Vehicle-mounted unmanned aerial vehicle resource sharing method, electronic equipment, storage medium and computer program product

Abstract

The invention discloses a vehicle-mounted unmanned aerial vehicle resource sharing method, electronic equipment and a storage medium, the vehicle-mounted unmanned aerial vehicle resource sharing method is used for a vehicle-mounted unmanned aerial vehicle, the vehicle-mounted unmanned aerial vehicle is provided with a corresponding direct control terminal, and the method comprises the following steps: sending a resource sharing request to a non-direct control terminal through the direct control terminal, forming a resource sharing team by the control terminals which successfully share the resources; and sharing the sensing information detected by the vehicle-mounted unmanned aerial vehicle and / or the related control authority of the vehicle-mounted unmanned aerial vehicle to the resource sharing team.

Description

Technical Field

[0001] The present invention relates to a vehicle-mounted unmanned aerial vehicle, and in particular to a vehicle-mounted unmanned aerial vehicle resource sharing method, electronic equipment and storage medium, and a computer program product. Background Art

[0002] A car-mounted drone is a product that combines a car and a drone. The car serves as the operating platform for the car-mounted drone, and the drone's autonomous takeoff and landing operations are achieved by carrying a drone mobile airport on the car.

[0003] In the related technologies, the combination of vehicles and vehicle-mounted drones is limited to using the vehicle as a mobile airport for the vehicle-mounted drone or using the vehicle-mounted drone as an aerial camera for the vehicle. There are more combined functions between vehicles and vehicle-mounted drones that need to be developed urgently. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle-mounted drone resource sharing method, an electronic device and a storage medium, and a computer program product, which are used to solve at least one of the above-mentioned technical problems.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle-mounted UAV resource sharing method for a vehicle-mounted UAV, wherein the vehicle-mounted UAV has a corresponding direct control terminal, including:

[0006] Establishing a resource sharing link via the direct control terminal and the indirect control terminal, wherein each control terminal that successfully establishes the resource sharing link forms a resource sharing team;

[0007] The sensing information detected by the vehicle-mounted drone is shared with the resource sharing team, and / or the control information of the vehicle-mounted drone sent by the resource sharing team is received and responded.

[0008] In a second aspect, an embodiment of the present invention provides a method for sharing resources of a vehicle-mounted drone, which is used for a non-direct control terminal of a vehicle-mounted drone, and the method comprises: receiving a resource sharing request from the direct control terminal, wherein each control terminal that has successfully established resource sharing forms a resource sharing team; in response to the non-direct control terminal joining the resource sharing team, receiving and displaying the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone at the non-direct control terminal.

[0009] In a third aspect, an embodiment of the present invention provides a method for sharing resources of a vehicle-mounted drone, which is used for a direct control terminal of a vehicle-mounted drone. The method comprises: sending a resource sharing request to an indirect control terminal, wherein each control terminal that has successfully established resource sharing forms a resource sharing team; in response to the indirect control terminal joining the resource sharing team, the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone is shared with the indirect control terminal.

[0010] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned auxiliary identification methods of the present invention.

[0011] In a fifth aspect, an embodiment of the present invention provides a storage medium, in which one or more programs including execution instructions are stored. The execution instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to execute any of the above-mentioned auxiliary identification methods of the present invention.

[0012] In a sixth aspect, an embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program stored on a storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer executes any one of the above-mentioned auxiliary identification methods.

[0013] In the seventh aspect, an embodiment of the present invention further provides a movable platform, characterized in that it comprises: a fuselage, a power system and the electronic equipment as described above; the power system and the electronic equipment are installed on the fuselage, and the power system is used to provide power.

[0014] The method of the present application sends a resource sharing request to other non-direct control terminals through a direct control terminal associated with a vehicle-mounted drone, and then the non-direct control terminal will form a resource sharing team with the direct control terminal after accepting the invitation of the direct control terminal. After the direct control terminal and the non-direct control terminal successfully establish a resource sharing team, the perception information of the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone are shared with the resource team, so that members of the resource sharing team can share the perception information obtained by the vehicle-mounted drone and / or the relevant authority of the vehicle-mounted drone, thereby effectively improving the information perception capability of the entire fleet and improving the utilization rate of the vehicle-mounted drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0016] Figure 1 A flow chart of a vehicle-mounted drone resource sharing method provided by an embodiment of the present invention;

[0017] Figure 2 A flowchart of another vehicle-mounted drone resource sharing method provided by an embodiment of the present invention;

[0018] Figure 3 A flowchart of another vehicle-mounted drone resource sharing method provided by an embodiment of the present invention;

[0019] Figure 4 A flowchart of another vehicle-mounted drone resource sharing method provided by an embodiment of the present invention;

[0020] Figure 5 A connection diagram of a cellular network for a vehicle-mounted drone resource sharing method provided by an embodiment of the present invention;

[0021] Figure 6 A connection diagram of a non-cellular network for a vehicle-mounted drone resource sharing method provided by an embodiment of the present invention;

[0022] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0024] The vehicle corresponding to the vehicle-mounted drone can be a passenger car, a pickup truck, a truck, etc., and this application does not limit the specific type of the vehicle. The vehicle and the drone are connected in communication, and the user can send control instructions to the drone through the vehicle. The drone can respond to the control instructions to perform flight missions (for example, shooting missions, pathfinding missions, etc.), and send the mission data obtained by performing the flight mission (for example, captured image data, sensor perception data, etc.) to the vehicle.

[0025] The vehicle-mounted UAV includes a flight controller, a positioning module and a load module. Among them, the positioning module may include at least one visual sensor, an inertial measurement module, a visual inertial navigation module, a GNSS module, a multi-sensor fusion positioning module, a laser radar, a millimeter wave radar and an ultrasonic sensor, etc., and the present application is not limited here. The load module may include a gimbal control, at least one main camera arranged on the gimbal, a gimbal posture estimation and a wireless data transmission module, etc., and the present application is not limited here. The flight controller may include a perception module and a decision planning and control module. Among them, the perception module is used to construct a local map according to the data collected by the positioning module. For example, the local map can be obtained by the following method: the image (such as a grayscale image) collected by the visual sensor is processed in combination with the motion data collected by the inertial measurement module to obtain a depth map and a semantic recognition result, and then the local map is obtained based on the combination of the depth map and the semantic recognition result. The decision planning and control module is used for task decision-making and planning the flight trajectory of the vehicle-mounted UAV and performing flight control on the vehicle-mounted UAV, etc. It should be noted that the above content is only an implementation method of the vehicle-mounted UAV that can be used to execute the vehicle-mounted UAV resource sharing method, and other forms can also be adopted, and the present application is not limited here.

[0026] The vehicle-mounted UAV can receive control instructions from the control terminal through the wireless data transmission module, and then make task decisions according to the control instructions to generate specific instructions for different types of flight missions, and then control the gimbal and / or the vehicle-mounted UAV based on the specific instructions. For example, for the control of the gimbal, the flight controller can control the movement of the gimbal according to the specific instructions and the gimbal posture estimation data. For example, for the flight control of the vehicle-mounted UAV, the flight controller can plan the flight trajectory based on the specific instructions and the local map generated by the vehicle-mounted UAV; and then in the process of the vehicle-mounted UAV performing the flight mission, the flight controller can perform flight control according to the planned flight trajectory and the UAV posture determined based on the data collected by each sensor in the sensor system. For example, the UAV posture can be obtained after multi-sensor fusion positioning of the image collected by the visual sensor, the motion data collected by the inertial measurement module, and the positioning data collected by the GNSS positioning module. And the vehicle-mounted UAV can transmit the task data collected during the flight mission to the control terminal through the data transmission module. The task data includes but is not limited to the UAV posture data, the gimbal posture data, the image data collected by the main camera, the environmental perception data collected by various sensors, etc. It can be understood that the mission data fed back to the control terminal is only for illustration, and different types of flight missions correspond to different mission data; for example, in a traffic information collection mission, the mission data sent back to the control terminal may include, in addition to the drone posture data, gimbal posture data, and image data collected by the main camera, traffic environment information collected by other sensors, local maps obtained in the perception module, etc.; for example, in an aerial photography mission, the mission data sent back to the control terminal may include image data collected by the main camera.

[0027] The inventors found that most of the existing vehicle-mounted drones are one vehicle for one drone, which can only support single-vehicle operation and cannot share the information of the vehicle-mounted drone of the current vehicle with other vehicles. However, when working in the field and / or traveling, it is too costly to equip each vehicle with a vehicle-mounted drone. Furthermore, even if each vehicle is equipped with a vehicle-mounted drone, for a fleet, since the slave vehicles follow the main vehicle, if the main vehicle can share the information collected by its vehicle-mounted drone with the slave vehicles, the slave vehicles do not need to start their vehicle-mounted drones, which can greatly save energy consumption.

[0028] It should be noted that although the above embodiment introduces a scenario in which a vehicle-mounted drone is deeply bound to a vehicle, the embodiment of the present application is not limited to this scenario. The vehicle-mounted drone may also be just an ordinary drone with a control handle, and some methods may be used to bind it to the vehicle. The present application does not limit this.

[0029] Please refer to Figure 1, which shows a flow chart of a vehicle-mounted drone resource sharing method provided by an embodiment of the present invention. The vehicle-mounted drone resource sharing method is used for vehicle-mounted drones, and may exist in the vehicle-mounted drone in the form of an algorithm, such as a program code or a software, etc., and the present application is not limited thereto. Each vehicle-mounted drone has a direct control terminal bound thereto, and the direct control terminal may be a mobile phone terminal, a vehicle terminal, or other devices such as a handle remote control, and the terminal may be, for example, software, such as an APP, etc., and the present application is not limited thereto.

[0030] like Figure 1 As shown, in step 101, a resource sharing link is established via the direct control terminal and the indirect control terminal, wherein each control terminal that successfully establishes the resource sharing link forms a resource sharing team;

[0031] In step 102, the perception information detected by the vehicle-mounted drone is shared with the resource sharing team, and / or the control information of the vehicle-mounted drone sent by the resource sharing team is received and responded to.

[0032] In this embodiment, for step 101, a resource sharing link is established via the direct control terminal and the indirect control terminal, wherein each control terminal that successfully establishes the resource sharing link forms a resource sharing team. For example, a link establishment request is sent by the direct control terminal connected to the vehicle-mounted drone to the indirect control terminal, and a resource sharing link is established after the indirect control terminal receives and agrees to the request, thereby forming a resource sharing team. In addition, it is also possible for the indirect control terminal to apply to the direct control terminal to establish a link, and the present application has no restrictions on this. The indirect control terminal refers to a terminal that is not bound to the vehicle-mounted drone. The indirect control terminal may also be a mobile phone, a car computer or other device, and the present application has no restrictions on this.

[0033] For step 102, the perception information detected by the vehicle-mounted drone is shared with the resource sharing team, and / or the control information of the vehicle-mounted drone sent by the resource sharing team is received and responded. For example, after the resource sharing team is established, the vehicle-mounted drone will share the detected perception information with the team, and can receive instructions from the resource sharing team and perform corresponding operations, or the vehicle-mounted drone can only share the detected perception information with the resource sharing team without receiving instructions, and the present application is not limited here, wherein the perception information includes road surface information, member information, environmental information and other information, and the present application is not limited here.

[0034] In some specific examples, the direct control terminal has a corresponding resource sharing operation interface. The user can send a resource sharing request to the indirect control terminal by entering the unique identifier of other indirect control terminals on the resource sharing operation interface, or can also send a resource sharing request to the indirect control terminal through social software. When the vehicle-mounted drone detects that other indirect control terminals accept the request, the vehicle-mounted drone will share perception information with the indirect control terminal and / or accept other operation instructions of the indirect control terminal, or some other more secure methods can be adopted, which are not limited in this application. Among them, the resource sharing team can be a team composed of direct control terminals and indirect control terminals with relevant perception authority and / or control authority associated with the current vehicle-mounted drone. It can be temporary, such as three days or a week, and the specific time can be defined by the direct control terminal, or it can be permanent, which is not limited in this application. Resource sharing can be to temporarily bind the current vehicle-mounted drone with the indirect control terminal in the resource sharing team, so that the perception interface and control interface of the current vehicle-mounted drone can be displayed on the indirect control terminal. For example, corresponding permissions can be customized for each non-direct control terminal, such as uniformly customizing the terminal to be able to view the perception interface and / or control interface of the vehicle-mounted drone, or certain permissions or functions can be selectively shared when sending a resource sharing request. This application is not limited here.

[0035] The method of this embodiment sends a resource sharing request to other non-direct control terminals through the direct control terminal associated with the vehicle-mounted drone, and then the non-direct control terminal will form a resource sharing team with the direct control terminal after accepting the invitation of the direct control terminal. After the direct control terminal and the non-direct control terminal successfully establish a resource sharing team, the perception information of the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone are shared with the resource sharing team, so that members of the resource sharing team can share the perception information obtained by the vehicle-mounted drone and / or the relevant authority of the vehicle-mounted drone, thereby effectively improving the environmental perception capability of the entire fleet and improving the utilization rate of the vehicle-mounted drone.

[0036] Please refer to Figure 2 , which shows a flow chart of another vehicle-mounted drone resource sharing method provided by an embodiment of the present invention. The flow chart mainly shows the definition of the steps for establishing a communication connection.

[0037] like Figure 2 As shown, in step 201, a communication connection is established with the direct control terminal of the vehicle-mounted UAV through local link communication;

[0038] In step 202, if the current area is covered by a cellular network, a communication connection is established with the indirect control terminal through the cellular network via the direct control terminal;

[0039] In step 203, if the current area is not covered by a cellular network, a communication connection is established with the indirect control terminal through the local link communication.

[0040] In this embodiment, for step 201, the vehicle-mounted drone establishes a communication connection with the direct control terminal of the vehicle-mounted drone through local link communication. Among them, local link communication refers to a wireless communication link that supports short-range communication of drones, such as wifi, SDR (Software-Defined Radio), etc., or a combination of one or more short-range communication links, and the present application is not limited here. Among them, SDR is a radio broadcast communication technology that is based on software-defined wireless communication protocols rather than hard wiring. Frequency bands, air interface protocols and functions can be upgraded through software downloads and updates without completely replacing the hardware.

[0041] For step 202, if the current area is covered by a cellular network, a communication connection is established between the direct control terminal and the indirect control terminal through the cellular network. Cellular network, also known as mobile network, is a mobile communication hardware architecture, which is divided into analog cellular network and digital cellular network. Since the signal coverage of each communication base station constituting the network coverage is hexagonal, the entire network is named like a honeycomb. Cellular networks can include 3G, 4G, 5G, etc. For example, the current network environment is detected. If it is detected that the current environment is a cellular network, the indirect control terminal is connected to the vehicle-mounted drone through the cellular network, and then resources are shared, thereby reducing the energy consumption of the vehicle-mounted drone.

[0042] For step 203, if the current area is not covered by a cellular network, a communication connection is established with the non-direct control terminal through the local link communication. For example, the current network environment is detected. If it is detected that there is no cellular network in the current environment, the local link communication of the vehicle-mounted drone is used to connect the direct control terminal and the non-direct control terminal, thereby ensuring that resources can be shared even in areas without a cellular network. Among them, the communication address of the non-direct control terminal can be sent to the vehicle-mounted drone through the direct control terminal, or the communication address of the vehicle-mounted drone can be sent to the non-direct control terminal through the direct control terminal, so that the vehicle-mounted drone uses the local link communication to establish a communication connection with the non-direct control terminal.

[0043] The method of this embodiment directly uses a local link communication connection between the vehicle-mounted drone and the direct control terminal, and detects the network status of the current area after the connection. If the current area is in a cellular network coverage area, the direct control terminal connected to the vehicle-mounted drone connects to the indirect control terminal through the cellular network and then shares resources; if there is no cellular network in the current area, the local link communication connection of the vehicle-mounted drone is used to connect the direct control terminal and the indirect control terminal. Thus, it can be ensured that resource sharing of the vehicle-mounted drone can be achieved in different network environments. Furthermore, in the case of a cellular network, the cellular network is used to achieve resource sharing between the direct control terminal and the indirect control terminal, which can reduce the energy consumption of the vehicle-mounted drone.

[0044] In some optional embodiments, the method further includes: the vehicle-mounted drone identifies the position of each vehicle corresponding to each control terminal in the resource sharing team, and shares the position of each vehicle to each control terminal in the resource sharing team. Wherein, the position of each vehicle corresponding to each control terminal in the resource sharing team can be identified by the vehicle-mounted drone rising to a certain height by itself, then identifying each vehicle in the fleet, and then identifying each vehicle. As for how to associate each vehicle with the corresponding control terminal, it can be by using the location information sent by the control terminal, such as GPS signals or other location signals, and the present application is not limited here. For example, after the vehicle-mounted drone is connected to the direct control terminal and the indirect control terminal, it identifies the position of the vehicle in the resource sharing team through the GPS signals of the direct control terminal and the indirect control terminal, and then shares the vehicle position of the resource sharing team through resource sharing, so that the members of the resource sharing team can clearly know the position of each member. Optionally, after identifying the position of each vehicle, the vehicle-mounted drone can also track the position of each vehicle in real time through the drone's own target tracking algorithm, and share the tracking information back to the resource sharing team, so that members of the resource sharing team can know the position of each member's vehicle in real time and reduce the risk of falling behind.

[0045] Furthermore, when the vehicle-mounted drone detects that a member has fallen behind, it will alert the resource sharing team, mark the location of the lost vehicle on the map, and record the vehicle information, so that the team can immediately identify the lost vehicle when returning to search. In addition, after receiving the command to find the fallen members, the vehicle-mounted drone can return to the recorded location of the lost vehicle for photography and identification. The vehicle-mounted drone stores the information of the fallen vehicle (such as the license plate number or vehicle characteristics, etc.), which can identify the fallen vehicle in time, and can also provide real-time feedback of the photography information and the identified fallen vehicle information to the resource sharing team.

[0046] Furthermore, the vehicle-mounted drone can also identify whether there are any injured people in the connected vehicle and whether the vehicle is damaged through the captured images, and share the identification information with the entire team of vehicles or the nearest vehicle, thereby facilitating timely rescue by other vehicles. This application is not limited here.

[0047] In some optional embodiments, the method further includes: in response to a member editing operation of the direct control terminal or the indirect control terminal, editing the control terminal in the resource sharing team. The editing process may include the addition, deletion or permission adjustment operations performed by the direct control terminal or the indirect control terminal on members in the resource sharing team, such as the direct control terminal adjusting the permission of the indirect control terminal so that the indirect control terminal can only view the images taken by the vehicle-mounted drone, for example, the indirect control terminal can invite other control terminals to join the resource sharing team like the direct control terminal, and the present application is not limited thereto. Furthermore, the operable content of the direct control terminal may be different from that of the indirect control terminal, or may be the same, and the present application is not limited thereto.

[0048] In some optional embodiments, the control priority of the direct control terminal is higher than that of the indirect control terminal. If the operation instructions issued by the direct control terminal and the indirect control terminal are different, the vehicle-mounted drone will give priority to executing the instructions issued by the direct control terminal. If the instructions conflict with each other, the instructions of the indirect control terminal will be ignored. This application is not limited here.

[0049] In some optional embodiments, the method further includes: determining whether the detected surrounding environment information contains dangerous information; if the surrounding environment information contains dangerous information, feeding back the surrounding environment information and a reminder alert of the dangerous information to each control terminal in the resource sharing team.

[0050] In this embodiment, when the vehicle-mounted drone is launched, it obtains information about the surrounding environment and detects the surrounding environment information to determine whether there are dangerous areas in the surrounding environment (such as traffic accident areas, road collapse areas, etc.). If there are dangerous areas, danger information can be generated (for example, dangerous area identification information is generated). The detection can be based on the target detection algorithms of various existing drones, or it can be based on various target detection algorithms developed in the future, and the present application is not limited thereto. Then, when the vehicle-mounted drone detects the existence of a dangerous area in the surrounding environment, the direct control terminal and the indirect control terminal of the resource sharing team are alerted, and the detected environmental information is shared with the members of the resource sharing team, so that all members of the team can know the surrounding environmental information.

[0051] In some optional embodiments, the method further includes: receiving a coordinate sharing instruction fed back by a control terminal in the resource sharing team, wherein the coordinate sharing instruction includes the coordinates to be shared and a sharing object; and sharing the coordinates to be shared to the sharing object.

[0052] In this embodiment, when a control terminal of the resource sharing team sends a coordinate sharing instruction, the vehicle-mounted drone will receive the coordinate sharing instruction, wherein the coordinate sharing instruction includes the coordinates to be shared and the sharing object, and the sharing object can be the entire resource sharing team or a member or several members of the team, and this application has no restrictions here. Then, when the vehicle-mounted drone receives the coordinate sharing instruction, it will detect the object of the instruction, and then share the coordinates to the object, so that the coordinates can be shared with the team or individual members, so that the resource sharing team can share the location to be visited with other members through coordinate sharing, for example, it can achieve going to a certain gathering place through coordinate sharing.

[0053] Please refer to Figure 3 , which shows a flow chart of another vehicle-mounted drone resource sharing method provided by an embodiment of the present invention. For non-direct control terminals, where non-direct control terminals are relative to direct control terminals, and refer to terminals that are not bound to vehicle-mounted drones. The non-direct control terminals can also be mobile phones, vehicle computers or other devices, and this application is not limited here.

[0054] like Figure 3 As shown, in step 301, a resource sharing request of the direct control terminal is received, wherein each control terminal that has successfully established resource sharing forms a resource sharing team;

[0055] In step 302, in response to the indirect control terminal joining the resource sharing team, the indirect control terminal receives and displays the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone.

[0056] In this embodiment, for step 301, when the indirect control terminal accepts the resource sharing request of the direct control terminal, the direct control terminal and the indirect control terminal will form a resource sharing team, and then, for step 302, when the indirect control terminal joins the resource sharing team, the indirect control terminal will share the perception information and / or related control authority of the vehicle-mounted drone, or only share the perception information of the vehicle-mounted drone, and this application has no limitation here. Thus, the indirect control terminal can at least obtain the perception information of the vehicle-mounted drone and / or the related control authority of the vehicle-mounted drone.

[0057] In some optional embodiments, the method further includes: in response to receiving a coordinate sharing operation of the user on the indirect control terminal, converting the point selected by the user on the control interface of the vehicle-mounted drone into coordinates and sharing them with other control terminals of the vehicle-mounted drone. For example, when a user performs a coordinate sharing operation on the operation interface of the indirect control terminal, the user can select a location on the map by pointing at an image on the operation interface of the vehicle-mounted drone of the indirect control terminal, and then the indirect control terminal converts the location into coordinates and then shares the coordinates with other control terminals connected to the vehicle-mounted drone, thereby performing coordinate sharing. Among them, the technology of image pointing coordinate conversion can refer to related industry applications, or it can be a similar technology developed in the future, which will not be elaborated in this application. Sharing the coordinates to other control terminals connected to the vehicle-mounted drone can be achieved through data transmission through the communication link established in the above embodiment to achieve coordinate sharing.

[0058] In some optional embodiments, the method further includes: receiving surrounding environment information detected by the vehicle-mounted drone, and determining whether the surrounding environment information contains dangerous information; if the surrounding environment information contains dangerous information, issuing a reminder or warning; or, receiving dangerous information fed back by the vehicle-mounted drone, issuing a reminder or warning, and / or sharing the dangerous information with the resource sharing team.

[0059] In this embodiment, after receiving the environmental information captured by the vehicle-mounted drone in real time, the non-direct control terminal can detect whether the environmental information contains dangerous information through the target detection algorithm. If the non-direct control terminal detects that the environmental information contains dangerous information, it will remind the user and mark the dangerous information, or directly receive the information detected by the vehicle-mounted drone after the vehicle-mounted drone directly detects the environmental information, and then remind the user, and share the dangerous information with the members of the team, thereby reminding the resource sharing team that there are dangerous conditions on the roads around. The detection of dangerous information, reminders and markings can be completed autonomously by each control terminal, so that there is no need to share, or the vehicle-mounted drone can directly detect and remind, and each terminal receives the dangerous information and reminders, and this application is not limited here.

[0060] In some optional embodiments, the method further includes: in response to receiving a control instruction of the vehicle-mounted drone from the user on the indirect control terminal, sending the control instruction to the vehicle-mounted drone. For example, the user can control the vehicle-mounted drone to fly in other directions on the control interface of the indirect control terminal, and the generated flight instruction will be sent to the vehicle-mounted drone via the direct control terminal or local link communication, so that the indirect control terminal can operate the vehicle-mounted drone.

[0061] In some optional embodiments, the control priority of the direct control terminal is higher than that of the indirect control terminal. If the operation instructions issued by the direct control terminal and the indirect control terminal are different, the vehicle-mounted drone will give priority to executing the instructions issued by the direct control terminal. If the instructions conflict with each other, the instructions of the indirect control terminal will be ignored. This application is not limited here.

[0062] In some embodiments, the non-direct control terminal can edit member information and edit the addition, deletion, and permissions of control terminals in the resource sharing team.

[0063] Please refer to Figure 4 , which shows a flow chart of another vehicle-mounted drone resource sharing method provided by an embodiment of the present invention. For directly controlling a terminal, wherein the directly controlling terminal is relative to the indirect controlling terminal, and refers to a terminal bound to the vehicle-mounted drone, and the directly controlling terminal may also be a mobile phone, a vehicle computer or other device, and the present application has no limitation thereto.

[0064] like Figure 4 As shown, in step 401, a resource sharing request is sent to the non-direct control terminal, wherein each control terminal that has successfully established resource sharing forms a resource sharing team;

[0065] In step 402, in response to the indirect control terminal joining the resource sharing team, the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone are shared with the indirect control terminal.

[0066] In this embodiment, for step 401, a resource sharing request is sent to the indirect control terminal, wherein each control terminal that successfully establishes resource sharing forms a resource sharing team. For example, the direct control terminal sends a resource sharing request to the indirect control terminal, and when the indirect control terminal accepts the request, it will establish a resource sharing team with the direct control terminal.

[0067] For step 402, in response to the indirect control terminal joining the resource sharing team, the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone are shared with the indirect control terminal. For example, after establishing a resource sharing team with the indirect control terminal, the direct control terminal will share the perception information and relevant control authority of the vehicle-mounted drone, or only the perception information of the vehicle-mounted drone, or only the relevant control authority to the indirect control terminal, and this application is not limited here. Thereby, the indirect control terminal can obtain the perception information of the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone.

[0068] In some optional embodiments, the method further includes: in response to receiving a coordinate sharing operation by the user on the direct control terminal, converting the point selected by the user on the control interface of the vehicle-mounted drone into coordinates and sharing them with other control terminals of the vehicle-mounted drone. For example, when a user performs a coordinate sharing operation on the operation interface of the direct control terminal, the user can click on a certain location on the map on the vehicle-mounted drone operation interface on the control terminal, and then convert the location into coordinates, and then share the coordinates with other control terminals connected to the vehicle-mounted drone, thereby achieving coordinate sharing. Among them, the direct control terminal can directly share the coordinates with the indirect control terminal through the cellular network, and can also share the coordinates with the indirect control terminal through the vehicle-mounted drone.

[0069] In some optional embodiments, the method further includes: receiving the surrounding environment information detected by the vehicle-mounted drone, determining whether the surrounding environment information contains dangerous information; if the surrounding environment information contains dangerous information, issuing a reminder or warning; or, receiving dangerous information fed back by the vehicle-mounted drone, issuing a reminder or warning, and / or, sharing the dangerous information with the resource sharing team. The direct control terminal can be the recipient of dangerous information and reminders, or the generator of dangerous information and reminders. The work it needs to do when playing different roles is different, and this application is not limited here.

[0070] In this embodiment, the direct control terminal receives the environmental information detected by the vehicle-mounted drone, determines whether the environmental information contains dangerous information, and issues a reminder if the surrounding environmental information contains dangerous information. For example, if the direct control terminal detects that the environmental information contains dangerous information, it reminds the user and marks the dangerous information, or directly receives the information detected by the vehicle-mounted drone after the vehicle-mounted drone directly detects the environmental information, then reminds the user, and shares the dangerous information with the members of the team, thereby reminding the resource sharing team that there are dangerous conditions on the roads around them.

[0071] In some optional embodiments, the method further includes: in response to receiving a control instruction of the vehicle-mounted drone from the user on the direct control terminal, sending the control instruction to the vehicle-mounted drone. For example, when the user operates the vehicle-mounted drone on the direct control terminal, the instruction can be sent to the vehicle-mounted drone through local link communication, so that the vehicle-mounted drone performs corresponding operations according to the instruction. Among them, many functions of the direct control terminal are consistent with the control terminals of existing vehicle-mounted drones, which will not be elaborated here. Other functions involving sharing with non-direct control terminals are more related to related operations. The implementation methods can adopt existing technologies or some new technologies developed in the future. This application is not limited here.

[0072] Furthermore, the control priority of the direct control terminal is higher than that of the indirect control terminal. If the operation instructions issued by the direct control terminal and the indirect control terminal are different, the vehicle-mounted drone will give priority to executing the instructions issued by the direct control terminal. If the instructions conflict with each other, the instructions of the indirect control terminal will be ignored. This application has no restrictions here.

[0073] In some embodiments, the direct control terminal can edit member information and edit the addition, deletion, and permissions of the control terminal in the resource sharing team. For example, through the resource sharing team information editing interface in the drone control application on the vehicle screen, the user can add and delete team members, and can also set the permissions of team members (such as drone sharing and control permissions).

[0074] Please refer to Figure 5 , which shows a connection diagram with a cellular network of a vehicle-mounted drone resource sharing method provided by an embodiment of the present invention. The main vehicle is a vehicle bound to the vehicle-mounted drone, and the main vehicle is provided with a vehicle-mounted drone hangar and an SDR module for communicating with the drone.

[0075] like Figure 5 As shown, when the current environment is covered by a cellular network, the vehicle-mounted drone is connected to the main vehicle (direct control terminal) through local link communication (such as SDR), and then the main vehicle shares the information of the vehicle-mounted drone with other vehicles in the fleet (non-direct control terminals, such as mobile phones / car computers with cellular communication functions) through the cellular network (such as 4 / 5G module), thereby sharing resources and enabling other vehicles in the fleet to control the flight and detection operations of the vehicle-mounted drone. This application is not limited here.

[0076] Please refer to Figure 6 , which shows a connection diagram of a non-cellular network for a vehicle-mounted drone resource sharing method provided by an embodiment of the present invention.

[0077] like Figure 6 As shown, if there is no cellular network coverage in the current area, the vehicle-mounted drone will connect to the SDR modules of all vehicles in the fleet through local link communication, and then connect to the control terminal on the vehicle (such as a mobile phone / car computer) through the SDR module, thereby transmitting information to the control terminal through the SDR module, realizing resource sharing of the vehicle-mounted drone, so that all vehicles in the fleet can operate the vehicle-mounted drone.

[0078] In other embodiments, the embodiments of the present invention further provide a non-volatile computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the vehicle-mounted drone resource sharing method in any of the above method embodiments.

[0079] The non-volatile computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the vehicle-mounted drone resource sharing device, etc. In addition, the non-volatile computer-readable storage medium may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the non-volatile computer-readable storage medium may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the vehicle-mounted drone resource sharing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0080] An embodiment of the present invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes any of the above-mentioned vehicle-mounted drone resource sharing methods.

[0081] An embodiment of the present invention further provides a movable platform, which includes: a fuselage, a power system, and the electronic device as described in the above embodiment. The power system is installed in the fuselage to provide power; the principle and implementation of the electronic device are consistent with those described in the above embodiment and will not be repeated here. Optionally, the movable platform includes at least one of the following: a vehicle, a movable robot, and a drone. Optionally, the movable platform may also include a shooting device, which is installed in the fuselage to shoot images inside or around the movable platform.

[0082] Figure 7 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 7 As shown, the device includes: one or more processors 710 and a memory 720, Figure 7 A processor 710 is taken as an example. The device of the vehicle-mounted drone resource sharing method may also include: an input device 730 and an output device 740. The processor 710, the memory 720, the input device 730 and the output device 740 may be connected via a bus or other means. Figure 7The example of the bus connection is taken. The memory 720 is the above-mentioned non-volatile computer-readable storage medium. The processor 710 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 720, that is, the vehicle-mounted drone resource sharing method of the above-mentioned method embodiment is realized. The input device 730 can receive input digital or character information, and generate key signal input related to the user settings and function control of the vehicle-mounted drone resource sharing device of the embodiment. The output device 740 may include a display device such as a display screen.

[0083] The above product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0084] As an implementation mode, the above-mentioned electronic device is applied to a vehicle-mounted drone resource sharing device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the vehicle-mounted drone resource sharing method provided in any of the above-mentioned embodiments.

[0085] The electronic device of the embodiment of the present application exists in various forms, including but not limited to:

[0086] (1) Mobile communication devices: These devices are characterized by their mobile communication functions and their main purpose is to provide voice and data communications. These terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.

[0087] (2) Ultra-mobile personal computer devices: These devices fall into the category of personal computers, have computing and processing capabilities, and generally also have mobile Internet access features. These terminals include: PDA, MID and UMPC devices, such as iPad.

[0088] (3) Portable entertainment devices: These devices can display and play multimedia content. They include audio and video players (such as iPods), handheld game consoles, e-books, as well as smart toys and portable car navigation devices.

[0089] (4) Server: A device that provides computing services. The server consists of a processor, hard disk, memory, system bus, etc. The server is similar to a general computer architecture, but because it needs to provide highly reliable services, it has higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0090] (5) Other electronic devices with data interaction functions, such as vehicle-mounted domain controllers, drone remote controls, etc.

[0091] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0092] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-mounted UAV resource sharing method, for a vehicle-mounted UAV, wherein the vehicle-mounted UAV has a corresponding direct control terminal, comprising: Establishing a resource sharing link via the direct control terminal and the indirect control terminal, wherein each control terminal that successfully establishes the resource sharing link forms a resource sharing team; Share the perception information detected by the vehicle-mounted drone with the resource sharing team, and / or receive and respond to the control information of the vehicle-mounted drone sent by the resource sharing team.

2. The method according to claim 1, characterized in that: Establishing a resource sharing link via the direct control terminal and the indirect control terminal includes: Establishing a communication connection with a direct control terminal of the vehicle-mounted UAV through local link communication; If the current area is covered by a cellular network, establishing a communication connection with the indirect control terminal via the cellular network via the direct control terminal; If the current area is not covered by a cellular network, a communication connection is established with the indirect control terminal through the local link communication.

3. The method according to claim 1, characterized in that The method further comprises: Identify the position of each vehicle corresponding to each control terminal in the resource sharing team, and share the position of each vehicle with each control terminal in the resource sharing team; and / or, receiving a coordinate sharing instruction fed back by a control terminal in the resource sharing team, wherein the coordinate sharing instruction includes the coordinates to be shared and the sharing object; Share the coordinates to be shared to the sharing object.

4. The method according to claim 1, characterized in that: The method further comprises: In response to a member editing operation of the direct control terminal or the indirect control terminal, editing processing is performed on the control terminals in the resource sharing team.

5. The method according to claim 1, characterized in that The method further comprises: Determine whether the detected surrounding environment information contains dangerous information; If the surrounding environment information includes danger information, the surrounding environment information and a reminder warning of the danger information are fed back to each control terminal in the resource sharing team.

6. A vehicle-mounted drone resource sharing method, used for an indirect control terminal of a vehicle-mounted drone, the method comprising: receiving a resource sharing request from the direct control terminal, wherein each control terminal that has successfully established resource sharing forms a resource sharing team; In response to the indirect control terminal joining the resource sharing team, the indirect control terminal receives and displays the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone.

7. The method according to claim 6, characterized in that The method further comprises: In response to receiving a coordinate sharing operation by the user on the indirect control terminal, converting the point selected by the user on the control interface of the vehicle-mounted drone into coordinates and sharing them with other control terminals of the vehicle-mounted drone; and / or, In response to receiving a control instruction of the vehicle-mounted drone from the user on the indirect control terminal, the control instruction is sent to the vehicle-mounted drone.

8. The method according to claim 6, characterized in that The method further comprises: Receiving surrounding environment information detected by the vehicle-mounted drone, and determining whether the surrounding environment information contains dangerous information; If the surrounding environment information contains dangerous information, a reminder warning is issued; Alternatively, the danger information fed back by the vehicle-mounted drone is received, a reminder warning is issued, and / or the danger information is shared with the resource sharing team.

9. A vehicle-mounted drone resource sharing method, used for a direct control terminal of a vehicle-mounted drone, the method comprising: Sending a resource sharing request to the non-direct control terminal, wherein each control terminal that has successfully established resource sharing forms a resource sharing team; In response to the indirect control terminal joining the resource sharing team, the perception information detected by the vehicle-mounted drone and / or the relevant control authority of the vehicle-mounted drone are shared with the indirect control terminal.

10. The method according to claim 9, characterized in that The method further comprises: In response to receiving a coordinate sharing operation by the user on the direct control terminal, converting the point selected by the user on the control interface of the vehicle-mounted drone into coordinates and sharing them with other control terminals of the vehicle-mounted drone; and / or, In response to receiving a control instruction of the vehicle-mounted drone from the user on the direct control terminal, the control instruction is sent to the vehicle-mounted drone.

11. The method according to claim 10, characterized in that The method further comprises: Receiving surrounding environment information detected by the vehicle-mounted drone, and determining whether the surrounding environment information contains dangerous information; If the surrounding environment information contains dangerous information, a reminder warning is issued; Alternatively, the danger information fed back by the vehicle-mounted drone is received, a reminder warning is issued, and / or the danger information is shared with the resource sharing team.

12. An electronic device, comprising: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the method described in any one of claims 1 to 11.

13. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

14. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A movable platform, characterized in that: include: A body, a power system and an electronic device as claimed in claim 12; The power system and electronic equipment are installed on the fuselage, and the power system is used to provide power.

Images