Unmanned aerial vehicle control, parking control method and device, unmanned aerial vehicle and storage medium

Abstract

Embodiments of the present application provide a UAV control method, a parking control method, a device, a UAV and a storage medium. The UAV control method is applied to a UAV, the UAV is provided with a projection device, and the method comprises the following steps: determining a parking area; controlling the projection device to project a projection parking space suitable for a vehicle to the parking area, so that the vehicle completes a parking function according to the projection parking space. Therefore, in the environment without parking lines and dim light, the projection parking space suitable for the vehicle is projected, the parking function is completed, and the vehicle is not affected by the special environment when the parking function is used.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) and vehicle interaction technology, and in particular to a UAV control method, a parking control method, a UAV control device, a parking control device, a UAV, a vehicle, and a computer-readable storage medium. Background Technology

[0002] With the development of autonomous driving technology, automatic parking has become an essential function in autonomous driving. However, the existing automatic parking function has high requirements for the application scenarios and certain limitations on the area where it can operate. This may prevent users from using it in special scenarios, thus affecting the user's driving experience. For example, in dimly lit scenes, the vehicle's sensors cannot recognize parking lines, and the vehicle cannot complete the automatic parking function. When parking, if there are no parking lines or the parking lines are unclear, the vehicle will also be unable to complete the automatic parking function. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a drone control method, a parking control method, an apparatus, a drone, a vehicle, and a computer-readable storage medium that overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, this invention discloses a drone control method applied to a drone, wherein the drone is equipped with a projection device, and the method includes:

[0005] Identify parking areas;

[0006] The projection device is controlled to project onto the parking area to form a projection parking space adapted to the vehicle, so that the vehicle can complete the parking function according to the projection parking space.

[0007] Optionally, controlling the projection device to project onto the parking area to form a projection parking space adapted to the vehicle includes:

[0008] The projection device is controlled to project onto the parking area to form a projection parking space that conforms to the size of the projection parking space.

[0009] Optionally, controlling the projection device to project onto the parking area to form a projection parking space that conforms to the size of the projection parking space includes:

[0010] The drone is controlled to fly at a flight altitude corresponding to the size of the projected parking space, and the projection device is controlled to project onto the parking area at a projection angle corresponding to the size of the projected parking space to form a projected parking space that conforms to the size of the projected parking space.

[0011] Optionally, the flight altitude and the projection angle conform to a relationship curve corresponding to the size of the projected parking space.

[0012] Optionally, determining the parking area includes:

[0013] Obtain projection parking space setting information; the projection parking space setting information includes a flight area; the flight area is the area within a preset range around the vehicle where the drone can fly;

[0014] Traverse the flight area and acquire image information of the flight area through the camera of the drone;

[0015] The image information is input into a preset model to obtain the parking area.

[0016] Optionally, obtaining the projected parking space size adapted to the vehicle includes:

[0017] Obtain the projected parking space dimensions sent by the vehicle or terminal device.

[0018] Optionally, obtaining the projected parking space size adapted to the vehicle includes:

[0019] Obtain vehicle information sent by the vehicle or terminal device;

[0020] Determine the size of the projected parking space that matches the vehicle information.

[0021] Optionally, the vehicle information includes the vehicle model; determining the projected parking space size that matches the vehicle information includes:

[0022] The projected parking space size that matches the vehicle model is determined by a preset correspondence between the vehicle model and the projected parking space size.

[0023] Optionally, after controlling the projection device to project onto the parking area to form a projection parking space adapted to the vehicle, the method further includes:

[0024] A parking function availability signal is sent to the vehicle, so that the vehicle responds to the parking function availability signal and completes the parking function according to the projected parking space.

[0025] Optionally, the method further includes:

[0026] Receive the parking function completion command sent by the vehicle;

[0027] In response to the completion command, the drone is controlled to return to its parking position.

[0028] This invention also discloses a parking control method applied to a vehicle, the method comprising:

[0029] Detecting projected parking spaces; the projected parking spaces are formed by the drone controlling the projection device on the drone to project onto the parking area;

[0030] The parking function is completed based on the projected parking space.

[0031] Optionally, before detecting the projected parking space, the method further includes:

[0032] Send a start command to the drone; the start command is used to instruct the drone to start flying, find a parking area, and complete the projection of the parking space.

[0033] Optionally, before detecting the projected parking space of the vehicle, the method further includes:

[0034] The system receives a parking function availability signal sent by the drone; the parking function availability signal is sent to the vehicle after the drone completes the projection of the parking space.

[0035] In response to the parking function availability signal, the system enters the parking function's pending activation state.

[0036] In the pending activation state, it is detected whether the activation conditions of the parking function are met;

[0037] When the parking function meets the activation conditions, it switches from the pending activation state to the activated state.

[0038] Optionally, after completing the parking function based on the projected parking space, the method further includes:

[0039] Send a completion command for the parking function to the drone, so that the drone responds to the completion command and returns to the parking location.

[0040] This invention discloses a drone control device, applied to a drone, wherein the drone is equipped with a projection device, and the device includes:

[0041] The determination module is used to determine the parking area;

[0042] The projection module is used to control the projection device to project a parking space suitable for the vehicle onto the parking area, so that the vehicle can complete the parking function according to the projected parking space.

[0043] Optionally, the projection module includes:

[0044] The first acquisition submodule is used to acquire the projected parking space size adapted to the vehicle;

[0045] The control submodule is used to control the projection device to project onto the parking area to form a projection parking space that conforms to the size of the projection parking space.

[0046] Optionally, the control submodule includes:

[0047] The control unit is used to control the drone to fly at a flight altitude corresponding to the size of the projected parking space, and to control the projection device to project onto the parking area at a projection angle corresponding to the size of the projected parking space to form a projected parking space that conforms to the size of the projected parking space.

[0048] Optionally, the flight altitude and the projection angle conform to a relationship curve corresponding to the size of the projected parking space.

[0049] Optionally, the determining module includes:

[0050] The second acquisition submodule is used to acquire projection parking space setting information; the projection parking space setting information includes a flight area; the flight area is the area within a preset range around the vehicle where the drone can fly.

[0051] The third acquisition submodule is used to traverse the flight area and acquire image information of the flight area through the camera of the drone;

[0052] The input submodule is used to input the image information into a preset model to obtain the parking area.

[0053] Optionally, the first acquisition submodule includes:

[0054] The first acquisition unit is used to acquire the projected parking space dimensions sent by the vehicle or terminal device.

[0055] Optionally, the first acquisition submodule includes:

[0056] The second acquisition unit is used to acquire vehicle information sent by the vehicle or terminal device;

[0057] A determining unit is used to determine the size of the projected parking space that matches the vehicle information.

[0058] Optionally, the vehicle information includes the vehicle model; the determining unit includes:

[0059] A determining subunit is used to determine the projected parking space size that matches the vehicle model based on a preset correspondence between the vehicle model and the projected parking space size.

[0060] Optionally, the device further includes:

[0061] The first transmitting module is used to send a parking function available signal to the vehicle, so that the vehicle responds to the parking function available signal and completes the parking function according to the projected parking space.

[0062] Optionally, the device further includes:

[0063] The first receiving module is used to receive the parking function completion instruction sent by the vehicle;

[0064] The return module is used to respond to the completion command and control the drone to return to the parking position.

[0065] This invention discloses a parking control device applied to a vehicle, the device comprising:

[0066] The first detection module is used to detect the projected parking space; the projected parking space is formed by the drone controlling the projection device on the drone to project onto the parking area;

[0067] The parking module is used to complete the parking function based on the projected parking space.

[0068] Optionally, the device further includes:

[0069] The second sending module is used to send a start command to the drone; the start command is used to instruct the drone to start flying, find a parking area, and complete the projection of the parking space.

[0070] Optionally, the device further includes:

[0071] The second receiving module is used to receive the parking function availability signal sent by the drone; the parking function availability signal is sent to the vehicle after the drone completes the projection of the parking space.

[0072] A response module is used to respond to the parking function availability signal and enter the parking function's pending activation state;

[0073] The second detection module is used to detect whether the activation conditions of the parking function are met in the state of waiting to be activated.

[0074] The switching module is used to switch from the pending activation state to the active state when the parking function meets the activation conditions.

[0075] Optionally, the device further includes:

[0076] The third sending module is used to send a parking function completion command to the drone, so that the drone responds to the completion command and returns to the parking position.

[0077] The present invention also discloses a drone, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the drone control method described above.

[0078] The present invention also discloses a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the parking control method as described above.

[0079] The present invention also discloses a computer-readable storage medium storing a computer program that causes a processor to perform the steps of the above-described unmanned aerial vehicle control method or parking control method.

[0080] The embodiments of the present invention have the following advantages:

[0081] In this embodiment of the invention, a parking area is determined; a projection device is controlled to project a parking space suitable for the vehicle onto the parking area, so that the vehicle can complete the parking function according to the projected parking space. Thus, even in environments without parking lines and in dim lighting, a parking space suitable for the vehicle is projected to complete the parking function, ensuring that the vehicle is not affected by special environmental conditions when using the parking function. Attached Figure Description

[0082] Figure 1 This is a flowchart of the steps of a drone control method provided in an embodiment of the present invention;

[0083] Figure 2 This is a schematic diagram of a parking space projection display provided by an embodiment of the present invention;

[0084] Figure 3 This is a flowchart of the steps of a parking control method provided in an embodiment of the present invention;

[0085] Figure 4 This is a structural block diagram of a drone control device provided in an embodiment of the present invention;

[0086] Figure 5 This is a structural block diagram of a parking control device provided in an embodiment of the present invention. 。 Detailed Implementation

[0087] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0088] Existing parking technologies are limited by the specific parking conditions and cannot complete the parking function. Therefore, one of the core concepts of this invention is to propose a drone control method. After determining a parking area, the drone projects a parking space onto that area, enabling the vehicle to park using that space.

[0089] Reference Figure 1The diagram illustrates a flowchart of a drone control method according to an embodiment of the present invention. The method is applied to a drone equipped with a projection device, and the method may include the following steps:

[0090] Step 101: Determine the parking area.

[0091] In this embodiment of the invention, a drone can be paired with a vehicle, establish a communication connection with the vehicle, and park on the vehicle when the drone is not in operation. The drone can be parked on the roof or inside the vehicle, and the specific parking location can be set according to the actual application; this application does not limit this. The vehicle can be marked with specific identifiers, which the drone can recognize to complete its return.

[0092] In some application scenarios, while establishing a communication connection with the vehicle, the drone can also establish communication connections with other vehicles. For example, given vehicles A1, A2, and A3, vehicle A1 is the default vehicle paired with the drone. Vehicle A2 can establish a communication connection with the drone, and vehicles A1 and A2 can directly transmit data with the drone. Vehicle A3 can establish a communication connection with vehicle A1, and vehicle A3 can transmit data to vehicle A1, which then transmits the data to the drone. Thus, vehicle A3 uses vehicle A1 as a data relay to establish a communication connection with the drone for data transmission.

[0093] In other application scenarios, drones can also establish communication connections with terminal devices. These terminal devices can be mobile phones, peripheral devices for controlling the drone, or other devices that communicate with the drone. The peripheral device can be a drone controller. The communication connection can be established via Bluetooth or wireless transmission, and this application does not impose specific limitations on the particular communication connection method. For example, given terminal devices B1 and B2, terminal device B1 can establish a communication connection with the drone and directly transmit data to it. Terminal device B2 can establish a communication connection with a vehicle, transmitting data from the vehicle to the drone. Thus, terminal device B2 uses the vehicle as a data relay to establish a communication connection with the drone for data transmission.

[0094] In one embodiment, after receiving a start command from a vehicle or terminal device, the drone can obtain projected parking space setting information matching the vehicle. This projection parking space setting information may include a flight area. The flight area can be a pre-defined area around the vehicle where the drone can fly. The drone can traverse the flight area and acquire image information of the flight area through its camera. The image information is then input into a pre-defined model to obtain a parking area. For example, the pre-defined range can be 100m around the vehicle's location. After receiving the start command, the drone begins flight, traversing the flight area within 100m of the vehicle's location, and identifying a parking area within the flight area. In this application, the drone can also identify obstacles around it during flight and automatically avoid them.

[0095] In this application, the parking area can be determined by a preset recognition model. When the drone traverses the flight area, it transmits the image information of the flight area to the preset recognition model through the drone camera and determines the parking area. The preset recognition model is obtained in advance by training the model through deep learning.

[0096] Step 102: Control the projection device to project onto the parking area to form a projection parking space suitable for the vehicle, so that the vehicle can complete the parking function according to the projection parking space.

[0097] In this invention, after determining a parking area, a projection device is controlled to project a suitable parking space onto the parking area. Once the parking space is formed, the drone can send a parking function availability signal to the vehicle, causing the vehicle to respond to the signal and complete the parking function based on the projected parking space. The process of controlling the projection device to project a suitable parking space onto the parking area can include: acquiring the dimensions of the suitable parking space; and controlling the projection device to project a parking space that conforms to the dimensions.

[0098] In one embodiment, obtaining the projected parking space size suitable for the vehicle may include: obtaining the projected parking space size sent by the vehicle or terminal device. For example, the vehicle or terminal may have multiple projected parking space size settings, and the user can select the projected parking space size that matches the vehicle's parking space according to the required parking space size, and send the selected projected parking space size to the drone.

[0099] In another embodiment, obtaining the projected parking space size for the suitable vehicle may include: obtaining vehicle information sent by the vehicle or terminal device; and determining the projected parking space size that matches the vehicle information. The vehicle information may include the vehicle model, and the projected parking space size matching the vehicle model is determined based on a preset correspondence between the vehicle model and the projected parking space size. For example, a drone may have multiple projected parking space sizes configured. The vehicle or terminal sends vehicle information to the drone, and the drone determines the projected parking space size matching the vehicle model from the multiple projected parking space sizes based on the vehicle model in the vehicle information and the preset correspondence.

[0100] In one embodiment, controlling the projection device to project onto a parking area to form a parking space that conforms to the dimensions of the projected parking space may include: controlling a drone to fly at a flight altitude corresponding to the dimensions of the projected parking space, and controlling the projection device to project onto the parking area at a projection angle corresponding to the dimensions of the projected parking space to form a parking space that conforms to the dimensions of the projected parking space. The flight altitude and projection angle conform to a relationship curve corresponding to the dimensions of the projected parking space.

[0101] like Figure 2 The diagram illustrates a parking space projection display according to an embodiment of the present invention. The lower surface represents the projected parking space, the upper surface represents the projection light, A'D' represents the length of the short side projection light, A'B' represents the length of the long side projection light, AD represents the short side projection length of the projected parking space, AB represents the long side projection length of the projected parking space, ∠ODB represents the projection angle, and point O represents the flight position of the drone. The vertical distance from point O to the projected parking space is the drone's flight altitude. Substituting the data into a preset function, the flight altitude H = 1 / 2 * tan∠ODB * (DB - D'B'). This formula demonstrates that to keep the projected parking space constant, the projection angle changes accordingly with the flight altitude, and vice versa.

[0102] For example, the relationship curve corresponding to the projected parking space size 'a' is relationship curve b. The correspondence in relationship curve b is that projection angle c1 corresponds to flight altitude 'd1', and projection angle c2 corresponds to flight altitude 'd2'. Therefore, when the drone obtains the projected parking space size 'a', it can determine the corresponding relationship curve 'a' based on the projected parking space size 'b'. Based on relationship curve 'a', the projection angle and flight altitude can be determined. During drone flight, as the drone's flight altitude changes, the projection angle also changes. When the flight altitude changes to flight altitude 'd1', the corresponding projection angle 'c1' can be calculated using the above formula, and the projection angle is changed to projection angle 'c1'. When the flight altitude changes to flight altitude 'd2', the corresponding projection angle 'c2' can be calculated using the above formula, and the projection angle is changed to projection angle 'c2'. This ensures that the projected parking space size remains constant.

[0103] In one embodiment, after a projected parking space is formed, the drone can send a parking function availability signal and its position to the vehicle, so that the vehicle responds to the parking function availability signal and completes the parking function according to the drone's position and the projected parking space. After the vehicle completes the parking function, the drone can receive a parking function completion command sent by the vehicle and respond to the completion command, controlling the drone to return to the parking position. In this application, after receiving the vehicle's completion command, it can also detect whether there are parking function request messages sent by other vehicles. If so, the drone does not need to return to the parking position and can continue to project to the next available parking area so that other vehicles can complete the parking function according to the projected parking space. When it is detected that there are no parking function request messages sent by other vehicles, it means that the parking function is no longer needed, and at this time the drone's parking position can be controlled.

[0104] In this application, when the vehicle's parking function is completed, the vehicle and the drone will communicate and transmit data. In some scenarios, the drone receives the start signal sent by the vehicle and can also receive vehicle information sent by the vehicle. After receiving the vehicle information, the drone can determine the parking area based on the vehicle information, project it onto the parking area to form a projected parking space adapted to the vehicle, and send a parking function available signal to the vehicle after the projection is completed. After receiving the parking function available signal, the vehicle responds to the parking function signal and completes the parking function according to the projected parking space. After the vehicle completes the parking function, it can send a parking function completion command to the drone. After receiving the completion command, the drone responds to the completion command and returns to the drone's parking position, thereby completing the information transmission for vehicle parking control.

[0105] In this embodiment of the invention, a parking area is determined; the projection device is controlled to project a parking space suitable for the vehicle onto the parking area, so that the vehicle can complete the parking function according to the projected parking space. Thus, even in environments without parking lines and in dim lighting, a parking space suitable for the vehicle is projected to complete the parking function, and the vehicle is not affected by special environmental conditions when parking.

[0106] In this application, the relationship curve between the projection angle and flight altitude corresponding to the projected parking space size can be pre-set in the drone, vehicle, or terminal device. The drone can directly extract the relationship curve from the drone, or it can be obtained by sending data through the vehicle or terminal. Determining the relationship curve between the projection angle and flight altitude corresponding to the projected parking space size can be accomplished through the following steps: First, determine the projected parking space size; based on the projected parking space size, set the projection light size corresponding to the projected parking space size; then, set the projection angle; calculate the flight altitude based on the projected parking space size, projection light size, projection angle, and a preset function; finally, determine the relationship curve between the projection angle and flight altitude corresponding to the projected parking space size.

[0107] In practical applications, different vehicles require different parking space sizes when parking. This application supports the needs of different vehicles; that is, the projected parking space size of this application can include multiple sizes. For better illustration, one projected parking space size is used as an example here. Other projected parking space sizes can be obtained with corresponding variation curves based on the same principle. The projected parking space size can include the long side projection length and the short side projection length. When the drone projects to form a projected parking space, it can project two equal long side projections and two equal short side projections, thereby forming a projected parking space.

[0108] After determining the dimensions of the projection parking space, the proportion of that space can be determined. Based on this proportion, the proportion of the projection lamp can be set to match the proportion of the projection parking space. For example, if the ratio of the long side projection length to the short side projection length in the projection lamp size is 3:1, then the ratio of the long side projection lamp length to the short side projection lamp length can also be set to 3:1. This means the long side projection lamp length can be set to 9 cm, and the short side projection lamp length to 3 cm.

[0109] After setting the size of the projector lamp, you can set the projection angle. Multiple projection angles can be set. When determining the relationship curve, you need to determine the flight altitude corresponding to each projection angle after setting it.

[0110] When determining the size of the projection parking space, the first diagonal length of the projection parking space can be determined based on the projection lengths of its long and short sides. When setting the size of the projection lamp corresponding to the size of the projection parking space, the second diagonal length of the projection lamp can be determined based on the projection lamp lengths of its long and short sides. The flight altitude is calculated based on the first diagonal length, the second diagonal length, the projection angle, and a preset function. In this invention, the preset function can be H = 1 / 2 * tan∠θ * (L1 - L2), where H represents the flight altitude, θ represents the projection angle, L1 represents the first diagonal length, and L2 represents the second diagonal length.

[0111] This invention allows for setting a projection lamp size corresponding to a single parking space size. Within a single projection lamp size, one or more projection angles can be set. For example, when the parking space size is h, a projection lamp size i and a projection angle j1 can be set. The flight altitude H1 can be calculated using the parking space size h, projection lamp size i, projection angle j1, and a preset function. Then, the projection angle is set to projection angle j2. The flight altitude H2 can be calculated using the same parameters. Further projection angles j3, j4, ... can be set to calculate the corresponding flight altitudes H3, H4, ... The relationship curve between the projection angle and the flight altitude corresponding to the parking space size h is determined based on the projection angles j1, j2, j3, j4, ... and their corresponding flight altitudes H1, H2, H3, H4, ...

[0112] like Figure 3 The diagram illustrates a flowchart of a parking control method according to an embodiment of the present invention. This method is applied to a vehicle and may include the following steps:

[0113] Step 301, detect the projected parking space; the projected parking space is formed by the drone controlling the projection device on the drone to project onto the parking area.

[0114] In one embodiment, before detecting the projected parking space, the vehicle can send a start command to the drone, which instructs the drone to start flying and find a parking area to project the parking space.

[0115] In another embodiment, before detecting the projected parking space, the vehicle can first receive a parking function availability signal sent by the drone. In response to this signal, the vehicle enters a waiting state for the parking function. While in this waiting state, it checks whether the activation conditions for the parking function are met. When the activation conditions are met, the vehicle switches from the waiting state to the active state and begins detecting the projected parking space. The projected parking space can be a parking space matched to the vehicle.

[0116] In some application scenarios, the vehicle receives a parking function availability signal from the drone. In response, it enters a parking function standby state and begins a self-check, verifying the normality of other vehicle status signals. These other status signals may include brake signals, gear shift signals, powertrain signals, and sensor signals, which assist the vehicle in completing the parking function. Once the other vehicle status signals are confirmed to be normal, the automatic vehicle search function is activated. Simultaneously with receiving the parking function availability signal from the drone, the vehicle can also receive the drone's location data.

[0117] Once the drone is located, navigation to the drone's location is automatically generated. Users can drive their vehicles to the vicinity of the drone according to the navigation. This allows the vehicle's sensors to identify the projected parking space. After the vehicle completes the identification, the projected parking space information or image can be pushed to the central control platform. After the user confirms that the projected parking space information or image is correct, the vehicle switches from the pending activation state to the activated state.

[0118] In this application, the vehicle can detect the projected parking space that is compatible with the vehicle through sensors. The projected parking space is formed by the projection device installed on the drone controlled by the drone projecting onto the parking area.

[0119] Step 302: Complete the parking function based on the projected parking space.

[0120] In this application, the vehicle can drive itself into the projected parking space by controlling other status signals to complete the parking function. After the vehicle completes the parking function, it can send a parking completion command to the drone, causing the drone to respond to the completion command and return to its parking position.

[0121] In this embodiment of the invention, the vehicle detects a projected parking space, which is formed by a projection device installed on the unmanned aerial vehicle (UAV) and projects it onto a parking area. The vehicle then completes parking based on the projected parking space.

[0122] Yes, so that even in environments without parking lines and in dim lighting, vehicles can use drones to project parking spaces that are compatible with the vehicle, thus completing the parking function without being affected by special environmental conditions when parking.

[0123] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0124] Reference Figure 4 The diagram shows a structural block diagram of a drone control device according to an embodiment of the present invention.

[0125] Applied to drones, the drones are equipped with projection devices, and the devices specifically include the following modules: 5 Determination module 401, used to determine parking areas;

[0126] The projection module is used to control the projection device to project a parking space suitable for the vehicle onto the parking area, so that the vehicle can complete the parking function according to the projected parking space.

[0127] Optionally, the projection module 401 includes:

[0128] The first acquisition submodule is used to acquire the projected parking space size adapted to the vehicle;

[0129] The control submodule is used to control the projection device to project onto the parking area to form a projection parking space that conforms to the size of the projection parking space.

[0130] Optionally, the control submodule includes:

[0131] The control unit is used to control the drone to fly at a flight altitude corresponding to the size of the projected parking space, and to control the projection device to project onto the parking area at a projection angle corresponding to the size of the projected parking space to form a projected parking space that conforms to the size of the projected parking space.

[0132] Optionally, the flight altitude and the projection angle conform to a relationship curve corresponding to the size of the projected parking space.

[0133] Optionally, the determining module 401 includes:

[0134] The second acquisition submodule is used to acquire projection parking space setting information; the projection parking space setting information includes a flight area; the flight area is the area within a preset range around the vehicle where the drone can fly.

[0135] The third acquisition submodule is used to traverse the flight area and acquire image information of the flight area through the camera of the drone;

[0136] The input submodule is used to input the image information into a preset model to obtain the parking area.

[0137] Optionally, the first acquisition submodule includes:

[0138] The first acquisition unit is used to acquire the projected parking space dimensions sent by the vehicle or terminal device.

[0139] Optionally, the first acquisition submodule includes:

[0140] The second acquisition unit is used to acquire vehicle information sent by the vehicle or terminal device;

[0141] A determining unit is used to determine the size of the projected parking space that matches the vehicle information.

[0142] Optionally, the vehicle information includes the vehicle model; the determining unit includes:

[0143] A determination subunit is used to determine the size of the projected parking space that matches the vehicle model based on a preset correspondence between the vehicle model and the projected parking space size.

[0144] Optionally, the device further includes:

[0145] The first transmitting module is used to send a parking function available signal to the vehicle, so that the vehicle responds to the parking function available signal and completes the parking function according to the projected parking space.

[0146] Optionally, the device further includes:

[0147] The first receiving module is used to receive the parking function completion instruction sent by the vehicle;

[0148] The return module is used to respond to the completion command and control the drone to return to the parking position.

[0149] Reference Figure 5 The diagram shows a structural block diagram of a parking control device provided by an embodiment of the present invention. The device is applied to a vehicle and specifically includes the following modules:

[0150] The first detection module 501 is used to detect the projected parking space; the projected parking space is formed by the UAV controlling the UAV to project onto the parking area;

[0151] The parking module 502 is used to complete the parking function based on the projected parking space.

[0152] Optionally, the device further includes:

[0153] The second sending module is used to send a start command to the drone; the start command is used to instruct the drone to start flying, find a parking area, and complete the projection of the parking space.

[0154] Optionally, the device further includes:

[0155] The second receiving module is used to receive the parking function availability signal sent by the drone; the parking function availability signal is sent to the vehicle after the drone completes the projection of the parking space; the fifth response module is used to respond to the parking function availability signal and enter the waiting state of the parking function.

[0156] Living state;

[0157] The second detection module is used to detect whether the activation conditions of the parking function are met in the state of waiting to be activated.

[0158] The switching module is used to switch from the pending activation state to the active state when the parking function meets the activation conditions.

[0159] Optionally, the device further includes:

[0160] The third sending module is used to send a parking function completion command to the drone, so that the drone responds to the completion command and returns to the parking position.

[0161] As the device embodiment is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the description of the method embodiment.

[0162] This invention also provides a drone, comprising:

[0163] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described unmanned vehicle control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0164] This invention also provides a vehicle, comprising:

[0165] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described parking control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0166] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described UAV control method or parking control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0167] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0168] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0169] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0170] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0172] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0173] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0174] The present invention has provided a detailed description of a drone control method, parking control method, device, drone, vehicle, and computer-readable storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, Applied to a drone equipped with a projection device, the method includes: Determine the parking area; the parking area is determined from the flight area, which is the area around the vehicle within a preset range where the drone can fly; The system controls the projection device to project a parking space suitable for the vehicle onto the parking area. After the projection is completed, it sends a parking function available signal to the vehicle, so that the vehicle responds to the parking function available signal and completes the parking function according to the projected parking space. After the vehicle completes the parking function, the system receives the parking function completion command sent by the vehicle and responds to the completion command to control the drone to return to the parking position. The control of the projection device to project onto the parking area to form a projected parking space adapted to the vehicle includes: Obtain the projected parking space dimensions adapted to the vehicle; The projection device is controlled to project onto the parking area to form a projection parking space that conforms to the size of the projection parking space.

2. The UAV control method according to claim 1, characterized in that, The control of the projection device to project onto the parking area to form a projected parking space that conforms to the size of the projected parking space includes: The drone is controlled to fly at a flight altitude corresponding to the size of the projected parking space, and the projection device is controlled to project onto the parking area at a projection angle corresponding to the size of the projected parking space to form a projected parking space that conforms to the size of the projected parking space.

3. The UAV control method according to claim 2, characterized in that, The relationship between the flight altitude and the projection angle conforms to the curve corresponding to the size of the projected parking space.

4. The UAV control method according to claim 1, characterized in that, The determination of the parking area includes: Obtain projection parking space setting information; the projection parking space setting information includes a flight area; the flight area is a pre-defined area around the vehicle where no one can fly. The flight area is traversed and image information of the flight area is acquired through the camera of the drone; The image information is input into a preset model to obtain the parking area.

5. The UAV control method according to claim 1, characterized in that, The step of obtaining the projected parking space size adapted to the vehicle includes: Obtain the projected parking space dimensions sent by the vehicle or terminal device.

6. The UAV control method according to claim 1, characterized in that, The step of obtaining the projected parking space size adapted to the vehicle includes: Obtain vehicle information sent by the vehicle or terminal device; Determine the size of the projected parking space that matches the vehicle information.

7. The UAV control method according to claim 6, characterized in that, The vehicle information includes the vehicle model; determining the projected parking space size that matches the vehicle information includes: The projected parking space size that matches the vehicle model is determined by a preset correspondence between the vehicle model and the projected parking space size.

8. The UAV control method according to claim 1, characterized in that, After controlling the projection device to project onto the parking area to form a projection parking space adapted to the vehicle, the method further includes: A parking function availability signal is sent to the vehicle, so that the vehicle responds to the parking function availability signal and completes the parking function according to the projected parking space.

9. The UAV control method according to claim 1, characterized in that, The method further includes: Receive the parking function completion command sent by the vehicle; In response to the completion command, the drone is controlled to return to its parking position.

10. A parking control method, characterized in that, Applied to vehicles, the method includes: Detecting projected parking spaces; the projected parking spaces are formed by the drone controlling the projection device on the drone to project onto the parking area; the projected parking spaces are formed by the drone controlling the projection device to project onto the parking area according to the obtained projection parking space size adapted to the vehicle; the parking area is determined from the flight area, which is the area where the drone can fly within a preset range around the vehicle. In response to the parking function availability signal sent by the drone, the parking function is completed according to the projected parking space; after completing the parking function, a parking function completion command is sent to the drone, causing the drone to respond to the completion command and control the drone to return to the parking position.

11. The parking control method according to claim 10, characterized in that, Before detecting the projected parking space, the process also includes: Send a start command to the drone; the start command is used to instruct the drone to start flying, find a parking area, and complete the projection of the parking space.

12. The parking control method according to claim 10, characterized in that, Before detecting the projected parking space, the process also includes: The system receives a parking function availability signal sent by the drone; the parking function availability signal is sent to the vehicle after the drone completes the projection of the parking space. In response to the parking function availability signal, the system enters the parking function's pending activation state. In the pending activation state, it is detected whether the activation conditions of the parking function are met; When the parking function meets the activation conditions, it switches from the pending activation state to the activated state.

13. The parking control method according to claim 10, characterized in that, After completing the parking function based on the projected parking space, the method further includes: Send a completion command for the parking function to the drone, so that the drone responds to the completion command and returns to the parking location.

14. A drone control device, characterized in that, Applied to a drone, the drone is equipped with a projection device, the device comprising: The determination module is used to determine the parking area; the parking area is determined from the flight area, which is the area within a preset range around the vehicle where the drone can fly; The projection module controls the projection device to project a parking space suitable for the vehicle onto the parking area. After the projection is completed, it sends a parking function available signal to the vehicle, so that the vehicle responds to the parking function available signal and completes the parking function according to the projected parking space. After the vehicle completes the parking function, it receives a parking function completion command sent by the vehicle and responds to the completion command to control the drone to return to the parking position. The projection module includes: The first acquisition submodule is used to acquire the projected parking space size adapted to the vehicle; The control submodule is used to control the projection device to project onto the parking area to form a projection parking space that conforms to the size of the projection parking space.

15. A parking control device, characterized in that, Applied to vehicles, the device includes: The first detection module is used to detect the projected parking space; the projected parking space is formed by the UAV controlling the projection device on the UAV to project onto the parking area; the projected parking space is formed by the UAV controlling the projection device to project onto the parking area according to the obtained projected parking space size adapted to the vehicle; the parking area is determined from the flight area, which is the area around the vehicle where the UAV can fly. The parking module is used to respond to the parking function availability signal sent by the drone and complete the parking function according to the projected parking space; after the vehicle completes the parking function, it receives the parking function completion instruction sent by the vehicle and responds to the completion instruction to control the drone to return to the parking position.

16. A drone, characterized in that, include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the unmanned aerial vehicle control method as described in any one of claims 1-9.

17. A vehicle, characterized in that, include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the parking control method as described in any one of claims 10-13.

18. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the unmanned aerial vehicle control method or parking control method as described in any one of claims 1-9 or 10-13.

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