine instructions, machine-dependent instructions, microinstructions, firmware instructions, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Common Lisp, Python, C++, Objective-C, Smalltalk, Delphi, Java, Swift, C#, Perl, Ruby, and PHP, and conventional procedural programming languages ​​such as C or similar programming languages. The computer program instructions may be executed entirely on the computer, partially on the computer, as a stand-alone software, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server.

[0039] See also Figure 2A and Figure 2B , Figure 2A and Figure 2BThe method flow chart of the air-to-ground UAV near-field sensing message transmission and pairing method of the present invention is applied in a collaborative operation environment with an unmanned aerial vehicle 110 and an unmanned ground vehicle 120, and the steps include: the unmanned ground vehicle 120 and the unmanned aerial vehicle 110 are paired through wireless communication to perform message transmission, wherein the unmanned ground vehicle 120 initially transmits the forward route to the unmanned aerial vehicle 110, so that the unmanned aerial vehicle 110 first moves along the forward route until the plane distance between the unmanned aerial vehicle 110 and the unmanned ground vehicle 120 meets the interval distance, and the unmanned ground vehicle 120 then moves along the same forward route (step 210); when the unmanned aerial vehicle 110 moves along the forward route, the sensor and the image recognition unit are enabled to continuously sense obstacles or traffic control features on the ground of the forward route, and when the unmanned ground vehicle 12 ... When the route moves, the current coordinates are continuously obtained through the positioning system (step 220); when the unmanned aerial vehicle 110 senses an obstacle or a traffic control feature, it generates a redirection signal including the obstacle coordinates according to the position of the obstacle or the traffic control feature and sends it to the unmanned ground vehicle 120 (step 230); when the unmanned ground vehicle 120 receives the redirection signal, it loads the stored map information, wherein the map information includes geographic information and a forward route from the current coordinates to the destination coordinates (step 240); the unmanned ground vehicle 120 calculates an alternative route based on the loaded map information, the current coordinates, the obstacle coordinates and the destination coordinates, and transmits the alternative route to the unmanned aerial vehicle 110 (step 250); and when the unmanned aerial vehicle 110 receives the alternative route, it controls the unmanned aerial vehicle 110 to change from the forward route to flying along the alternative route (step 260). In this way, the unmanned aerial vehicle 110 can be driven to the route of the unmanned ground vehicle 120 in advance to continuously sense whether there are obstacles or traffic control. If so, a diversion signal is generated and transmitted to the unmanned ground vehicle 120, so that it can calculate an alternative route based on the map information, current coordinates, obstacle coordinates and destination coordinates to replace the original route, thereby increasing the reaction time of the unmanned ground vehicle 120.

[0040] The following match Figure 3 and Figure 4 The following description is given by way of example. Please refer to Figure 3 , Figure 3The schematic diagram of the application of the present invention to the coordinated operation of air-land UAVs. First, the unmanned ground vehicle 320 and the unmanned aerial vehicle 310 are paired through wireless communication to transmit messages, and the unmanned ground vehicle 320 initially transmits a preset forward route to the unmanned aerial vehicle 310, so that the unmanned aerial vehicle 310 moves along the forward route first, until the plane distance between the unmanned aerial vehicle 310 and the unmanned ground vehicle 320 meets the spacing distance 331, and the unmanned ground vehicle 320 moves along the same forward route. For example, assuming that the spacing distance 331 is 10 meters, when the plane distance between the unmanned aerial vehicle 310 and the unmanned ground vehicle 320 is greater than 10 meters, it is considered to be satisfied. When the unmanned aerial vehicle 310 moves along the forward route, the sensor and the image recognition unit are enabled to continuously sense obstacles 332 or traffic control features on the ground of the forward route, and when the unmanned ground vehicle 320 moves along the forward route, the current coordinates are continuously obtained through the positioning system. Next, when the unmanned aerial vehicle 310 senses the obstacle 332 or the traffic control feature, a redirection signal including the obstacle coordinates is generated according to the position of the obstacle 332 or the traffic control feature and sent to the unmanned ground vehicle 320. Next, when the unmanned ground vehicle 320 receives the redirection signal, the stored map information is loaded, wherein the map information includes geographic information and a forward route from the current coordinates to the destination coordinates. Next, the unmanned ground vehicle 320 calculates an alternative route according to the loaded map information, the current coordinates, the obstacle coordinates and the destination coordinates, and transmits the alternative route to the unmanned aerial vehicle 310, and when the unmanned aerial vehicle 310 receives the alternative route, the unmanned aerial vehicle 310 is controlled to change from the forward route to flying along the alternative route. In this way, the coordinated operation of air-land drones (i.e., the unmanned aerial vehicle 310 and the unmanned ground vehicle 320) can be realized by near-field sensing message transmission and pairing, so that the unmanned ground vehicle 320 can have sufficient reaction time to avoid obstacles or traffic control.

[0041] like Figure 4 Indicated, Figure 4The figure is a schematic diagram of the application of the present invention to sense traffic control features. In actual implementation, images of traffic control (e.g., images of warning triangles 420, traffic cones, traffic police, etc.) can be used as training data for an artificial intelligence model in advance, so as to train an artificial intelligence model that can recognize traffic control. In this way, the image recognition unit of the unmanned aerial vehicle 410 can use this trained artificial intelligence model to sense traffic control features, and when the features are sensed, a diversion signal including obstacle coordinates is generated. For example, when traffic control features are sensed, the current positioning coordinates of the unmanned aerial vehicle 410 are directly used as obstacle coordinates. On the other hand, feature values ​​can also be captured from the image of the traffic control equipment in advance as traffic control features. When matching traffic control features exist in the ground image sensed by the image sensor, a diversion signal including obstacle coordinates (corresponding to the position of the obstacle or traffic control feature) is generated. Next, the UAV 410 will transmit the generated redirection signal to the UAV so that it can calculate an alternative route. Meanwhile, the UAV 410 will also receive the alternative route from the UAV and control the UAV 410 to change its original forward route to fly along the alternative route.

[0042] In summary, it can be seen that the difference between the present invention and the prior art lies in that the unmanned aerial vehicle is driven to advance to the route of the unmanned ground vehicle to continuously sense whether there are obstacles or traffic control. If so, a diversion signal is generated to be transmitted to the unmanned ground vehicle, so that the unmanned ground vehicle calculates an alternative route based on map information, current coordinates, obstacle coordinates and destination coordinates to replace the original route, thereby increasing the reaction time of the unmanned ground vehicle. This technical means can solve the problems existing in the prior art, thereby achieving the technical effect of improving the immediacy of the unmanned ground vehicle in avoiding roadblocks.

[0043] Although the present invention is disclosed as above with the aforementioned embodiments, it is not intended to limit the present invention. Any person skilled in the art may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of patent protection of the present invention shall be subject to the scope defined by the claims attached to this specification.

Claims

1. A near-field sensing message transmission and pairing system for air-to-land drones, characterized in that: The system includes: An unmanned aerial vehicle, the unmanned aerial vehicle comprising: A detection module, configured to enable at least one sensor and an image recognition unit to continuously sense at least one obstacle or traffic control feature on the ground of the route when the unmanned aerial vehicle moves along the route; a transceiver module connected to the detection module, for generating a redirection signal including at least one obstacle coordinate according to the position of the obstacle or the traffic control feature for transmission when the obstacle or the traffic control feature is sensed, and for receiving the forward route and the alternative route; and a flight module connected to the transceiver module, configured to control the unmanned aerial vehicle to fly along the forward route, and, upon receiving the alternative route, control the unmanned aerial vehicle to change from the forward route to the alternative route; as well as An unmanned ground vehicle, wherein the unmanned ground vehicle is paired with the unmanned aerial vehicle through wireless communication to transmit messages, and when the plane distance between the unmanned aerial vehicle and the unmanned ground vehicle satisfies the separation distance, the unmanned ground vehicle moves along the same forward route, the unmanned ground vehicle comprising: A positioning module, used for continuously obtaining current coordinates through a positioning system when the unmanned ground vehicle moves along the forward route; A map module for storing map information, wherein the map information includes geographic information and the forward route from the current coordinates to the destination coordinates; A transmission module connected to the positioning module and the image data module, for initially transmitting the forward route to the unmanned aerial vehicle so that the unmanned aerial vehicle moves along the forward route, and receiving the redirection signal sent by the unmanned aerial vehicle; as well as a calculation module connected to the positioning module, the map module and the transmission module, for, when receiving the diversion signal, loading the map information from the map module to calculate the alternative route in combination with the current coordinates, the obstacle coordinates and the destination coordinates, and then transmitting the alternative route to the unmanned aerial vehicle through the transmission module; The sensor includes an image sensor and at least one of a near-field optical sensor and a distance sensor, for sensing the planar distance between the unmanned aerial vehicle and the unmanned ground vehicle, and transmitting the planar distance to the unmanned ground vehicle; The unmanned ground vehicle receives the plane distance and drives the unmanned ground vehicle to move along the forward route when it is determined that the plane distance satisfies the interval distance, and stops the unmanned ground vehicle from moving when the plane distance is less than the interval distance; The unmanned ground vehicle continuously transmits the current coordinates to the unmanned aerial vehicle, and when the unmanned aerial vehicle detects that the power level is lower than a threshold, the unmanned aerial vehicle is driven to move to the position of the unmanned ground vehicle according to the current coordinates; The threshold value allows for dynamic adjustment according to the interval distance, so that the threshold value is positively correlated with the interval distance.

2. A method for near-field sensing message transmission and pairing of air-land UAVs, applied in a collaborative operation environment with unmanned aerial vehicles and unmanned ground vehicles, characterized in that: The steps include: The unmanned ground vehicle and the unmanned aerial vehicle are paired through wireless communication to perform message transmission, wherein the unmanned ground vehicle initially transmits a forward route to the unmanned aerial vehicle, so that the unmanned aerial vehicle first moves along the forward route until the plane distance between the unmanned aerial vehicle and the unmanned ground vehicle meets the separation distance, and then the unmanned ground vehicle moves along the same forward route; When the unmanned aerial vehicle moves along the forward route, enabling at least one sensor and an image recognition unit to continuously sense at least one obstacle or traffic control feature on the ground of the forward route, and when the unmanned ground vehicle moves along the forward route, continuously obtaining current coordinates through a positioning system; When the unmanned aerial vehicle senses the obstacle or the traffic control feature, the unmanned aerial vehicle generates a redirection signal including at least one obstacle coordinate according to the location of the obstacle or the traffic control feature and sends the signal to the unmanned ground vehicle; When the unmanned ground vehicle receives the redirection signal, it loads the stored map information, wherein the map information includes geographic information and the forward route from the current coordinates to the destination coordinates; The unmanned ground vehicle calculates an alternative route according to the loaded map information, in combination with the current coordinates, the obstacle coordinates and the destination coordinates, and transmits the alternative route to the unmanned aerial vehicle; and When the unmanned aerial vehicle receives the alternative route, the unmanned aerial vehicle is controlled to change its flight path from the forward route to the alternative route; The sensor includes an image sensor and at least one of a near-field optical sensor and a distance sensor, for sensing the planar distance between the unmanned aerial vehicle and the unmanned ground vehicle, and transmitting the planar distance to the unmanned ground vehicle; The unmanned ground vehicle receives the plane distance and drives the unmanned ground vehicle to move along the forward route when it is determined that the plane distance satisfies the interval distance, and stops the unmanned ground vehicle from moving when the plane distance is less than the interval distance; The method further comprises the steps of the unmanned ground vehicle continuously transmitting the current coordinates to the unmanned aerial vehicle, and the unmanned aerial vehicle driving the unmanned aerial vehicle to move to the position of the unmanned ground vehicle according to the current coordinates when the unmanned aerial vehicle detects that the power level is lower than a threshold, wherein the threshold is dynamically adjusted according to the interval distance; The threshold value allows for dynamic adjustment according to the interval distance, so that the threshold value is positively correlated with the interval distance.

Images