Road early warning method, system and device based on unmanned aerial vehicle and storage medium

Abstract

The invention discloses a road early warning method, system and device based on an unmanned aerial vehicle and a storage medium, and the method comprises the steps: obtaining the position data of a road and the take-off parameters of the unmanned aerial vehicle, the position data of the road comprises the latitude and longitude data and direction data of a lane, and the take-off parameters of the unmanned aerial vehicle comprise a take-off reference point and a take-off height; the unmanned aerial vehicle carries a task load; generating a route of the unmanned aerial vehicle according to a preset early warning scheme, the position data of the road and the take-off parameters of the unmanned aerial vehicle; and sending the route of the unmanned aerial vehicle to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to the route of the unmanned aerial vehicle and completes the warning task after receiving the take-off instruction. The embodiment of the invention can effectively prevent and reduce traffic accidents in the road-occupying construction area, improves the safety of road-occupying construction, and can be widely applied to the technical field of road maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of road maintenance, and in particular to a highway early warning method, system, device and storage medium based on an unmanned aerial vehicle. Background Art

[0002] Traditional highway construction operations often use anti-collision vehicles and on-board warning signs, reflective cones, signs and personnel commands for warning. The anti-collision vehicle is equipped with a warning sign and is located at the rear of the construction team to remind the vehicles behind to avoid it. In the event of an accident, the anti-collision bag at the rear of the anti-collision vehicle absorbs the impact energy and reduces the severity of the accident. Before starting construction, it is necessary to place speed limit, construction and other warning signs 2,000 meters in front of the construction area. Construction workers need to get off the car to place signs and other operations. During the period when the construction team stops, traffic accidents still frequently occur in the road construction area due to factors such as fatigue driving, lack of concentration, reduced number of lanes, and obstructed vision. Summary of the invention

[0003] In view of this, in order to solve one of the above problems, the purpose of an embodiment of the present invention is to provide a highway warning method, system, device and storage medium based on drones, which can effectively prevent and reduce traffic accidents in road construction areas and improve the safety of road construction.

[0004] On the one hand, an embodiment of the present invention provides a highway warning method based on a drone, comprising:

[0005] Acquire the location data of the highway and the take-off parameters of the UAV, wherein the location data of the highway includes the latitude and longitude data and direction data of the lane, and the take-off parameters of the UAV include the take-off reference point and the take-off height; the UAV is equipped with a mission payload;

[0006] Generate a route for the UAV according to a preset early warning scheme, the location data of the highway, and the take-off parameters of the UAV;

[0007] The route of the drone is sent to the drone, so that after receiving the take-off instruction, the drone flies according to the route of the drone and completes the warning task.

[0008] Optionally, generating the route of the UAV according to a preset early warning scheme, the location data of the highway and the flight parameters of the UAV includes:

[0009] Determine a take-off target point according to the take-off parameters of the UAV;

[0010] Determine the flight parameters, return target point and round trip times of the UAV according to the take-off target point, the preset early warning scheme and the location data of the highway;

[0011] The route of the UAV is generated according to the take-off target point, the return target point, the flight parameters and the number of round trips.

[0012] Optionally, the flight parameters include nose direction information, mission load direction information and flight speed, the warning scheme includes warning length and execution time, and the determining of the flight parameters, return target point and round trip number of the UAV according to the take-off target point, the preset warning scheme and the location data of the highway includes:

[0013] Determine the direction information of the UAV nose and the direction information of the mission load according to the direction data of the lane;

[0014] Determine a return target point according to the take-off target point, the warning length and the latitude and longitude data of the lane;

[0015] The number of round trips is determined according to the execution time, the warning length and the flight speed.

[0016] Optionally, the latitude and longitude data of the lane include a plurality of data points with equal spacing, and determining the return target point according to the take-off target point, the warning length and the latitude and longitude data of the lane includes:

[0017] Determining the number of data points according to the warning length and the spacing;

[0018] A return target point is determined according to the take-off target point and the number of the data points.

[0019] Optionally, the method further comprises:

[0020] Determine a next take-off reference point according to the direction data of the lane, and update the take-off parameters of the UAV according to the next take-off reference point;

[0021] The route of the UAV is updated and generated according to the preset early warning scheme, the location data of the highway and the updated take-off parameters of the UAV.

[0022] On the other hand, an embodiment of the present invention provides a highway warning system based on a drone, comprising:

[0023] The first module is used to obtain the location data of the highway and the take-off parameters of the UAV, wherein the location data of the highway includes the latitude and longitude data and direction data of the lane, and the take-off parameters of the UAV include the take-off reference point and the take-off height; the UAV is equipped with a mission load;

[0024] The second module is used to generate a route of the UAV according to a preset warning scheme, the location data of the highway and the take-off parameters of the UAV;

[0025] The third module is used to send the route of the drone to the drone, so that after receiving the take-off instruction, the drone flies according to the route of the drone and completes the warning task.

[0026] On the other hand, an embodiment of the present invention provides a road warning device based on a drone, comprising:

[0027] at least one processor;

[0028] at least one memory for storing at least one program;

[0029] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0030] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0031] On the other hand, an embodiment of the present invention provides a highway warning system based on a drone, including a drone, a machine nest, a flight control terminal, and a drone unified control and service center. The drone communicates with the machine nest and the flight control terminal, the machine nest communicates with the flight control terminal and the drone unified control and service center, and the drone carries a mission payload; wherein,

[0032] The drone is used to perform flight missions according to control instructions and routes;

[0033] The flight control terminal is used to obtain a take-off instruction and send the take-off instruction to the UAV;

[0034] The drone unified control and service center is used to execute the above method.

[0035] Optionally, the system further includes a cloud platform, and the cloud platform communicates with the drone unified control and service center.

[0036] Implementation of the embodiments of the present invention includes the following beneficial effects: In this embodiment, first, the location data of the highway and the take-off parameters of the drone are obtained, the location data of the highway includes the latitude and longitude data and direction data of the lane, the take-off parameters of the drone include the take-off reference point and the take-off altitude, the drone is equipped with a mission load, and the mission load provides visual and / or auditory aerial dynamic warnings to improve the significance of the warnings, then, the drone's route is generated according to a preset warning scheme, the location data of the highway and the take-off parameters of the drone, and finally, the drone's route is sent to the drone so that after receiving the take-off command, the drone flies according to the drone's route and completes the warning task, and the warning measures are moved forward through the generated route, providing visual and auditory aerial dynamic warnings to vehicles approaching the construction area, allowing drivers to reasonably slow down in advance to avoid the road occupation construction area, thereby effectively preventing and reducing traffic accidents in the road occupation construction area, achieving the purpose of ensuring driving and construction safety, and adding a layer of safety protection for highway road occupation construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a structural block diagram of a highway warning system based on a drone provided in an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the steps of a highway warning method based on a drone provided by an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of the structure of location data of a highway provided by an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of a route of a drone provided by an embodiment of the present invention;

[0041] Figure 5 is a schematic diagram of the steps of another highway warning method based on drones provided by an embodiment of the present invention;

[0042] Figure 6 is a structural block diagram of a highway warning system based on a drone provided in an embodiment of the present invention;

[0043] Figure 7 It is a structural block diagram of a highway warning device based on a drone provided in an embodiment of the present invention;

[0044] Figure 8 It is a structural block diagram of another highway warning system based on drone provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only provided for the convenience of explanation and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0046] Remotely piloted aircraft and autonomous aircraft are collectively referred to as drones. Autonomous aircraft are unmanned aircraft that do not require the pilot to intervene in the entire or stage of flight. Remotely piloted aircraft are unmanned aircraft that are controlled by a remote control station (station).

[0047] Mission payload refers to the equipment or devices carried by the UAV aircraft to complete the specified mission. These equipment or devices can be high-definition cameras, thermal imaging sensors, loudspeakers and other professional measurement tools.

[0048] A drone nest refers to a device that provides storage, landing platform, communication, power supply, load loading and unloading, environmental monitoring, video monitoring and other functions for drones. It is generally composed of a main control system, an electromechanical module, a communication module, a monitoring module and a landing platform. A vehicle-mounted nest refers to a car with a drone nest installed.

[0049] A drone ground station refers to a device that controls a drone or receives drone data, such as a remote controller.

[0050] The drone unified control and service platform is a software platform deployed in a private cloud, which is used to access drones, machine nests, mission payloads and other equipment, and supports equipment management, route management, flight plan management, data management and drone video live broadcasting. The platform opens data interfaces for different business systems to connect, so that business systems can obtain drone control capabilities and related data.

[0051] Flight control APP: An application APP installed on the Android system, which can be used to manually control the flight of the drone and interact with the cloud-based drone control and service center.

[0052] like Figure 1 As shown in the figure, the highway warning system based on drones includes drones, machine nests, drone unified control and service middle platform, and flight control terminal. The drone is equipped with mission payloads, including but not limited to high-resolution cameras, loudspeakers, and warning lights. The flight control terminal is installed with a flight control APP, and the operator can control the drone through the flight control APP. The drone communicates with the drone unified control and service middle platform through the machine nest. The machine nest is on the highway construction section and can be moved. The drone unified control and service middle platform can be used as a data center to store and calculate data.

[0053] See also Figure 2The embodiment of the present invention provides a highway warning method based on drones, which is applied to the unified control and service center of drones, including:

[0054] S100, obtaining location data of a highway and take-off parameters of a UAV, wherein the location data of the highway includes latitude and longitude data and direction data of a lane, and the take-off parameters of the UAV include a take-off reference point and a take-off altitude; the UAV is equipped with a mission payload.

[0055] The location data of roads can be collected using vehicle-mounted LiDAR to obtain high-precision location data. Figure 3 , Figure 3 The arrows in the figure indicate the direction of the lanes, and the dots indicate the collection points of highway data. The information of the collection points includes latitude and longitude data, lane information, and lane direction information.

[0056] The drone is selected based on the application parameters, such as a drone that can simultaneously carry three mission payloads and has a flight time of more than 30 minutes when fully loaded. The mission payloads include a high-resolution camera, a loudspeaker, and a warning light. The drone nest can be a vehicle-mounted drone nest to meet the needs of mobile nest operations.

[0057] The takeoff parameters of the drone can be reported by the construction personnel according to the on-site requirements. For example, the takeoff reference point is determined by the on-site construction personnel in combination with the location data of the highway, and the takeoff height is determined by the on-site construction personnel according to the environment of the construction site.

[0058] S200: Generate a route for the UAV according to a preset warning plan, the location data of the highway and the take-off parameters of the UAV.

[0059] The early warning scheme is determined according to the early warning method and the type of early warning. For example, the distance between the placement point of the traffic speed limit sign, reflective cone or construction warning sign and the construction site is determined according to the relevant specifications. Specifically, the flight direction and the turning point of the drone are determined according to the preset early warning scheme, the location data of the highway and the take-off parameters of the drone, and then the route of the drone is determined according to the turning point, take-off point and take-off height.

[0060] S300, sending the route of the drone to the drone, so that after receiving the take-off command, the drone flies according to the route of the drone and completes the warning task.

[0061] After the drone's route is determined, the drone unified control and service center will send the drone's route to the drone. After the drone receives the take-off command from the flight control terminal, it will fly according to the drone's route and complete the warning mission.

[0062] Optionally, generating a route of the drone according to a preset warning scheme, the location data of the highway and the flight parameters of the drone includes:

[0063] S210, determining a take-off target point according to the take-off parameters of the UAV;

[0064] S220, determining the flight parameters, return target point and round trip times of the UAV according to the take-off target point, the preset warning plan and the location data of the highway;

[0065] S230: Generate a route for the UAV according to the take-off target point, the return target point, the flight parameters, and the number of round trips.

[0066] The take-off target point refers to the starting point of the drone's route. The flight parameters refer to the parameter settings of the drone during the flight, such as the direction of the drone's nose and the direction of the mission payload. The return target point refers to the point where the drone turns along the original flight direction. The number of round trips refers to the number of round trips the drone makes between the take-off target point and the return target point.

[0067] See also Figure 4 In a specific embodiment, the data of the reference take-off point A uploaded by the on-site personnel using the flight control APP is obtained, and the flight altitude parameters of the UAV uploaded by the on-site personnel using the flight control APP are obtained. According to the longitude and latitude of the reference take-off point A, the coordinate X1 of the reference take-off point A is calculated from the lane coordinate set using PostGIS, and the lane information to which it belongs is obtained; the height is added to the coordinate X1, which is the first take-off target point Y1 of the UAV, and the nose direction and load direction information of the UAV are calculated according to the reverse direction of the coordinate X1, and the coordinates, height, nose direction, load direction, and flight speed of the point Y1 are completed; the mth point X2 is found by calculating in the reverse direction of the round-trip lane according to X1, and similarly, the coordinates of the return target point Y2 are determined according to X2 and the height and direction information; finally, the route of the UAV is generated according to the take-off target point, the return target point, the flight parameters, and the number of round trips.

[0068] Optionally, the flight parameters include the direction information of the nose, the direction information of the mission load and the flight speed, the warning scheme includes the warning length and the execution time, and the flight parameters, the return target point and the number of round trips of the UAV are determined according to the take-off target point, the preset warning scheme and the location data of the highway, including:

[0069] S221, determining the direction information of the UAV nose and the direction information of the mission load according to the direction data of the lane;

[0070] S222, determining the return target point according to the take-off target point, the warning length and the latitude and longitude data of the lane;

[0071] S223. Determine the number of round trips according to the execution time, warning length and flight speed.

[0072] The warning length refers to the length of the construction road that needs warning. The execution time refers to the time that construction personnel need to complete the specified events in the warning plan, for example, the time to place reflective cones on the construction section.

[0073] Specifically, the reverse data of the lane is determined according to the direction data of the lane, and then the direction information of the UAV nose and the direction information of the mission load are determined according to the reverse data of the lane. The point that is in the opposite direction of the take-off target point and is a warning length away from the take-off target point is determined as the return target point, and the coordinates of the return target point are determined according to the latitude and longitude data of the lane. Finally, the time required for a round trip is determined according to the warning length and the flight speed, and then the number of round trips of the UAV is determined according to the execution time and the time required for a round trip.

[0074] Optionally, the latitude and longitude data of the lane include a plurality of data points with equal spacing, and the return target point is determined according to the take-off target point, the warning length and the latitude and longitude data of the lane, including:

[0075] S2221. Determine the number of data points according to the warning length and interval;

[0076] S2222. Determine the return target point according to the take-off target point and the number of data points.

[0077] In a specific embodiment, see Figure 4 , Figure 4 The dots in the figure represent the sampled data points, and the distances between adjacent data points are equal. The warning length is 100 meters, the distance between adjacent data points is 10 meters, the number of data points is 10, the takeoff target point is Y1, and 10 data points are determined in the opposite direction of the lane. Starting from the takeoff target point Y1, the count starts from 0, and the 10th point is used as the return target point Y2.

[0078] Optionally, the method further comprises:

[0079] S400, determining a next take-off reference point according to the direction data of the lane, and updating the take-off parameters of the UAV according to the next take-off reference point;

[0080] S500: Update and generate the route of the UAV according to the preset warning plan, the location data of the highway and the updated take-off parameters of the UAV.

[0081] See also Figure 5In a specific embodiment, the convoy includes an anti-collision vehicle, a vehicle-mounted nest and a construction vehicle. P1 represents the first warning sign, P2 represents the second warning sign, Y1 represents the take-off target point of the first route, Y2 represents the return target point of the first route, Y3 represents the take-off target point of the second route, and Y4 represents the return target point of the second route. The specific implementation process is as follows: the convoy enters the first lane and stops at the first warning sign position to prepare for the sign. The construction personnel send a take-off command through the flight control terminal. The drone takes off from Y1, returns to Y1 at Y2, and after multiple round trips, turns on automatic shouting, warns the rear vehicles, slows down, changes lanes, pays attention to driving safety, etc., until the construction personnel complete the sign placement. After the construction personnel complete the placement of the first warning sign, the convoy goes to the second warning sign position, and the drone follows the convoy in the direction of the convoy, and gives a safety warning at a certain distance behind the nest. The construction personnel get off the vehicle and place the second warning sign.

[0082] The following is a specific example of a highway warning method based on a drone:

[0083] S1. Equipment selection: Choose a vehicle-mounted drone nest that meets the mobile operation requirements of the nest and supports mounting three mission payloads. The flight time is greater than 30 minutes when fully loaded. The mission payloads include a high-resolution camera, a loudspeaker, and a warning light.

[0084] S2. Equipment on the cloud: Connect drones and other equipment to the drone unified management and service center to achieve remote viewing of drone live broadcasts.

[0085] S3, start to execute the construction task of placing traffic speed limit signs, reflective cones, and construction warning signs. The specific process is as follows:

[0086] S31. The construction team sets out for the construction site (including the anti-collision vehicle, vehicle-mounted machine nest, and construction vehicles). The construction vehicle is at the front, the vehicle-mounted machine nest is in the middle of the team, and the anti-collision vehicle is at the end of the team.

[0087] S32. Before construction workers are on the road or setting off, they set up a flight plan for the drones used in this construction in the drone unified control and service center.

[0088] S33. Arrive at the scheduled construction site (anti-collision vehicle, mobile machine nest, construction vehicles and personnel are ready).

[0089] S34. The pilot opens the flight control APP, obtains the positioning information, uploads the positioning latitude and longitude data to the drone unified control and service center, selects the function of automatically generating highway construction routes, generates the drone flight route, and associates it with the corresponding flight plan.

[0090] S35. Select the flight plan corresponding to the drone, click one-button takeoff, and click "Execute Now" to control the drone to perform the mission.

[0091] S36. Construction units can remotely view the drone live broadcast images through the cloud platform (a business system that has been connected to the drone unified control and service center).

[0092] S37. The UAV automatically flies to the rear of the convoy according to the route requirements, 50 to 100 meters behind the anti-collision vehicle, 20 meters above the ground, flies back and forth, turns on the warning lights and automatically shouts to perform the warning mission.

[0093] S38. When arriving at the work site, the personnel on the construction vehicle get off the vehicle to place signs and cones, etc. After the work is completed, the convoy moves forward and the drone automatically follows the convoy.

[0094] S39. Repeat steps S37 and S38 until the construction is completed.

[0095] After the signboard construction is completed, the drone will land back to the vehicle-mounted nest in a different location (the nest will move). After completing the signboard and other construction operations, the fleet leaves.

[0096] After the construction is completed, the speed limit signs, reflective cones, and construction warning signs need to be removed. The drone safety warning operation process is similar to the third step. Operations such as placing signs are replaced by operations such as removing signs.

[0097] Implementation of the embodiments of the present invention includes the following beneficial effects: In this embodiment, first, the location data of the highway and the take-off parameters of the drone are obtained, the location data of the highway includes the latitude and longitude data and direction data of the lane, the take-off parameters of the drone include the take-off reference point and the take-off altitude, the drone is equipped with a mission load, and the mission load provides visual and / or auditory aerial dynamic warnings to improve the significance of the warnings, then, the drone's route is generated according to a preset warning scheme, the location data of the highway and the take-off parameters of the drone, and finally, the drone's route is sent to the drone so that after receiving the take-off command, the drone flies according to the drone's route and completes the warning task, and the warning measures are moved forward through the generated route, providing visual and auditory aerial dynamic warnings to vehicles approaching the construction area, allowing drivers to reasonably slow down in advance to avoid the road occupation construction area, thereby effectively preventing and reducing traffic accidents in the road occupation construction area, achieving the purpose of ensuring driving and construction safety, and adding a layer of safety protection for highway road occupation construction.

[0098] See also Figure 6 , an embodiment of the present invention provides a highway warning system based on a drone, comprising:

[0099] The first module is used to obtain the location data of the highway and the take-off parameters of the UAV. The location data of the highway includes the latitude and longitude data and direction data of the lane. The take-off parameters of the UAV include the take-off reference point and take-off altitude. The UAV is equipped with a mission payload.

[0100] The second module is used to generate the flight path of the drone according to the preset warning scheme, the location data of the highway and the take-off parameters of the drone;

[0101] The third module is used to send the UAV's route to the UAV, so that after receiving the take-off command, the UAV flies according to the UAV's route and completes the warning task.

[0102] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0103] See also Figure 7 The embodiment of the present invention provides a highway warning device based on a drone, comprising:

[0104] at least one processor;

[0105] at least one memory for storing at least one program;

[0106] When at least one program is executed by at least one processor, the at least one processor implements the above method.

[0107] Among them, the memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. The memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a remote memory remotely arranged relative to the processor, and these remote memories may be connected to the processor 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.

[0108] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0109] In addition, the embodiment of the present application also discloses a computer program product or a computer program, which is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above method.

[0110] The embodiment of the present invention further provides a computer-readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used to implement the above method when executed by the processor. Similarly, the contents of the above method embodiment are all applicable to the present storage medium embodiment, and the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0111] It is understood that all or some steps and systems in the disclosed method above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0112] See also Figure 1 The embodiment of the present invention provides a highway warning system based on a drone, including a drone, a machine nest, a flight control terminal, and a drone unified control and service center. The drone communicates with the machine nest and the flight control terminal, and the machine nest communicates with the flight control terminal and the drone unified control and service center. The drone carries a mission payload; wherein,

[0113] Unmanned aerial vehicles, used to perform flight missions according to control instructions and routes;

[0114] The flight control terminal is used to obtain take-off instructions and send them to the drone;

[0115] The drone unified control and service center is used to execute the above methods.

[0116] The flight control terminal obtains the data input by the construction personnel, such as the location data of the highway, and sends the data to the drone unified control and service center through the machine nest; after the flight control terminal obtains the take-off command input by the construction personnel, it sends the take-off command to the drone. The drone unified control and service center sends the drone's route to the drone through the machine nest. After the drone receives the take-off command sent by the flight control terminal, it executes the flight mission according to the received route.

[0117] Optionally, see Figure 8 ,The system also includes a cloud platform that communicates with the UAV unified control and service middle platform.

[0118] The cloud platform is used to display the flight video of the drone. Construction personnel or staff can watch the drone's mission execution status through the cloud platform. The drone sends the flight video to the drone unified control and service center through the machine nest, and the drone unified control and service center sends it to the cloud platform.

[0119] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0120] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A highway warning method based on drones, characterized in that: include: Acquire the location data of the highway and the take-off parameters of the UAV, wherein the location data of the highway includes the latitude and longitude data and direction data of the lane, and the take-off parameters of the UAV include the take-off reference point and the take-off height; the UAV is equipped with a mission payload; Generate a route for the UAV according to a preset warning scheme, the location data of the highway, and the take-off parameters of the UAV; The route of the UAV is sent to the UAV, so that after receiving the take-off instruction, the UAV flies according to the route of the UAV and completes the warning task.

2. The method according to claim 1, characterized in that The generating the route of the UAV according to the preset early warning scheme, the location data of the highway and the flight parameters of the UAV includes: Determining a take-off target point according to the take-off parameters of the UAV; Determine the flight parameters, return target point and round trip times of the UAV according to the take-off target point, the preset early warning scheme and the location data of the highway; The route of the UAV is generated according to the take-off target point, the return target point, the flight parameters and the number of round trips.

3. The method according to claim 2, characterized in that The flight parameters include the direction information of the nose, the direction information of the mission load and the flight speed; the warning scheme includes the warning length and the execution time; and the flight parameters, the return target point and the number of round trips of the UAV are determined according to the take-off target point, the preset warning scheme and the location data of the highway, including: Determine the direction information of the UAV nose and the direction information of the mission load according to the direction data of the lane; Determine a return target point according to the take-off target point, the warning length and the latitude and longitude data of the lane; The number of round trips is determined according to the execution time, the warning length and the flight speed.

4. The method according to claim 3, characterized in that: The latitude and longitude data of the lane include a plurality of data points with equal spacing, and determining the return target point according to the take-off target point, the warning length and the latitude and longitude data of the lane includes: Determining the number of data points according to the warning length and the spacing; A return target point is determined according to the take-off target point and the number of the data points.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Determine a next take-off reference point according to the direction data of the lane, and update the take-off parameters of the UAV according to the next take-off reference point; The route of the UAV is updated and generated according to the preset early warning scheme, the location data of the highway and the updated take-off parameters of the UAV.

6. A highway warning system based on drones, characterized in that: include: The first module is used to obtain the location data of the highway and the take-off parameters of the UAV, wherein the location data of the highway includes the latitude and longitude data and direction data of the lane, and the take-off parameters of the UAV include the take-off reference point and the take-off height; the UAV is equipped with a mission load; The second module is used to generate a route of the UAV according to a preset early warning scheme, the location data of the highway and the take-off parameters of the UAV; The third module is used to send the route of the drone to the drone, so that after receiving the take-off instruction, the drone flies according to the route of the drone and completes the warning task.

7. A highway warning device based on drone, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 5 when executed by the processor.

9. A highway warning system based on drones, characterized in that: It includes a drone, a nest, a flight control terminal, and a drone unified control and service center. The drone communicates with the nest and the flight control terminal, the nest communicates with the flight control terminal and the drone unified control and service center, and the drone carries a mission payload; wherein the drone is used to perform flight missions according to control instructions and routes; The flight control terminal is used to obtain a take-off instruction and send the take-off instruction to the drone; The drone unified control and service middle platform is used to execute the method described in any one of claims 1-5.

10. The system according to claim 9, characterized in that The system also includes a cloud platform, which communicates with the drone unified control and service center.

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