Road blocking and obstacle removal drone, road blocking and obstacle removal system and method

Abstract

The present invention provides a road-blocking obstacle-clearing drone, a road-blocking obstacle-clearing system and a method, and relates to the technical field of drones. The road-blocking obstacle-clearing drone is equipped with a communication device, a flight control system, an integrated mission system, an optical projection device and a warning device. The present invention pre-plans the driving route of the target vehicle, utilizes the characteristics of the road-blocking obstacle-clearing drone that reacts quickly and is not affected by urban traffic, and pre-flies to the driving route of the target vehicle to conduct traffic diversion, thereby improving the timeliness of the target vehicle arriving at the designated location.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a road-closing obstacle-clearing unmanned aerial vehicle, a road-closing obstacle-clearing system and a road-closing obstacle-clearing method. Background Art

[0002] When there are emergencies such as fire, first aid, and pursuit of target personnel, target vehicles such as fire trucks, ambulances, and police cars need to reach the designated location quickly. However, when there is traffic congestion such as above and rush hour, the target vehicles will be stuck on the road, which seriously affects the timeliness of the target vehicles to the designated location. Summary of the invention

[0003] The object of the present invention is to provide a road-blocking obstacle-clearing drone, a road-blocking obstacle-clearing system and a method, so as to improve the timeliness of the target vehicle arriving at a designated location.

[0004] In a first aspect, an embodiment of the present invention provides a road-blocking obstacle-clearing drone, comprising a communication device, a flight control system, an integrated mission system, an optical projection device, and a warning device; the communication device is connected to the flight control system and the integrated mission system, respectively, and the integrated mission system is connected to the optical projection device and the warning device, respectively;

[0005] The communication device is used to transmit the route information and mission information planned by the ground station system to the flight control system and the integrated mission system respectively; the flight control system is used to control the road-closing obstacle-clearing drone to fly to a designated location based on the received route information; the integrated mission system is used to control the warning device to issue a warning based on the received mission information, and to control the optical projection device to project the target vehicle's route onto the road surface, with the projection width of the projection area being equal to the road surface width required for the target vehicle to travel.

[0006] Furthermore, the road-blocking and obstacle-clearing UAV further comprises a satellite positioning system, a navigation device and a lift system respectively connected to the flight control system, and the satellite positioning system is also connected to the navigation device;

[0007] The flight control system is used to preprocess the received route information and send the preprocessed route information to the satellite positioning system; the satellite positioning system is used to obtain real-time positioning information, and send the real-time positioning information and the received route information to the navigation device; the navigation device is used to generate navigation information based on the received real-time positioning information and route information, and send the navigation information to the flight control system; the flight control system is also used to convert the navigation information into flight control instructions, and send the flight control instructions to the lift system; the lift system is used to control the road-closing and obstacle-clearing drone to fly to a designated location according to the received flight control instructions.

[0008] Furthermore, the road-blocking and obstacle-clearing UAV further comprises an optoelectronic pod connected to the integrated mission system;

[0009] The optoelectronic pod is used to obtain real-time audio and video information on the target vehicle's route and transmit the real-time audio and video information to the integrated mission system; the integrated mission system is also used to transmit the received real-time audio and video information to the communication device; the communication device is also used to transmit the received real-time audio and video information to the ground station system.

[0010] Furthermore, the road-closing obstacle-clearing drone also includes a shouting device connected to the integrated mission system, and the integrated mission system is also used to require private vehicles to give way through the shouting device.

[0011] Furthermore, the integrated task system is specifically used to start the shouting device to speak when the received real-time audio and video information indicates that there are social vehicles in the projection area of ​​the optical projection device, or when a shouting instruction from the ground station system sent by the communication device is received.

[0012] Furthermore, the optoelectronic pod is also used to collect vehicle information of social vehicles that remain in the projection area after a preset period of time through an image acquisition module, and send the collected vehicle information to the integrated task system; the integrated task system is also used to transmit the received vehicle information to the communication device; the communication device is also used to transmit the received vehicle information to the ground station system.

[0013] Furthermore, the warning device includes a siren and a warning light; the road-closing obstacle-clearing drone also includes a power supply, which supplies power to the communication device, the flight control system, the optical projection device and the warning device through the integrated mission system.

[0014] In a second aspect, an embodiment of the present invention further provides a road-closing and obstacle-clearing system, comprising the road-closing and obstacle-clearing drone of the first aspect, and also comprising a ground station system connected to the road-closing and obstacle-clearing drone.

[0015] Furthermore, the road-closing and obstacle-clearing system also includes a target vehicle, and the target vehicle is connected to the road-closing and obstacle-clearing drone and the ground station system respectively.

[0016] In a third aspect, an embodiment of the present invention further provides a road blocking and obstacle removal method, which is applied to the road blocking and obstacle removal system of the second aspect, and the road blocking and obstacle removal method includes:

[0017] The ground station system sends route information and mission information to the communication device of the road blocking and obstacle removal drone;

[0018] The communication device transmits the route information and the mission information to the flight control system and the integrated mission system respectively;

[0019] The flight control system controls the road-blocking obstacle-clearing UAV to fly to a designated location based on the received route information;

[0020] The integrated task system controls the warning device to issue a warning based on the received task information, and controls the optical projection device to project the target vehicle's route onto the road surface, and the projection width of the projection area is equal to the road surface width required for the target vehicle to travel.

[0021] In the road-blocking obstacle-clearing drone, road-blocking obstacle-clearing system and method provided by the embodiment of the present invention, the road-blocking obstacle-clearing drone is equipped with a communication device, a flight control system, an integrated task system, an optical projection device and a warning device; after the driving route of the target vehicle is planned, the planned route information and task information are sent to the road-blocking obstacle-clearing drone through the ground station system; after the road-blocking obstacle-clearing drone receives the planned route information and task information, it flies to the driving route of the target vehicle before the target vehicle is dispatched, and warns the social vehicles on the driving route of the target vehicle to give way to the target vehicle through the warning device, and projects the area that needs to be avoided on the road through the optical projection device, warning the social vehicles to drive out of the projection area and give way to the target vehicle. In this way, by pre-planning the driving route of the target vehicle, taking advantage of the characteristics of the road-blocking obstacle-clearing drone that it reacts quickly and is not affected by urban traffic, it flies to the driving route of the target vehicle in advance to conduct traffic diversion, thereby improving the timeliness of the target vehicle arriving at the designated location. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A modular structure diagram of a road-blocking obstacle-clearing drone provided by an embodiment of the present invention;

[0024] Figure 2 An axonometric diagram of a road-blocking obstacle-clearing drone provided by an embodiment of the present invention with its upper cover opened;

[0025] Figure 3 An axonometric diagram of a road-blocking obstacle-clearing drone provided by an embodiment of the present invention when the upper cover is not opened;

[0026] Figure 4 A schematic diagram of the structure of a road blocking and obstacle removal system provided by an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of a workflow of a road blocking and obstacle removal system provided by an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of a city fire planning alarm route provided by an embodiment of the present invention;

[0029] Figure 7 A schematic diagram of a road section planning for a road-closing obstacle-clearing drone provided in an embodiment of the present invention;

[0030] Figure 8 A schematic diagram of a road state before social vehicles give way provided by an embodiment of the present invention;

[0031] Fig. 9 A schematic diagram of a road state after a social vehicle avoids a vehicle provided in an embodiment of the present invention;

[0032] Fig.10 A schematic flow chart of a road blocking and obstacle removal method provided in an embodiment of the present invention.

[0033] Icons: 201-navigation device; 202-flight control system; 203-satellite positioning system; 204-power supply; 205-communication device; 206-photoelectric pod; 207-lift system; 208-warning device; 209-speaking device; 210-optical projection device; 211-integrated mission system; 1-ground station system; 2-road-closing and obstacle-clearing drone; 3-fire truck. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Existing urban fire brigades mainly rely on fire trucks. After receiving the city fire alarm task, the fire brigade drives the fire truck to respond. When encountering urban road congestion, it is unable to arrive at the fire scene in time to perform the firefighting task. Although the fire truck is equipped with a fire siren, if it encounters urban road traffic congestion, when the vehicle in front sees the fire truck coming, it cannot quickly give way to the fire truck, which seriously affects the efficiency of the fire truck to the fire site, delays the fire truck to the fire site to implement fire rescue, and indirectly causes huge losses to the state and people’s property. Based on this, the embodiment of the present invention provides a road blocking and obstacle removal drone, road blocking and obstacle removal system and method, which can pre-direct and clear traffic in fire passages for fire trucks, solve the problem of fire trucks being stuck on the road and delaying firefighting tasks when responding to fire alarms, improve the timeliness of firefighting by fire trucks, and buy precious time for firefighting.

[0036] It should be noted that in this embodiment, only the firefighting field in which the target vehicle is a fire truck is used as an example for explanation, but the present invention is not limited to the firefighting field, but can also be applied to scenarios such as medical rescue, emergency road clearing in special situations (chasing criminals, emergency medical treatment, etc.).

[0037] like Figures 1 to 3 As shown, the road-blocking and obstacle-clearing UAV is composed of the following systems: a navigation device 201; a flight control system 202; a satellite positioning system 203; a power supply 204; a communication device 205; an optoelectronic pod 206; a lift system 207; a warning device 208; a shouting device 209; an optical projection device 210; and an integrated mission system 211.

[0038] The power supply 204 and the lift system 207 are fixedly mounted on the fuselage of the road-blocking obstacle-clearing UAV. The power supply 204 supplies power to the navigation device 201, the flight control system 202, the satellite positioning system 203, the communication device 205, the optoelectronic pod 206, the lift system 207, the warning device 208, the shouting device 209 and the optical projection device 210 through the integrated mission system 211. The satellite positioning system 203, the navigation device 201 and the lift system 207 can be connected to the flight control system 202 through cables. The optical projection device 210, the optoelectronic pod 206, the warning device 208 and the shouting device 209 can be connected to the integrated mission system 211 through cables. The navigation device 201 can be connected to the satellite positioning system 203 through cables. The flight control system 202 and the integrated mission system 211 can transmit data with the communication device 205 through a data bus. The flight control system 202 can transmit data with the integrated mission system 211 through a data bus.

[0039] The communication device 205 is used to transmit the route information and mission information planned by the ground station system to the flight control system 202 and the integrated mission system 211 respectively; the flight control system 202 is used to control the road-closing obstacle-clearing drone to fly to a designated location based on the received route information; the integrated mission system 211 is used to control the warning device 208 to issue a warning based on the received mission information, and to control the optical projection device 210 to project the fire truck's route onto the road surface, with the projection width of the projection area being equal to the road surface width required for the fire truck to travel.

[0040] The power source 204 is the energy source of the road-blocking and obstacle-clearing UAV, and the lift system 207 provides power for flight. Specifically, the flight control system 202 is used to pre-process the received route information and send the pre-processed route information to the satellite positioning system 203; the satellite positioning system 203 is used to obtain real-time positioning information, and send the real-time positioning information and the received route information to the navigation device 201; the navigation device 201 is used to generate navigation information according to the received real-time positioning information and route information, and send the navigation information to the flight control system 202; the flight control system 202 is also used to convert the navigation information into flight control instructions, and send the flight control instructions to the lift system 207; the lift system 207 is used to control the road-blocking and obstacle-clearing UAV to fly to the designated location according to the received flight control instructions.

[0041] The optoelectronic pod 206 is used to obtain real-time audio and video information on the route of the fire truck, and transmit the real-time audio and video information to the integrated mission system 211; the integrated mission system 211 is also used to transmit the received real-time audio and video information to the communication device 205; the communication device 205 is also used to transmit the received real-time audio and video information to the ground station system.

[0042] The integrated task system is also used to request social vehicles to give way through the shouting device 209. Specifically, the integrated task system 211 is also used to start the shouting device 209 to shout when the received real-time audio and video information indicates that there are social vehicles in the projection area of ​​the optical projection device 210, or when a shouting instruction from the ground station system sent by the communication device 205 is received.

[0043] The photoelectric pod 206 is also used to collect vehicle information from social vehicles that are still in the projection area after a preset time or a preset number of calls (i.e. social vehicles that refuse to give way) through an image acquisition module, and send the collected vehicle information to the integrated task system 211; the integrated task system 211 is also used to transmit the received vehicle information to the communication device 205; the communication device 205 is also used to transmit the received vehicle information to the ground station system. The vehicle information can be information that can identify the vehicle, such as a license plate number.

[0044] The warning device 208 may include a siren and a warning light.

[0045] The optical projection device 210 is installed as close to the bottom of the fuselage as possible on the outside of the fuselage to avoid being blocked by the fuselage. The optoelectronic pod 206 is installed as close to the bottom of the fuselage as possible on the outside of the fuselage to avoid being blocked by the fuselage; the number of optoelectronic pods 206 can be but is not limited to 2, and the number of optoelectronic pods 206 can be determined according to the actual layout of the road blocking and obstacle removal drone.

[0046] See also Figure 4 The schematic diagram of the structure of a road blocking and obstacle removal system is shown, and the road blocking and obstacle removal system includes a road blocking and obstacle removal drone 2, and also includes a ground station system 1 and a fire truck 3 connected to the road blocking and obstacle removal drone 2. The communication device 205 can achieve remote communication with the ground station system 1 and the fire truck 3 through wireless transmission, and the ground station system 1 can achieve remote communication with the fire truck 3 through wireless transmission.

[0047] The working principle of the road blocking and obstacle removal system provided by the embodiment of the present invention is as follows:

[0048] See also Figure 5 FIG. 1 is a schematic diagram of the workflow of a road blocking and obstacle removal system. After receiving a fire rescue mission, the fire brigade analyzes the actual traffic situation on the ground station system 1 and plans a reasonable fire alarm route (also called a fire route). Figure 6 As shown; at the same time, the ground station system 1 determines the number of road-closing obstacle-clearing drones 2 according to the actual length of the route, and allocates the designated road sections for obstacle-clearing and road-closing, such as Figure 7 As shown ( Figure 7 After the fire alarm route is planned, the route information of the fire alarm route is sent by the ground station system 1 to the road blocking and obstacle removal drone 2. After receiving the planned alarm route, the road blocking and obstacle removal drone 2 immediately dispatches, flies to the planned alarm route to perform the obstacle removal task, and sends the road blocking and obstacle removal information (including route information) to the fire truck 3 in real time. The road conditions before and after the social vehicle avoidance are as follows: Figure 8 and Fig. 9 The fire truck 3 drives along the "green channel" (fire channel) after the obstacle is cleared, quickly reaches the fire rescue scene, and performs the fire rescue mission.

[0049] For ease of understanding, the embodiment of the present invention also provides a specific working process of the above-mentioned road blocking and obstacle removal drone 2, as follows:

[0050] 1. The communication device 205 receives the route information and mission information planned by the ground station system 1, transmits the route information to the flight control system 202 through the data bus, and transmits the mission information to the integrated mission system 211 through the data bus. The flight control system 202 processes the route information and converts it into control information for the lift system 207, thereby realizing remote control of the road-blocking and obstacle-clearing UAV 2. The integrated mission system 211 processes the mission information;

[0051] 2. The flight control system 202 sends the processed route information to the satellite positioning system 203;

[0052] 3. The satellite positioning system 203 sends the planned route information and real-time positioning information to the navigation device 201; the navigation device 201 generates navigation information based on the planned route information and real-time positioning information, and sends it to the flight control system 202; the flight control system 202 converts the navigation information into flight control instructions for the lift system 207, and the lift system 207 controls the road-blocking and obstacle-clearing drone 2 to fly to the designated location according to the flight control instructions.

[0053] 4. During the road-closing obstacle-clearing UAV 2's dispatching process, after arriving at the designated location, the satellite positioning system 203 sends the current positioning information to the flight control system 202, and the flight control system 202 transmits the current positioning information to the integrated mission system 211 through the data bus; the integrated mission system 211 determines that the designated location has been reached based on the current positioning information, and controls the warning device 208 to work, such as sounding the siren and lighting the warning light;

[0054] 5. After the road-closing obstacle-clearing drone 2 reaches the designated position, the satellite positioning system 203 sends the current positioning information to the flight control system 202, and the flight control system 202 transmits the current positioning information to the integrated mission system 211 through the data bus; the integrated mission system 211 determines that the designated position has been reached based on the current positioning information, and controls the optical projection device 210 to work, and projects the route of the fire truck on the road through the optical projection device 210, marking the road width required for the fire truck to pass (that is, the projection width of the projection area is equal to the road width required for the fire truck to travel). If there are private vehicles within this width (the received real-time audio and video information can be identified to determine whether there are private vehicles in the projection area; the ground station system 1 can also determine whether there are private vehicles in the projection area), the shouting device 209 is used to request the private vehicles to give way;

[0055] 6. The optoelectronic pod 206 is used for image recognition, image acquisition and sound acquisition. It transmits the real-time image and sound information (i.e., real-time audio and video information) on the planned route to the integrated task system 211 via cables. The integrated task system 211 transmits the information to the communication device 205 via the data bus. The communication device 205 sends the information to the ground station system 1 via wireless transmission, so that the fire brigade can grasp the road condition information in real time. For social vehicles that refuse to give way, the optoelectronic pod 206 can send the information (such as license plate number, etc.) to the integrated task system 211 through image acquisition. The integrated task system 211 transmits the information to the communication device 205 via the data bus. The communication device 205 transmits the information to the ground station system 1 via wireless transmission. The ground station system 1 records the information and the fire brigade decides whether to submit it to the traffic police system.

[0056] The road-blocking and obstacle-clearing drone 2 used for urban firefighting road-blocking and obstacle-clearing can be a single road-blocking and obstacle-clearing drone 2, or a drone formation composed of multiple road-blocking and obstacle-clearing drones 2. The drone type is not limited to multi-rotor or fixed-wing, and is equipped with a ground station system 1. Each road-blocking and obstacle-clearing drone 2 is equipped with a warning device 208, a shouting device 209, an optical projection device 210, a navigation device 201, a communication device 205, a satellite positioning system 203, an optoelectronic pod 206, and a flight control system 202. After the fire truck's dispatch route is planned, the dispatch route information is sent to the road-blocking and obstacle-clearing drone 2 through the ground station system 1 and the communication device 205. After receiving the route information of the emergency dispatch plan, the road blocking and obstacle removal drone 2 flies to the emergency dispatch route of the fire truck in advance before the fire truck 3 is dispatched, and sounds the siren, lights up the warning lights, and shouts to the vehicles on the emergency dispatch route of the fire truck, warning them to give way to the fire truck 3. Through the optical projection device 210, the avoided section is projected on the road, warning the vehicles to drive out of the projection area and give way to the fire truck.

[0057] Corresponding to the above-mentioned road blocking and obstacle removal method, the embodiment of the present invention also provides a road blocking and obstacle removal method, see Fig.10 A schematic diagram of a process flow of a road blocking and obstacle removal method is shown, and the road blocking and obstacle removal method includes:

[0058] Step S1002: The ground station system sends route information and mission information to the communication device of the road-blocking obstacle-clearing drone.

[0059] In step S1004, the communication device transmits the route information and the mission information to the flight control system and the integrated mission system respectively.

[0060] Step S1006: The flight control system controls the road-blocking obstacle-clearing UAV to fly to a designated location based on the received route information.

[0061] Step S1008, based on the received task information, the integrated task system controls the warning device to issue a warning, and controls the optical projection device to project the fire truck's route onto the road surface, and the projection width of the projection area is equal to the road surface width required for the fire truck to travel.

[0062] The embodiment of the present invention solves the pain point that traditional fire trucks are stuck on the road due to traffic congestion and delay firefighting by planning the fire response route in advance. The embodiment of the present invention utilizes the characteristics of the road blocking and obstacle removal drone that responds quickly and is not affected by urban traffic. It flies to the fire response route in advance to ease traffic, thereby improving the timeliness of firefighting by fire trucks and buying precious time for firefighting.

[0063] The road closing and obstacle clearing method provided in this embodiment has the same implementation principle and technical effects as those of the aforementioned road closing and obstacle clearing system embodiment. For the sake of brief description, for matters not mentioned in the road closing and obstacle clearing method embodiment, reference may be made to the corresponding contents in the aforementioned road closing and obstacle clearing system embodiment.

[0064] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0065] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A road-blocking obstacle-clearing drone, characterized in that: It includes a communication device, a flight control system, an integrated mission system, an optical projection device and a warning device; the communication device is connected to the flight control system and the integrated mission system respectively, and the integrated mission system is connected to the optical projection device and the warning device respectively; The communication device is used to transmit the route information and mission information planned by the ground station system to the flight control system and the integrated mission system respectively; the flight control system is used to control the road-closing obstacle-clearing drone to fly to a designated location based on the received route information; the integrated mission system is used to control the warning device to issue a warning based on the received mission information, and to control the optical projection device to project the target vehicle's route on the road surface, with the projection width of the projection area being equal to the road surface width required for the target vehicle to travel; The road-blocking obstacle-clearing drone further comprises a satellite positioning system, a navigation device and a lift system respectively connected to the flight control system, and the satellite positioning system is also connected to the navigation device; The flight control system is used to pre-process the received route information and send the pre-processed route information to the satellite positioning system; the satellite positioning system is used to obtain real-time positioning information and send the real-time positioning information and the received route information to the navigation device; The navigation device is used to generate navigation information according to the received real-time positioning information and route information, and send the navigation information to the flight control system; the flight control system is also used to convert the navigation information into flight control instructions, and send the flight control instructions to the lift system; the lift system is used to control the road-closing obstacle-clearing drone to fly to a designated location according to the received flight control instructions; The road blocking and obstacle removal drone also includes an optoelectronic pod connected to the integrated mission system; The optoelectronic pod is used to obtain real-time audio and video information on the target vehicle's route, and transmit the real-time audio and video information to the integrated mission system; the integrated mission system is also used to transmit the received real-time audio and video information to the communication device; The communication device is also used to transmit the received real-time audio and video information to the ground station system; The road-blocking obstacle-clearing drone further includes a shouting device connected to the integrated mission system, and the integrated mission system is further used to request social vehicles to give way through the shouting device; The integrated task system is specifically used to start the shouting device to shout when the received real-time audio and video information indicates that there are social vehicles in the projection area of ​​the optical projection device, or when a shouting instruction from the ground station system sent by the communication device is received; The optoelectronic pod is also used to collect vehicle information of social vehicles that remain in the projection area after a preset period of time through an image acquisition module, and send the collected vehicle information to the integrated task system; the integrated task system is also used to transmit the received vehicle information to the communication device; the communication device is also used to transmit the received vehicle information to the ground station system.

2. The road-blocking obstacle-clearing drone according to claim 1, characterized in that: The warning device includes a siren and a warning light; the road-closing obstacle-clearing drone also includes a power supply, which supplies power to the communication device, the flight control system, the optical projection device and the warning device through the integrated mission system.

3. A road blocking and obstacle removal system, characterized in that: It includes the road-closing obstacle-clearing drone as described in claim 1 or 2, and also includes a ground station system connected to the road-closing obstacle-clearing drone.

4. The road blocking and obstacle removal system according to claim 3, characterized in that: The road-closing and obstacle-clearing system also includes a target vehicle, which is connected to the road-closing and obstacle-clearing drone and the ground station system respectively.

5. A road blocking and obstacle removal method, characterized in that: Applied to the road blocking and obstacle removal system according to claim 3 or 4, the road blocking and obstacle removal method comprises: The ground station system sends route information and mission information to the communication device of the road blocking and obstacle removal drone; The communication device transmits the route information and the mission information to the flight control system and the integrated mission system respectively; The flight control system controls the road-blocking obstacle-clearing UAV to fly to a designated location based on the received route information; The integrated task system controls the warning device to issue a warning based on the received task information, and controls the optical projection device to project the target vehicle's route onto the road surface, and the projection width of the projection area is equal to the road surface width required for the target vehicle to travel.

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