A road surface obstacle removal dynamic regulation method, device and computer readable storage medium

Abstract

The application discloses a kind of road surface obstacle removal dynamic regulation methods, equipment and computer readable storage medium, wherein the method comprises: obtaining the first driving speed when obstacle removal vehicle carries aircraft, and the direction and distance of the obstacle detected by the aircraft on the road surface;According to the first driving speed, the direction and the distance, the takeoff time of the aircraft is calculated;After the aircraft takes off from the takeoff time, the first flight speed of the aircraft is obtained, and the estimated pickup duration of the obstacle;According to the first flight speed and the estimated pickup duration, the first driving speed is adjusted to the second driving speed, so that the return position of the aircraft at the obstacle removal completion time is consistent with the arrival position of the obstacle removal vehicle.The application realizes an efficient road surface obstacle removal dynamic regulation scheme, effectively avoids traffic congestion, and improves the overall cooperation efficiency and continuous operation time of the aircraft and the obstacle removal vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a road obstacle cleaning dynamic regulation method, device and computer readable storage medium. BACKGROUND

[0002] In the prior art, with the continuous development of unmanned aerial vehicle technology, various technical solutions for using unmanned aerial vehicles to clean roads have appeared. The above technical solutions are as follows:

[0003] First, the unmanned aerial vehicle alone performs road cleaning. This solution requires the unmanned aerial vehicle to carry a garbage bin, and is limited by battery endurance. The time efficiency of single trip pickup is extremely low, and it is difficult to be widely applied.

[0004] Second, the unmanned aerial vehicle and the supporting vehicle jointly perform road cleaning. This solution requires the vehicle to wait for the unmanned aerial vehicle to work at a fixed position. The overall obstacle cleaning efficiency is low, and additional traffic congestion may be caused.

[0005] Therefore, how to effectively dynamically regulate the unmanned aerial vehicle road obstacle cleaning control logic, improve the operation efficiency and avoid traffic congestion has become a technical problem to be solved at present. SUMMARY

[0006] In order to solve the above technical defects in the prior art, the present application proposes a road obstacle cleaning dynamic regulation method, which comprises:

[0007] Obtaining a first driving speed of a cleaning vehicle carrying an aerial vehicle, and an orientation and a distance of an obstacle on a road detected by the aerial vehicle;

[0008] Calculating a takeoff time of the aerial vehicle according to the first driving speed, the orientation and the distance;

[0009] After the aerial vehicle takes off at the takeoff time, obtaining a first flight speed of the aerial vehicle and an estimated pickup duration of the obstacle;

[0010] Adjusting the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that the aerial vehicle's return position at the obstacle cleaning completion time is consistent with the arrival position of the cleaning vehicle.

[0011] Optionally, the first driving speed of the cleaning vehicle carrying the aerial vehicle and the orientation and the distance of the obstacle on the road detected by the aerial vehicle comprise:

[0012] Identifying the orientation to determine whether the obstacle is in the current driving lane of the cleaning vehicle, and if so, obtaining a first distance between the aerial vehicle and the obstacle;

[0013] If no, the road roller is prompted to change from the current driving lane to the lane where the obstacle is located, and when the lane changing is completed, the updated first driving speed and the first distance are obtained.

[0014] Optionally, the takeoff time of the aircraft is calculated according to the first driving speed, the direction and the distance, comprising:

[0015] The direction is identified, and it is determined whether the obstacle is in the current driving lane of the road roller, if yes, the first takeoff time of the aircraft and the obstacle at a first relative distance is calculated according to the first driving speed and the distance;

[0016] If no, the second takeoff time of the aircraft and the obstacle at a second relative distance is calculated according to the first driving speed and the distance, wherein the second relative distance is greater than the first relative distance, and the second takeoff time is earlier than the first takeoff time.

[0017] Optionally, after the aircraft takes off from the takeoff time, the first flight speed of the aircraft and the estimated pickup duration of the obstacle are obtained, comprising:

[0018] When the aircraft flies to the third relative distance from the obstacle at the first flight speed, the feature information of the obstacle is obtained;

[0019] The estimated pickup duration is calculated according to the feature information, and the first flight speed is updated according to the estimated pickup duration.

[0020] Optionally, the first driving speed is adjusted to a second driving speed according to the first flight speed and the estimated pickup duration, so that the return position of the aircraft at the completion time of the road roller is consistent with the arrival position of the road roller, comprising:

[0021] The aircraft is controlled to start returning at the completion time of the road roller;

[0022] The horizontal component of the tail speed of the aircraft when arriving at the return position is controlled to be consistent with the second driving speed.

[0023] The application further provides a road surface obstacle removal dynamic regulation device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to realize:

[0024] The first driving speed of the road roller carrying the aircraft is obtained, and the direction and distance of the obstacle detected by the aircraft on the road surface are obtained;

[0025] calculate a takeoff time of the aircraft according to the first driving speed, the orientation and the distance;

[0026] after the aircraft takes off from the takeoff time, obtain a first flight speed of the aircraft, and an estimated pickup duration of the obstacle;

[0027] adjust the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that a return position of the aircraft at a clearing completion time is consistent with an arrival position of the clearing vehicle.

[0028] Optionally, the computer program is implemented by the processor when executed to:

[0029] identify the orientation, determine whether the obstacle is in a current driving lane of the clearing vehicle, and if so, obtain a first distance between the aircraft and the obstacle;

[0030] if not, prompt the clearing vehicle to change from the current driving lane to a lane where the obstacle is located, and obtain an updated first driving speed and the first distance when the lane change is completed.

[0031] Optionally, the computer program is implemented by the processor when executed to:

[0032] identify the orientation, determine whether the obstacle is in a current driving lane of the clearing vehicle, and if so, calculate a first takeoff time of the aircraft and the obstacle at a first relative distance according to the first driving speed and the distance;

[0033] if not, calculate a second takeoff time of the aircraft and the obstacle at a second relative distance according to the first driving speed and the distance, wherein the second relative distance is greater than the first relative distance, and the second takeoff time is earlier than the first takeoff time.

[0034] Optionally, the computer program is implemented by the processor when executed to:

[0035] when the aircraft flies at the first flight speed to a third relative distance from the obstacle, obtain feature information of the obstacle;

[0036] calculate the estimated pickup duration according to the feature information, and update the first flight speed according to the estimated pickup duration;

[0037] control the aircraft to start returning at the clearing completion time;

[0038] The horizontal component of the tail speed of the aircraft when arriving at the return location is kept consistent with the second travel speed.

[0039] The application further provides a computer readable storage medium, wherein a road obstacle removal dynamic regulation program is stored on the computer readable storage medium, and the road obstacle removal dynamic regulation program, when executed by a processor, implements the steps of the road obstacle removal dynamic regulation method according to any one of the preceding embodiments.

[0040] The road obstacle removal dynamic regulation method, device and computer readable storage medium according to the application are characterized in that: a first travel speed of the road obstacle removal vehicle when carrying the aircraft is obtained, and the position and distance of the obstacle detected by the aircraft are obtained; the takeoff time of the aircraft is calculated according to the first travel speed, the position and the distance; after the aircraft takes off at the takeoff time, a first flight speed of the aircraft is obtained, and an estimated pickup duration of the obstacle is obtained; the first travel speed is adjusted to a second travel speed according to the first flight speed and the estimated pickup duration, so that the return location of the aircraft at the completion time of the obstacle removal is consistent with the arrival location of the road obstacle removal vehicle. An efficient road obstacle removal dynamic regulation scheme is implemented, the overall cooperation efficiency and continuous operation duration of the aircraft and the road obstacle removal vehicle are improved, and traffic congestion is effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0041] The application will be further described below with reference to the drawings and embodiments. In the drawings:

[0042] Figure 1 is a first flowchart of the road obstacle removal dynamic regulation method according to the application;

[0043] Figure 2 is a second flowchart of the road obstacle removal dynamic regulation method according to the application;

[0044] Figure 3 is a third flowchart of the road obstacle removal dynamic regulation method according to the application;

[0045] Figure 4 is a fourth flowchart of the road obstacle removal dynamic regulation method according to the application;

[0046] Figure 5 is a fifth flowchart of the road obstacle removal dynamic regulation method according to the application. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely intended to explain the application and are not intended to limit the application.

[0048] In the following description, the suffixes such as "module", "part", or "unit" used for representing elements are used only for convenience of explanation of the present application, and have no specific meaning by themselves. Thus, "module", "part", or "unit" can be mixedly used.

[0049] Figure 1 is the first flowchart of the pavement obstacle clearing dynamic regulation method of the present application. The present embodiment proposes a pavement obstacle clearing dynamic regulation method, which comprises:

[0050] S1, acquiring a first driving speed of a clearing vehicle carrying an aircraft, and an azimuth and a distance of an obstacle on a road surface detected by the aircraft;

[0051] S2, calculating a takeoff time of the aircraft according to the first driving speed, the azimuth, and the distance;

[0052] S3, after the aircraft takes off from the takeoff time, acquiring a first flight speed of the aircraft, and an estimated pickup duration of the obstacle;

[0053] S4, adjusting the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that a return position of the aircraft at a clearing completion time is consistent with an arrival position of the clearing vehicle.

[0054] Optionally, in the present embodiment, a takeoff and landing platform and a cargo opening of the aircraft are arranged on the top of the clearing vehicle.

[0055] Optionally, in the present embodiment, the takeoff and landing platform and the cargo opening are arranged separately, that is, first, the aircraft carrying the obstacle arrives directly above the cargo opening, then the top hatch cover of the cargo is opened by the aircraft, and the aircraft releases the carried obstacle directly above the cargo opening, and finally, the aircraft lands on the takeoff and landing platform.

[0056] Optionally, in the present embodiment, the takeoff and landing platform and the cargo opening are arranged integrally, that is, the top hatch cover of the cargo serves as the takeoff and landing platform of the aircraft, for example, first, the aircraft carrying the obstacle arrives directly above the cargo opening, then the top hatch cover of the cargo is opened by the aircraft, and the aircraft releases the carried obstacle directly above the cargo opening, and finally, the top hatch cover is closed so that the aircraft lands on the takeoff and landing platform constituted by the top hatch cover.

[0057] Optionally, in the present embodiment, unlike the conventional scheme, the present embodiment does not set the first flight speed of the aircraft after taking off, that is, the aircraft can perform speed, heading, and obstacle avoidance control according to its own flight control algorithm, which is more conducive to the aircraft to perform pavement obstacle clearing operation in a complex flight environment.

[0058] Optionally, in the embodiment, unlike the conventional scheme, the wrecker in the embodiment does not stop and wait after the aircraft takes off. Further, the wrecker in the embodiment does not limit to slow down and wait for the aircraft to return after the aircraft takes off, but also includes accelerating to the aircraft's wrecker operation position, thereby improving the overall cooperation efficiency and avoiding traffic congestion.

[0059] Optionally, in the embodiment, one wrecker can cooperate with multiple aircrafts to perform the wrecker operation, for example, multiple aircrafts simultaneously perform the wrecker operation, or part of the multiple aircrafts perform the wrecker operation, and part of the multiple aircrafts are charged by the wrecker, thereby realizing the alternation of the multiple aircrafts to perform the operation.

[0060] Optionally, in the embodiment, one aircraft can cooperate with multiple wreckers to perform the wrecker operation, for example, the aircraft is carried by the wrecker in front and the obstacle is identified by the aircraft, after the aircraft goes to the obstacle position to complete the pickup, it lands on the wrecker behind, during which the wrecker in front and the wrecker behind both keep driving, thereby further improving the overall cooperation efficiency and avoiding traffic congestion.

[0061] The embodiment has the beneficial effect that by acquiring a first driving speed of the wrecker carrying the aircraft, and an orientation and a distance of an obstacle on the road detected by the aircraft; calculating a take-off time of the aircraft according to the first driving speed, the orientation and the distance; after the aircraft takes off from the take-off time, acquiring a first flight speed of the aircraft and an estimated pickup duration of the obstacle; adjusting the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that the return position of the aircraft at the wrecker completion time is consistent with the arrival position of the wrecker. An efficient road wrecker dynamic regulation scheme is realized, the overall cooperation efficiency and continuous operation duration of the aircraft and the wrecker are improved, and traffic congestion is effectively avoided.

[0062] Figure 2 is a second flowchart of the road wrecker dynamic regulation method, based on the above embodiment, the acquiring a first driving speed of the wrecker carrying the aircraft, and an orientation and a distance of an obstacle on the road detected by the aircraft, comprises:

[0063] S11, identifying the orientation, determining whether the obstacle is in the current driving lane of the wrecker, if yes, acquiring a first distance between the aircraft and the obstacle;

[0064] S12, if no, prompting the wrecker to change from the current driving lane to the lane where the obstacle is located, and acquiring the updated first driving speed and the first distance when the lane change is completed.

[0065] Optionally, in this embodiment, one way is to control the wrecker and the obstacle to be in the same lane, so that when the obstacle is difficult to remove or needs to take a long time, the corresponding emergency parking and removing mode can be started, thereby facilitating the aircraft to perform the removing operation, or the removing operation is performed by the removing personnel in cooperation with the aircraft, or the removing operation is requested to be performed by other removing vehicles or equipment.

[0066] Figure 3 is a third flowchart of the road surface obstacle removing dynamic regulation method, based on the above-mentioned embodiment, the takeoff time of the aircraft is calculated according to the first driving speed, the direction and the distance, including:

[0067] S21, identifying the direction, determining whether the obstacle is in the current driving lane of the wrecker, if yes, calculating the first takeoff time of the aircraft and the obstacle at the first relative distance according to the first driving speed and the distance;

[0068] S22, if not, calculating the second takeoff time of the aircraft and the obstacle at the second relative distance according to the first driving speed and the distance, wherein the second relative distance is greater than the first relative distance, and the second takeoff time is earlier than the first takeoff time.

[0069] Optionally, in this embodiment, unlike another way of the above-mentioned embodiment two, the wrecker is not controlled to be in the same lane as the obstacle, but more time is reserved for the aircraft to perform the in-flight lane changing and removing, and after the removing is completed, the in-flight lane changing and returning are performed.

[0070] Optionally, in this embodiment, the type of the obstacle is detected by the visual sensor of the aircraft, when it is determined that the type belongs to the self-cleaning range of the aircraft, the processing mode of not changing the lane of this embodiment is performed, and when it is determined that the type does not belong to the self-cleaning range of the aircraft, the processing mode of changing the lane of the above-mentioned embodiment is performed.

[0071] Figure 4 is a fourth flowchart of the road surface obstacle removing dynamic regulation method, based on the above-mentioned embodiment, after the aircraft takes off from the takeoff time, the first flight speed of the aircraft and the estimated pickup duration of the obstacle are obtained, including:

[0072] S31, when the aircraft flies to the third relative distance with the obstacle at the first flight speed, the characteristic information of the obstacle is obtained;

[0073] S32, calculate the estimated pickup duration according to the feature information, and update the first flight speed according to the estimated pickup duration.

[0074] Optionally, in the embodiment, the feature information includes attributes and sizes of the obstacle, wherein the attributes include one or more of metal, paper, branches, and plastic products, and the sizes are sizes of main attributes of the obstacle.

[0075] Optionally, in the embodiment, in order to improve the detection accuracy of the feature information of the obstacle, a type and feature information are used, and a phased identification scheme is adopted, that is, according to the above embodiment, the type information of the obstacle is obtained before takeoff, and such information can be obtained in a long distance range, and the feature information in the embodiment is more accurate data, which needs to be obtained when the aircraft is close to the obstacle.

[0076] Figure 5 is a fifth flowchart of the road surface obstacle removal dynamic regulation method, based on the above embodiment, the first driving speed is adjusted to a second driving speed according to the first flight speed and the estimated pickup duration, so that the return position of the aircraft at the obstacle removal completion time is consistent with the arrival position of the obstacle removal vehicle, comprising:

[0077] S41, control the aircraft to start returning at the obstacle removal completion time;

[0078] S42, control the horizontal component of the tail speed of the aircraft when arriving at the return position to be consistent with the second driving speed.

[0079] Optionally, in the embodiment, when the aircraft is at the obstacle removal completion time, if the obstacle removal vehicle has not passed the original position of the obstacle, the aircraft is controlled to ascend to the obstacle release height corresponding to the obstacle removal vehicle, and starts accelerating from the speed with a horizontal component of zero at a first acceleration until the horizontal component is consistent with the second driving speed, and the position of the aircraft coincides with the position of the obstacle removal vehicle.

[0080] Optionally, in the embodiment, when the aircraft is at the obstacle removal completion time, if the obstacle removal vehicle has already passed the original position of the obstacle, the aircraft is controlled to ascend to the obstacle release height corresponding to the obstacle removal vehicle, and starts accelerating from the speed with a horizontal component of zero at a second acceleration until the horizontal component is consistent with the second driving speed, and the position of the aircraft coincides with the position of the obstacle removal vehicle, wherein the second acceleration is greater than the first acceleration.

[0081] Based on the above embodiments, the application further provides a dynamic regulation and control device for road obstacle removal, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to realize the following steps:

[0082] obtaining a first driving speed of the aircraft-carrying vehicle, and an orientation and a distance of the obstacle detected by the aircraft;

[0083] calculating a takeoff time of the aircraft according to the first driving speed, the orientation, and the distance;

[0084] after the aircraft takes off at the takeoff time, obtaining a first flight speed of the aircraft, and an estimated pickup duration of the obstacle;

[0085] adjusting the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that a return position of the aircraft at a completion time of the obstacle removal is consistent with an arrival position of the aircraft-carrying vehicle.

[0086] Optionally, the computer program is executed by the processor to realize the following steps:

[0087] identifying the orientation, determining whether the obstacle is in a current driving lane of the aircraft-carrying vehicle, and if yes, obtaining a first distance between the aircraft and the obstacle;

[0088] if no, prompting the aircraft-carrying vehicle to change from the current driving lane to a lane where the obstacle is located, and obtaining an updated first driving speed and the first distance when the lane change is completed.

[0089] Optionally, the computer program is executed by the processor to realize the following steps:

[0090] identifying the orientation, determining whether the obstacle is in a current driving lane of the aircraft-carrying vehicle, and if yes, calculating a first takeoff time of the aircraft and the obstacle at a first relative distance according to the first driving speed and the distance;

[0091] if no, calculating a second takeoff time of the aircraft and the obstacle at a second relative distance according to the first driving speed and the distance, wherein the second relative distance is greater than the first relative distance, and the second takeoff time is earlier than the first takeoff time.

[0092] Optionally, the computer program is executed by the processor to realize the following steps:

[0093] acquiring feature information of the obstacle when the aircraft flies at the first flight speed to a third relative distance from the obstacle;

[0094] calculating the estimated pickup duration according to the feature information, and updating the first flight speed according to the estimated pickup duration;

[0095] controlling the aircraft to start returning at the obstacle clearing completion time;

[0096] controlling a horizontal component of a tail speed of the aircraft when arriving at the returning position to be consistent with the second travel speed.

[0097] It should be noted that the above device embodiment and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are all applicable in the device embodiment, which will not be repeated here.

[0098] Based on the above embodiments, the application further provides a computer readable storage medium, and the computer readable storage medium stores a road obstacle clearing dynamic regulation program. When the road obstacle clearing dynamic regulation program is executed by a processor, the steps of the road obstacle clearing dynamic regulation method according to any one of the above embodiments are implemented.

[0099] It should be noted that the above medium embodiment and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are all applicable in the medium embodiment, which will not be repeated here.

[0100] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent in such processes, methods, articles, or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or device including the element.

[0101] The above-mentioned embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0102] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, also can be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part which contributes to the prior art can be embodied in the form of software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a plurality of instructions to make a terminal (may be a mobile phone, computer, server, air conditioner, or network equipment, etc.) execute the method described in various embodiments of the present application.

[0103] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, not limiting, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A dynamic regulation method for road surface obstacle removal, characterized in that, The method comprises: acquiring a first driving speed of the aircraft-carrying vehicle, and a position and a distance of an obstacle on the road detected by the aircraft; calculating a takeoff time of the aircraft according to the first driving speed, the position and the distance; after the aircraft takes off at the takeoff time, acquiring a first flight speed of the aircraft and an estimated pickup duration of the obstacle; adjusting the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that a return position of the aircraft at a completion time of the obstacle removal is consistent with an arrival position of the aircraft-carrying vehicle; the calculating of the takeoff time of the aircraft according to the first driving speed, the position and the distance comprises: identifying the position to determine whether the obstacle is in a current driving lane of the aircraft-carrying vehicle, and if yes, calculating a first takeoff time of the aircraft at a first relative distance from the obstacle according to the first driving speed and the distance; if not, calculating a second takeoff time of the aircraft at a second relative distance from the obstacle according to the first driving speed and the distance, wherein the second relative distance is greater than the first relative distance, and the second takeoff time is earlier than the first takeoff time.

2. The method of claim 1, wherein, the acquiring of the first driving speed of the aircraft-carrying vehicle, and the position and the distance of the obstacle on the road detected by the aircraft comprises: identifying the position to determine whether the obstacle is in a current driving lane of the aircraft-carrying vehicle, and if yes, acquiring a first distance between the aircraft and the obstacle; if not, prompting the aircraft-carrying vehicle to change from the current driving lane to a lane where the obstacle is located, and acquiring an updated first driving speed and the first distance when the lane change is completed.

3. The method of claim 1, wherein, the acquiring of the first flight speed of the aircraft and the estimated pickup duration of the obstacle after the aircraft takes off at the takeoff time comprises: acquiring feature information of the obstacle when the aircraft flies at the first flight speed to a third relative distance from the obstacle; calculating the estimated pickup duration according to the feature information, and updating the first flight speed according to the estimated pickup duration.

4. The method of claim 1, wherein, the adjusting of the first driving speed to the second driving speed according to the first flight speed and the estimated pickup duration, so that the return position of the aircraft at the completion time of the obstacle removal is consistent with the arrival position of the aircraft-carrying vehicle comprises: controlling the aircraft to start returning at the completion time of the obstacle removal; controlling a horizontal component of a tail speed of the aircraft when the aircraft arrives at the return position to be consistent with the second driving speed.

5. A dynamic regulation device for road surface obstacle removal, characterized in that, The device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program is executed by the processor to realize: acquiring a first driving speed of the aircraft-carrying vehicle, and a position and a distance of an obstacle on the road detected by the aircraft; calculating a takeoff time of the aircraft according to the first driving speed, the position and the distance; acquiring a first flight speed of the aircraft after the aircraft takes off at the take-off time point, and an estimated pickup duration of the obstacle; adjusting the first driving speed to a second driving speed according to the first flight speed and the estimated pickup duration, so that a return position of the aircraft at a clearance completion time point is consistent with an arrival position of the road clearance vehicle; wherein, identifying the position, determining whether the obstacle is in a current driving lane of the road clearance vehicle, and if yes, calculating a first take-off time point of the aircraft and the obstacle at a first relative distance according to the first driving speed and the distance; if not, calculating a second take-off time point of the aircraft and the obstacle at a second relative distance according to the first driving speed and the distance, wherein the second relative distance is greater than the first relative distance, and the second take-off time point is earlier than the first take-off time point.

6. The dynamic road debris management device of claim 5, wherein, The computer program is executed by the processor to realize: identifying the position, determining whether the obstacle is in a current driving lane of the road clearance vehicle, and if yes, acquiring a first distance between the aircraft and the obstacle; if not, prompting the road clearance vehicle to change from the current driving lane to a lane where the obstacle is located, and acquiring an updated first driving speed and the first distance when the lane change is completed.

7. The dynamic road debris management device of claim 6, wherein, The computer program is executed by the processor to realize: acquiring feature information of the obstacle when the aircraft flies to a third relative distance from the obstacle at the first flight speed; calculating the estimated pickup duration according to the feature information, and updating the first flight speed according to the estimated pickup duration; controlling the aircraft to start returning at the clearance completion time point; controlling a horizontal component of a tail speed of the aircraft when the aircraft arrives at the return position to be consistent with the second driving speed.

8. A computer-readable storage medium, characterized in that The computer readable storage medium stores a road clearance dynamic regulation program, and the road clearance dynamic regulation program is executed by the processor to realize the steps of the road clearance dynamic regulation method in any one of claims 1 to 4.

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