Ambulance-based vehicle-mounted drone rescue system and ambulance

Abstract

The present invention provides an ambulance-based vehicle-mounted drone rescue system and an ambulance, and relates to the technical field of traffic control systems for road vehicles. The vehicle-mounted drone rescue system includes a drone end that is communicatively connected to the vehicle end, and the drone end is configured with a shooting module and a lane planning module. The lane planning module receives a first image captured by the shooting module and processes the first image to generate an overtaking instruction containing an overtaking route, and sends the overtaking instruction to the vehicle end. The system provided by the present invention can monitor vehicles on each lane around the vehicle end in real time, and plan overtaking routes and guide traffic based on real-time roadside planning, so as to facilitate the ambulance to safely overtake and shorten driving time, especially on roads with no pedestrians or few pedestrians, such as elevated roads, expressways, and highways, which can significantly improve the traffic efficiency, driving speed, and driving safety of vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control systems for road vehicles, and in particular to an ambulance-based vehicle-mounted drone rescue system and the ambulance. Background Art

[0002] Article 53 of the Road Traffic Safety Law stipulates that police cars, fire trucks, ambulances, and engineering rescue vehicles may use sirens and signal lights when performing emergency tasks; on the premise of ensuring safety, they are not restricted by the route, direction, speed, and traffic lights, and other vehicles and pedestrians should give way.

[0003] However, in real-world driving situations, such as ambulances on their way to a rescue, they need to perform safe and fast driving tasks. However, existing ambulances, while rushing to the rescue site, typically only receive dispatch information from hospital headquarters and various road conditions and navigation information from the internet. While they can provide certain driving route suggestions, the lack of digital technology makes it difficult to process real-time information on the road, affecting traffic efficiency, driving speed, and driving safety. Therefore, a solution is urgently needed to improve these issues. Summary of the Invention

[0004] The purpose of the present invention is to provide an ambulance-based vehicle-mounted drone rescue system and ambulance, which can monitor vehicles on each lane around the vehicle end in real time, and plan overtaking routes and guide traffic based on real-time roadside planning, so as to facilitate vehicles to overtake safely and shorten travel time. In particular, on elevated roads, expressways, highways and other roads with no pedestrians or few pedestrians, it can significantly improve the vehicle's traffic efficiency, driving speed and driving safety.

[0005] In a first aspect, the present invention provides an ambulance-based vehicle-mounted drone rescue system, which adopts the following technical solutions:

[0006] The drone terminal is configured to communicate with the vehicle terminal;

[0007] The drone is equipped with a shooting module and a lane planning module. The shooting module is used to capture and mark vehicle images within a shooting range to generate a first image containing marking information. The lane planning module is used to receive and process the first image to generate an overtaking instruction containing an overtaking route and send the overtaking instruction to the vehicle.

[0008] The lane planning module is configured with a first algorithm and an overtaking strategy. The first algorithm is used to calculate a stable weight value of the driving stability of a vehicle in a first target area of ​​the first image. The overtaking strategy is used to calculate the distance between a vehicle in a second target area and the vehicle end, and combine the stable weight value to generate an overtaking instruction containing an overtaking route. The second target area is an area in the first image close to the vehicle end, and the first target area is an area of ​​the first image excluding the second target area.

[0009] The beneficial effect of the ambulance-based vehicle-mounted drone rescue system provided by the present invention is that: when the vehicle is driving, the drone end can monitor the vehicles on each lane around the vehicle end in real time, and plan the overtaking route and guide the passage based on the real-time roadside, so as to facilitate the vehicle to overtake safely and shorten the driving time, especially on elevated roads, expressways, highways and other roads with no pedestrians or few pedestrians, which can significantly improve the vehicle's traffic efficiency.

[0010] Optionally, the overtaking strategy is configured with a first overtaking safety value, a second overtaking safety value, a second algorithm, and a third algorithm; the second algorithm is used to calculate a first overtaking distance, where the first overtaking distance is the distance between the vehicle in front of the vehicle end and the vehicle behind the vehicle in the first image along the driving direction of the vehicle end; the third algorithm is used to calculate a second overtaking distance, where the second overtaking distance is the minimum distance between the vehicle in front of the vehicle end and the adjacent vehicle perpendicular to the driving direction along the driving direction of the vehicle end in the first image; the first overtaking distance is used to be compared with the first overtaking safety value, and when the first overtaking distance is greater than or equal to the first overtaking safety value, the overtaking strategy issues the overtaking instruction; when the first overtaking distance is less than the first overtaking safety value, the second overtaking distance is compared with the second overtaking safety value, and when the second overtaking distance is greater than or equal to the second overtaking safety value, the overtaking strategy issues the overtaking instruction; when the second overtaking distance is less than the second overtaking safety value, the overtaking strategy generates a waiting instruction and sends the waiting instruction to the vehicle end. The beneficial effect is that it can judge whether to perform overtaking action and improve overtaking safety.

[0011] Optionally, the overtaking strategy is configured with a preset weight value, which is used for comparison with the stability weight value. When the stability weight value is less than the preset weight value, the overtaking strategy generates the waiting instruction and sends the waiting instruction to the vehicle. This has the beneficial effect of evaluating the driving stability of each vehicle in the lane and providing the vehicle with a more optimal overtaking route and overtaking assessment.

[0012] Optionally, the vehicle path planning module is further configured with a judgment unit, which is configured to, when there are multiple overtaking routes, select an overtaking route with the largest difference between the first overtaking distance and the first overtaking safety value, or the second overtaking distance and the second overtaking safety value, to issue an overtaking instruction. This advantageously improves vehicle safety during overtaking.

[0013] Optionally, the drone end is further configured with a following module, and the following module is used for the drone end to follow the vehicle end.

[0014] Optionally, the following module obtains the real-time speed of the vehicle end and obtains the driving route information of the vehicle end to follow the vehicle end; the driving route information includes the overtaking route in the overtaking instruction.

[0015] Optionally, the first algorithm is:

[0016] ;

[0017] Wherein, n is all the frames captured, δ is the vehicle stability weight value, and H i is the height of the UAV at the i-th frame, and the X i is the imaging distance between the vehicle and the lane line in the i-th frame, and the A i is the distance between the imaging point of the vehicle center point in the i-th frame and the lens, θ i is the angle between the vehicle marker point in the i-th frame and the vertical direction of the drone end.

[0018] In a second aspect, the present invention also provides an ambulance that uses any of the above-mentioned optional vehicle-mounted drone rescue systems.

[0019] Optionally, the ambulance is configured with a first command, and the first command is used to start the on-board drone rescue system of the ambulance.

[0020] Optionally, the ambulance is equipped with a display module, and the display module is used to display the first image information and the overtaking route in the overtaking instruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a block diagram of the connection between the drone end and the vehicle end in an embodiment of the present invention;

[0022] Figure 2 This is a block diagram of the internal module structure of the drone end in an embodiment of the present invention;

[0023] Figure 3 This is an example of a first image transmitted to a vehicle after a drone performs road planning in some embodiments of the present invention;

[0024] Figure 4 is a schematic diagram of imaging when a camera module on a drone side photographs a vehicle side in some embodiments of the present invention;

[0025] Figure 5 is a schematic diagram of the position of a camera module on a drone side when photographing a vehicle in some embodiments of the present invention;

[0026] Figure 6 It is a block diagram of the internal module structure of the vehicle end in an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1. Drone end; 11. Airborne communication module; 12. Shooting module; 121. Shooting range; 1211. First target area; 1212. Second target area; 13. Vehicle road planning module; 131. First algorithm; 132. Overtaking strategy; 1321. Second algorithm; 1322. Third algorithm; 133. Judgment unit; 14. Correction module; 15. Following module; 16. Loading module; 2. Vehicle end; 21. Control module; 22. On-board communication module; 23. Display module; 3. Car No. 1; 4. Car No. 2; 5. Car No. 3; 6. Car No. 4; 7. Overtaking route No. 1; 8. Overtaking route No. 2. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the invention belongs. The words "including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0030] See also Figure 1 An embodiment of the present invention provides an ambulance-based vehicle-mounted drone rescue system, including a drone end 1, which is used to communicate with a vehicle end 2, and the drone end 1 collects road information to plan a road for the vehicle end 2.

[0031] In some embodiments, the drone 1 is a civilian drone with a flight time of approximately 30 minutes and a maximum speed of 50-60 km / h. In practice, the drone 1 may also be a customized drone, and its flight time and maximum speed may be adjusted based on the vehicle, and this is not particularly limited in the present invention.

[0032] In some embodiments, the drone 1 and vehicle 2 are connected via wireless signals, specifically 4G / 5G. More specifically, the vehicle 2 sends a signal to the drone 1 to activate or deactivate the drone 1. The drone 1 then sends collected road information to the vehicle 2, processes the road information, and generates a recommended route, which is then sent to the vehicle 2.

[0033] In some embodiments, see Figure 2 The drone end 1 is equipped with an onboard communication module 11, which establishes a communication relationship with the vehicle end 2 through the onboard communication module 11.

[0034] In some embodiments, the drone end 1 can be directly configured on the vehicle end 2. When the vehicle end 2 needs to plan overtaking on the road, the drone end 1 can take off from the vehicle end 2 to become airborne. At this time, the drone end 1 needs to use a vehicle-mounted drone that can take off and land vertically, such as a quad-rotor, hexacopter, and octo-rotor drone.

[0035] In other embodiments, the drone end 1 can also be configured at a drone airport. When the vehicle end 2 needs to plan a road overtaking, the drone end 1 can take off from the drone airport and navigate to the location of the vehicle end 2 according to GPS and / or Beidou to start planning a road overtaking for the vehicle end 2.

[0036] See also Figure 2 The drone end 1 is equipped with a shooting module 12 and a vehicle path planning module 13. The shooting module 12 is used to acquire and mark the vehicle image within the shooting range 121 to generate a first image containing marking information. The vehicle path planning module 13 is used to receive and process the first image in real time to generate an overtaking instruction containing an overtaking route, and send the overtaking instruction to the vehicle end 2.

[0037] In some embodiments, the drone 1 is equipped with a camera, and the capture module 12 is built into the camera. Specifically, the drone's camera can use a CCD or CMOS sensor. Because the drone 1 is located at a high altitude, the length ratio of an object reflected in the sensor can be used as an approximate representation of the actual distance ratio.

[0038] In some embodiments, when the drone 1 receives a start command from the vehicle 2 and the drone 1 is lifted to a specified altitude, the camera module 12 and the vehicle path planning module 13 are activated to collect, mark, and process road information. In this case, the start command is configured to activate the vehicle path planning system.

[0039] In some embodiments, see Figure 3 The camera module 12 has a preset camera range 121, which is centered on the vehicle 2. In practice, the preset camera range 121 can be adaptively adjusted based on the road environment of the vehicle 2. For example, when the vehicle 2 is on a road with many vehicles and a complex road environment, the camera range 121 can be appropriately reduced. When the vehicle 2 is on a road with few vehicles and a simpler road environment, the camera range 121 can be adaptively increased.

[0040] In some embodiments, the marking points of the preset shooting range 121 in the shooting module 12 are at least four end points in the top-down direction of the vehicle end 2 .

[0041] In some embodiments, when the vehicle end 2 is traveling on a road without lane lines or with damaged lane lines, the shooting module 12 can composite virtual lane lines on the first image based on the driving direction of the vehicle end 2 and other vehicles traveling in the same direction as the vehicle end 2.

[0042] In some embodiments, see Figure 3 When marking the vehicle image within the shooting range 121, the shooting module 12 pre-partitions the image information, with the portion of the image information close to the vehicle end 2 as the second target area 1212, and the portion of the image information other than the second target area 1212 as the first target area 1211, and marks the vehicle information in the first target area 1211 and the second target area 1212 separately.

[0043] In practice, the partition sizes of the first target area 1211 and the second target area 1212 can be adjusted in advance. Specifically, the division logic of the first target area 1211 and the second target area 1212 is: the first target area 1211 is a position where the surrounding vehicles are close to the vehicle end 2 but there is still a certain distance, and the vehicles located in the first target area 1211 are not vehicles that the vehicle end 2 needs to overtake immediately; the second target area 1212 is a position where the surrounding vehicles are closest to the vehicle end 2, and the vehicles located in the second target area 1212 are vehicles that the vehicle end 2 needs to overtake immediately.

[0044] In some embodiments, the sizes of the first target area 1211 and the second target area 1212 can be adaptively adjusted based on actual road conditions and the computing power of the chip inside the drone terminal 1. For example, when there are many other vehicles near the vehicle terminal 2, the second target area 1212 can be reduced to facilitate the vehicle terminal 2 to quickly leave this road section.

[0045] In some embodiments, see Figure 3 The first image shown is captured on a one-way, three-lane road, with each lane being 3.5 meters wide. Vehicle end 2 is vehicle 3, located in the middle lane. Vehicles 4 through 8 are also shown in the first image. In this case, second target area 1212 is centered on vehicle 3, extending 10 meters toward the front, two lanes to the left and right, and 3 meters toward the rear. First target area 1211 is the portion of the first image excluding second target area 1212, and is located in front of vehicle 3.

[0046] In some embodiments, the area of ​​the second target area 1212 starts from the vehicle end 2, extends forward at least twice the length of the vehicle end 2 along the driving direction of the vehicle end 2, extends backward at least half the length of the vehicle end 2 along the driving direction of the vehicle end 2, and is the area enclosed by one lane on each side of the driving direction of the vehicle end 2.

[0047] See also Figure 2 The lane planning module is configured with a first algorithm 131 and an overtaking strategy 132. The first algorithm 131 is used to calculate the stable weight value of the driving stability of the vehicle in the first target area 1211 of the first image. The overtaking strategy 132 is used to calculate the distance between the vehicle in the second target area 1212 and the vehicle end 2, and combine the stable weight value to generate an overtaking instruction containing an overtaking route.

[0048] In some embodiments, the first algorithm 131 calculates the driving stability of each vehicle in the first target area 1211, so that after the vehicle completes overtaking the vehicle in the second target area 1212, when the vehicle in the first target area 1211 enters the second target area 1212, the vehicle end 2 can be given a better overtaking route and related overtaking evaluation.

[0049] In some embodiments, if the first target area 1211 is larger and the number of vehicles in the first target area 1211 is greater, the first algorithm 131 takes longer to calculate the stability weight values ​​of the vehicles in the first target area, and the obtained vehicle stability weight values ​​are more accurate.

[0050] Specifically, the first algorithm 131 uses the following formula to calculate the vehicle stability weight value:

[0051] ;

[0052] Wherein, n is all the frames captured, δ is the vehicle stability weight value, and H i is the height of the UAV at the i-th frame, and the X i is the imaging distance between the vehicle and the lane line in the i-th frame, and the A i is the distance between the imaging point of the vehicle marking point in the i-th frame and the lens, θ i is the angle between the vehicle marker point in the i-th frame and the vertical direction of the drone terminal 1. Specifically, the vehicle marker point can be the geometric center point of the vehicle in the first image.

[0053] In some embodiments, when the altitude of the drone 1 does not change, the first algorithm 131 is:

[0054] ;

[0055] In some embodiments, X i This is the length directly reflected on the photosensitive chip of the drone's camera device 1. This length can be directly read by the camera device; see Figure 4 Since the distance between the center point of the camera lens and the position of the photosensitive chip is fixed and known, A i The length can also be read directly from the photographic equipment; see Figure 5 ,θ i The angle of incidence can be directly known by reading the angle of incidence of the light entering the lens at that point.

[0056] In some embodiments, when it is necessary to calculate the actual distance between the vehicle in the first target area 1211 and the lane line, the following formula is used to calculate the actual length:

[0057] ;

[0058] Among them, L i is the actual distance between the vehicle and the lane line at the i-th frame.

[0059] In some embodiments, see Figure 2The drone terminal 1 is also equipped with a correction module 14, which is used to correct the vehicle stability weight value. When a vehicle in the first target area 1211 changes lanes, the correction module 14 deletes the vehicle stability weight value calculated for the vehicle when the lane change occurs. This is because when calculating the vehicle stability weight value for the vehicle, the distance between the vehicle and the lane line is calculated. When the vehicle changes lanes, this distance will change abnormally, and the reference value of the calculated vehicle stability weight value will decrease. Therefore, the correction module 14 improves the reference value of the vehicle stability weight value by deleting the vehicle stability weight value when the lane change occurs.

[0060] See also Figure 2 The overtaking strategy 132 is configured with a second algorithm 1321 and a third algorithm 1322. The second algorithm 1321 is used to calculate a first overtaking distance, which is the distance between the vehicle in front of the vehicle end 2 and the vehicle behind the vehicle in the first image along the direction of travel of the vehicle end 2. The third algorithm 1322 is used to calculate a second overtaking distance, which is the minimum distance between the vehicle in front of the vehicle end 2 and the adjacent vehicle in the perpendicular direction of travel in the first image along the direction of travel of the vehicle end 2. The second algorithm 1321 and the third algorithm 1322 are used for the second target area 1212 (see Figure 3 ) to calculate the distance between vehicles within the vehicle, determine whether overtaking is possible, and select a suitable overtaking route.

[0061] Since the drone end 1 is at a high altitude, when the drone end 1 captures the first image, the incident angle of each vehicle is high, which can be approximately regarded as vertical capture. In this way, the distance between each vehicle in the first image can be directly measured, and the actual distance can be obtained by conversion.

[0062] In some embodiments, before running the second algorithm 1321 and the third algorithm 1322 in the overtaking strategy 132 , the first image is acquired in real time, and the real-time position of the vehicle end 2 in the first image is determined.

[0063] In some embodiments, see Figure 3 When the overtaking strategy 132 needs to calculate the first overtaking distance and the second overtaking distance, the second algorithm 1321 measures the vertical distance a1 between the rear of car No. 2 4 and the front of car No. 3 5 in the second target area 1212, and measures the vertical distance a2 between the front of car No. 2 4 and the front of car No. 4 6; the third algorithm 1322 measures the distance b1 in the vertical driving direction between car No. 2 4 and car No. 3 5, and measures the distance b2 in the vertical driving direction between car No. 2 4 and car No. 4 6.

[0064] See also Figure 2The overtaking strategy 132 also presets a first overtaking safety value and a second overtaking safety value, wherein the first overtaking safety value is used to compare with the first overtaking distance. When the first overtaking distance is greater than or equal to the first overtaking safety value, the overtaking strategy 132 issues an overtaking instruction; when the first overtaking distance is less than the first overtaking safety value, the second overtaking safety value is compared with the second overtaking distance. When the second overtaking distance is greater than or equal to the second overtaking safety value, the overtaking strategy 132 issues an overtaking instruction; when the second overtaking distance is less than the second overtaking safety value, the overtaking strategy 132 generates a waiting instruction and sends the waiting instruction to the vehicle end 2.

[0065] In fact, the second algorithm 1321 is used to calculate the diagonal distance between the vehicle to be overtaken in front of vehicle end 2 and the two sides of the vehicle to be overtaken, and compares the diagonal distance with the first overtaking safety value to determine whether overtaking is possible safely; the third algorithm 1322 is used to calculate the distance between the vehicle to be overtaken and the adjacent vehicle, and compares it with the second overtaking safety value to determine whether the distance in front is for forced overtaking.

[0066] In some embodiments, specific values ​​of the first overtaking safety value and the second overtaking safety value can be pre-set by manual input, and the sizes of the first overtaking safety value and the second overtaking safety value are related to the length and width of the vehicle end 2.

[0067] In some embodiments, the first overtaking safety value and the second overtaking safety value may be directly calculated by the second algorithm 1321 and the third algorithm 1322 without manual input.

[0068] In some embodiments, the first overtaking safety value is at least 1.5 times the length of the vehicle end 2 , that is, when the vehicle length is 5 meters, the first overtaking safety value must be at least 7.5 meters to allow the vehicle to overtake safely.

[0069] In some embodiments, the first overtaking safety value is at least 1.5 times the width of the vehicle end 2 , that is, when the vehicle length is 3 meters, the first overtaking safety value must be at least 4.5 meters to allow the vehicle to overtake safely.

[0070] In some embodiments, the first overtaking safety value, the second overtaking safety value, the length of the vehicle end 2, the first overtaking distance, and the second overtaking distance do not need to be calculated as specific actual values. The second algorithm 1321 and the third algorithm 1322 only need to measure the sizes of the above data in the first image.

[0071] In some embodiments, see Figure 2The overtaking strategy 132 is also configured with a preset weight value, which is used to compare with the stability weight value calculated by the first algorithm 131. When the stability weight value is less than the preset weight value, the overtaking strategy 132 generates a waiting instruction and sends the waiting instruction to the vehicle end 2.

[0072] In fact, the preset weight value is used to measure the driving stability of the vehicle in front of the vehicle end 2, so as to determine whether the vehicle in front will frequently move left and right in the lane to affect overtaking.

[0073] In fact, when a vehicle needs to overtake forcibly, if the driving stability of the vehicle in front is good and the second overtaking distance is greater than the second overtaking safety value, overtaking can be forced.

[0074] In some embodiments, see Figure 2 The drone end 1 is also equipped with a following module 15, which is used for the drone end 1 to follow the vehicle end 2. The following module 15 can obtain the real-time speed of the vehicle end 2 and the driving route information of the vehicle end 2 to follow the vehicle end 2, wherein the driving route information includes the overtaking route in the overtaking instruction.

[0075] In some embodiments, the drone 1 uses the following module 15 to enable itself to hover on top of the vehicle 2 and keep the altitude of the drone 1 constant.

[0076] In some embodiments, the following module 15 can obtain the overtaking route in the overtaking instruction. Specifically, the following module 15 can obtain the current speed of the vehicle terminal 2 and follow the vehicle terminal 2 according to the overtaking route and navigation information displayed in the vehicle terminal 2.

[0077] See also Figure 2 The vehicle road planning module 13 is further configured with a judgment unit 133. The judgment unit 133 is used to select an overtaking route with the largest difference between the first overtaking distance and the first overtaking safety value, or the largest difference between the second overtaking distance and the second overtaking safety value, to issue an overtaking instruction, under the premise that there are multiple overtaking routes.

[0078] In some embodiments, see Figure 3When car No. 1 3 needs to overtake, the second algorithm 1321 measures the vertical distance a1 between the rear of car No. 2 4 and the front of car No. 3 5, and measures the vertical distance a2 between the front of car No. 2 4 and the front of car No. 4 6; the third algorithm 1322 measures the vertical distance b1 between car No. 2 4 and car No. 3 5 in the driving direction, and measures the vertical distance b2 between car No. 2 4 and car No. 4 6 in the driving direction; a1 and a2 are compared with the first overtaking safety value respectively; when a1 is greater than the first overtaking safety value, car No. 1 3 can choose overtaking route No. 1 7 to overtake; when a2 is less than When the first overtaking safety value is reached, b2 is compared with the second overtaking safety value. When b2 is greater than the second overtaking safety distance, car No. 1 3 can also choose overtaking route No. 2 8 to overtake. Therefore, at this time, car No. 1 3 has two overtaking routes available for overtaking. The difference between a1 and the first overtaking safety value is read by the judgment unit 133 and recorded as c1. The difference between b2 and the second overtaking safety value is read and recorded as c2. The judgment unit 133 judges the size of c1 and c2. When c1 is greater than c2, the judgment unit 133 selects overtaking route No. 1 7 to overtake. Otherwise, the judgment unit 133 selects overtaking route No. 2 8 to overtake.

[0079] In some embodiments, see Figure 2 The drone end 1 is also equipped with a loading module 16, which can improve the application capability of the drone end 1.

[0080] In some embodiments, the loading module 16 is represented as an empty cavity. For example, when the vehicle end 2 is an ambulance, a certain amount of rescue supplies can be stored in the loading module 16. When the ambulance approaches the rescue destination, the drone end 1 can detach from the ambulance and pre-deliver the rescue supplies to the patient to be rescued, which can effectively improve the success rate of rescue. Furthermore, the patient's blood or other physiological samples can be placed in the empty cavity. When the ambulance is about to arrive at the hospital, the drone can detach from the ambulance and return to the hospital in advance, allowing medical staff to pre-test the blood and other physiological samples to improve rescue efficiency.

[0081] In other embodiments, the loading module 16 may also be a sound device such as a tweeter, so that when the drone terminal 1 is in the air, the sound device can be used to disperse traffic to improve the success rate of overtaking.

[0082] An embodiment of the present invention also provides an ambulance utilizing the vehicle-mounted drone rescue system of any of the aforementioned embodiments. Specifically, the ambulance is the vehicle terminal 2 mentioned in any of the aforementioned embodiments. The vehicle terminal 2 includes the ambulance body and a vehicle-mounted system built into the ambulance body. The central processing unit in the vehicle-mounted system can be used to process and send various commands and information.

[0083] In some embodiments, see Figure 6The vehicle end 2 is provided with a control module 21, and the control module 21 is provided with a first command. The vehicle end 2 sends the first command to the drone end 1 through the control module 21, and the drone end 1 executes the first command after receiving the first command.

[0084] In some embodiments, the first command can be configured as a start command. After the drone end 1 receives the start command, the drone end 1 autonomously rises to a specified altitude and simultaneously starts the shooting module 12 and the vehicle road planning module 13.

[0085] In some embodiments, the drone 1 can be mounted directly on the vehicle 2 as a vehicle-mounted drone. This facilitates the activation of the road planning system and helps the vehicle 2 escape from complex road conditions. Specifically, a drone landing pad can be installed on the roof of the ambulance, and a charging system can also be installed on the landing pad to charge the drone 1. This charging system can be magnetic wired charging or wireless charging.

[0086] In some embodiments, after drone 1 is deployed as a vehicle-mounted drone on vehicle 2, drone 1 can also perform route planning for other vehicles, allowing them to quickly escape complex road conditions. Specifically, when a convoy of multiple vehicles is in motion, drone 1 can be deployed on any one vehicle to perform route planning for all vehicles within drone 1's camera range 121.

[0087] In some embodiments, the vehicle side 2 can also be an unmanned vehicle, which can plan the vehicle's route in real time through the drone side 1 and automatically execute overtaking instructions through AI on the vehicle side 2.

[0088] In some embodiments, see Figure 6 The vehicle end 2 is equipped with a vehicle communication module 22, which communicates with the drone end 1 (see Figure 1 ) establish a wireless communication connection to achieve control of the drone terminal 1 and signal transmission.

[0089] In some embodiments, see Figure 6 The vehicle side 2 is further provided with a display module 23 for displaying the first image and the overtaking route in the overtaking instruction. When the vehicle side 2 receives the waiting instruction from the drone side 1, the display module 23 can also display the waiting instruction.

[0090] In some embodiments, the vehicle end 2 is also equipped with a built-in map program, such as Baidu Maps, Amap, and Google Maps. After the vehicle road planning system transmits the overtaking instruction containing the overtaking route to the vehicle end 2, the overtaking route can also be displayed in the map program.

[0091] While the embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations of these embodiments are possible. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the claims. Furthermore, the invention described herein is susceptible to other embodiments and may be practiced or implemented in a variety of ways.

Claims

1. An ambulance-based vehicle-mounted drone rescue system, characterized in that: The drone terminal is configured to communicate with the vehicle terminal; The drone is equipped with a shooting module and a lane planning module. The shooting module is used to capture and mark vehicle images within a shooting range to generate a first image containing marking information. The lane planning module is used to receive and process the first image to generate an overtaking instruction containing an overtaking route and send the overtaking instruction to the vehicle. The lane planning module is configured with a first algorithm and an overtaking strategy. The first algorithm is configured to calculate a stability weight value for driving stability of a vehicle within a first target area in the first image. The overtaking strategy is configured to calculate a distance between a vehicle within a second target area and the vehicle end, and combine the stability weight value to generate an overtaking instruction containing an overtaking route. The second target area is an area in the first image close to the vehicle end, and the first target area is an area of ​​the first image excluding the second target area. The first algorithm is: ； Wherein, n is all the frames captured, δ is the vehicle stability weight value, and H i is the height of the UAV at the i-th frame, and the X i is the imaging distance between the vehicle and the lane line in the i-th frame, and the A i is the distance between the imaging point of the vehicle center point in the i-th frame and the lens, θ i is the angle between the vehicle marker point in the i-th frame and the vertical direction of the drone end.

2. The ambulance-based vehicle-mounted drone rescue system according to claim 1, characterized in that: The overtaking strategy is configured with a first overtaking safety value, a second overtaking safety value, a second algorithm, and a third algorithm; The second algorithm is used to calculate a first overtaking distance, where the first overtaking distance is the distance between a front vehicle located in front of the vehicle end and a vehicle located behind the front vehicle along the driving direction of the vehicle end in the first image; The third algorithm is used to calculate a second overtaking distance, where the second overtaking distance is the distance perpendicular to the traveling direction between a leading vehicle located in front of the vehicle end and a vehicle adjacent to the leading vehicle in the traveling direction of the vehicle end in the first image; The first overtaking distance is used to compare with the first overtaking safety value, and when the first overtaking distance is greater than or equal to the first overtaking safety value, the overtaking strategy issues the overtaking instruction; When the first overtaking distance is less than the first overtaking safety value, the second overtaking distance is compared with the second overtaking safety value, and when the second overtaking distance is greater than or equal to the second overtaking safety value, the overtaking strategy issues the overtaking instruction; When the second overtaking distance is less than the second overtaking safety value, the overtaking strategy generates a waiting instruction and sends the waiting instruction to the vehicle end.

3. The ambulance-based vehicle-mounted drone rescue system according to claim 2, characterized in that: The overtaking strategy is configured with a preset weight value, and the preset weight value is used for comparison with the stable weight value; When the stable weight value is less than the preset weight value, the overtaking strategy generates the waiting instruction and sends the waiting instruction to the vehicle end.

4. The ambulance-based vehicle-mounted drone rescue system according to claim 2, characterized in that: The vehicle road planning module is also equipped with a judgment unit, which is used to select an overtaking route with the largest difference between the first overtaking distance and the first overtaking safety value, and the second overtaking distance and the second overtaking safety value, to issue an overtaking instruction, under the premise that there are multiple overtaking routes.

5. The ambulance-based vehicle-mounted drone rescue system according to claim 1, characterized in that: The drone end is also configured with a following module, and the following module is used for the drone end to follow the vehicle end.

6. The ambulance-based vehicle-mounted drone rescue system according to claim 5, characterized in that: The following module obtains the real-time speed of the vehicle end and obtains the driving route information of the vehicle end to follow the vehicle end; the driving route information includes the overtaking route in the overtaking instruction.

7. An ambulance using the ambulance-based vehicle-mounted drone rescue system according to any one of claims 1 to 6.

8. The ambulance-based vehicle-mounted drone rescue system according to claim 7, characterized in that: The ambulance is configured with a first command, which is used to start the on-board drone rescue system of the ambulance.

9. The ambulance-based vehicle-mounted drone rescue system according to claim 7, characterized in that: The ambulance is equipped with a display module, which is used to display the first image information and the overtaking route in the overtaking instruction.

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