Environment monitoring method and device, electronic equipment and computer readable storage medium

Abstract

The invention provides an environment monitoring method and device, electronic equipment and a computer readable storage medium. The method is applied to a vehicle comprising a vehicle exterior environment detection system installed and connected to the outer side of a vehicle body and an unmanned aerial vehicle airport where an unmanned aerial vehicle is parked. The unmanned aerial vehicle airport comprises a containing mechanism used for supporting and parking unmanned aerial vehicles; the accommodating mechanism is provided with a high cover structure. Whether the surrounding environment information of the outer side of the vehicle meets the flight condition of the unmanned aerial vehicle or not is detected in real time through the vehicle exterior environment detection system, and if the surrounding environment information does not meet the flight condition of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to be parked in the containing mechanism, and the high cover structure is kept closed. If the flight condition of the unmanned aerial vehicle is met, the high cover structure is controlled to be opened, and the unmanned aerial vehicle is controlled to leave the containing mechanism to take off. Therefore, the unmanned aerial vehicle only needs to take off from the high cover structure once, the unmanned aerial vehicle does not need to automatically detect and take off repeatedly, abnormal conditions are reduced, and a large amount of time is saved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to an environmental monitoring method, apparatus, electronic device, and computer-readable storage medium. Background Technology

[0002] Existing technology utilizes environmental detection devices mounted on drones to monitor environmental information. When the drone flies out from the containment mechanism after opening its high-cover structure and comes into contact with the environment, it detects the surrounding conditions. If the environment around the vehicle is detected to be unfavorable for drone flight, the drone returns to the containment mechanism.

[0003] Thus, in related technologies, there is a risk of unforeseen circumstances arising where the drone, after being lifted off the airfield, detects an unsuitable environment and has to return to its cabin. Summary of the Invention

[0004] This application provides an improved environmental monitoring method, apparatus, electronic device, and computer-readable storage medium.

[0005] This application provides an environmental monitoring method applied to a vehicle, the vehicle including an external environment detection system installed and connected to the outside of the vehicle body and a drone airport for parking drones; the drone airport includes a housing mechanism for supporting and parking the drones; the housing mechanism has a high-cover structure; the environmental monitoring method includes:

[0006] The monitoring system detects the surrounding environment information outside the vehicle in real time.

[0007] If the monitored surrounding environment information does not meet the conditions for drone flight, then control the drone to park in the housing, maintain the high cover structure closed, and continue to execute the steps of monitoring the surrounding environment information outside the vehicle detected in real time by the vehicle external environment detection system.

[0008] If the monitored surrounding environment information meets the conditions for drone flight, then the high cover structure is opened, and the drone is controlled to leave the housing and take off.

[0009] Furthermore, the vehicle exterior environment detection system includes an exterior temperature sensor installed on the exterior of the vehicle;

[0010] The monitoring system detects the surrounding environment outside the vehicle in real time, including:

[0011] The vehicle's external temperature is monitored and collected in real time by an external temperature sensor.

[0012] If the monitored surrounding environment information does not meet the conditions for drone flight, then the drone is controlled to park within the containment mechanism, and the high-cover structure is kept closed, including:

[0013] If the monitored external ambient temperature exceeds the extreme temperature conditions of the drone, the system controls the drone to park inside the housing, keeps the high cover structure closed, and controls the ventilation system inside the high cover structure to start. At the same time, the system controls the drone airport to start the drone airport air conditioner so that the ventilation system can communicate with the environment inside the drone airport and maintain the charging temperature of the drone.

[0014] Furthermore, the vehicle exterior environment detection system includes a rain gauge and an anemometer installed and connected to the canopy structure;

[0015] The monitoring system detects the surrounding environment outside the vehicle in real time, including:

[0016] When the vehicle arrives at the work site, monitor the real-time rainfall and wind speed at the work site where the vehicle is located, as detected by the rain gauge and anemometer.

[0017] The method further includes:

[0018] Estimate the remaining duration of the task at the work location;

[0019] If the monitored surrounding environmental information does not meet the conditions for drone flight, the method of controlling the drone to park within the containment mechanism and maintaining the high-cover structure closed includes:

[0020] Based on the real-time rainfall and wind speed, and the estimated weather forecast for the remaining time, determine whether there is a sudden abnormal weather event;

[0021] If abnormal weather occurs suddenly, the abnormal weather will be transmitted to the command center of the drone for warning. At the same time, the drone will be controlled to park in the housing mechanism and the high cover structure will be kept closed. The vehicle and the drone will be controlled to stop performing the task at the work site.

[0022] Furthermore, the method also includes:

[0023] Before the vehicle arrives at the work site, the real-time weather conditions at the work site are obtained and compared with the estimated weather forecast for the work period at the work site to determine whether there is abnormal weather during the work period.

[0024] If the abnormal weather occurs, the abnormal weather will be transmitted to the command center of the drone as a warning, and at the same time, the vehicle and the drone will be controlled to suspend the mission at the work site.

[0025] Furthermore, the vehicle exterior environment detection system includes an image acquisition device connected to the exterior of the vehicle body;

[0026] The method further includes:

[0027] Once it is determined that the vehicle is parked and the drone is about to take off or land, the angle of the image acquisition device is adjusted to automatically align with the direction of the drone airport.

[0028] The first video stream from all image acquisition devices is displayed on the vehicle's screen, and the sensors around the vehicle are activated;

[0029] Based on the signals collected by the sensors and the display screen, the system monitors whether there are obstacles around the vehicle.

[0030] If obstacles are detected around the vehicle, the system will control the vehicle and the drone to suspend their tasks at the work site and send an alert to the drone's command center.

[0031] Furthermore, the method also includes:

[0032] Once it is determined that the vehicle is in motion and the drone is taking off, the field of view of all image acquisition devices is adjusted to the default angle, and the field of view of the drone is also adjusted; the field of view of the drone and all image acquisition devices are stitched together to form an ultra-wide-angle field of view;

[0033] Acquire the first video stream acquired by all image acquisition devices, and acquire the second video stream acquired by the drone;

[0034] The second video stream and the first video stream from all image acquisition devices are merged and displayed on the vehicle's screen.

[0035] Furthermore, the method also includes:

[0036] Before the drone operation, the vehicle's built-in positioning module is used to calibrate the drone airport and record the number of satellites acquired at the operation location, the positioning signal strength, and any abnormal events.

[0037] The abnormal event will be transmitted to the command center of the drone as a warning.

[0038] This application provides an environmental monitoring device applied to a vehicle. The vehicle includes an external environmental detection system installed and connected to the outside of the vehicle body and a drone airport for parking drones. The drone airport includes a housing mechanism for supporting and parking the drones. The housing mechanism has a high-cover structure. The environmental monitoring device includes:

[0039] The monitoring module is used to monitor the surrounding environment information outside the vehicle detected in real time by the vehicle external environment detection system;

[0040] The parking control module is used to control the drone to park in the housing mechanism if the monitored surrounding environment information does not meet the drone flight conditions, and to maintain the high cover structure closed, and continue to perform the steps of monitoring the surrounding environment information outside the vehicle detected in real time by the vehicle external environment detection system.

[0041] The takeoff control module is used to control the opening of the high cover structure and the takeoff of the UAV from the housing mechanism if the monitored surrounding environmental information meets the flight conditions of the UAV.

[0042] This application provides an electronic device including one or more processors for implementing the method described in any of the preceding claims.

[0043] This application provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the method described in any of the preceding claims.

[0044] This application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the method described in any of the preceding claims.

[0045] In some embodiments, the environmental monitoring method of this application includes a vehicle equipped with an external environment detection system connected to the outside of the vehicle body and a drone airport for parking drones; the drone airport includes a housing mechanism for supporting and parking the drones; the housing mechanism has a high-cover structure. By determining whether the surrounding environmental information detected in real time by the external environment detection system meets the drone's flight conditions, if the conditions are not met, the drone is controlled to park within the housing mechanism, and the high-cover structure is kept closed. If the conditions are met, the high-cover structure is controlled to open, and the drone is controlled to leave the housing mechanism and take off.

[0046] In this way, the external environment detection system on the outside of the vehicle can monitor and control the drone in conjunction with the drone airport. By using the external environment detection system to determine if the surrounding environment meets the drone's flight conditions, the drone only needs to take off from the canopy structure once, eliminating the need for repeated takeoffs and checks by the drone itself. This reduces the occurrence of anomalies and saves a significant amount of time. Attached Figure Description

[0047] Figure 1 The diagram shown is a schematic diagram of the first working state of the vehicle used in the environmental monitoring method according to an embodiment of this application.

[0048] Figure 2 As shown Figure 1 A schematic diagram of the accommodating mechanism in the vehicle shown.

[0049] Figure 3 The diagram shown is a flowchart of an environmental monitoring method provided in an embodiment of this application;

[0050] Figure 4 As shown Figure 3 The environmental monitoring method shown includes a structural diagram of a rain gauge and an anemometer;

[0051] Figure 5 As shown Figure 3 The diagram shows the second working state of the vehicle used in the environmental monitoring method.

[0052] Figure 6 The diagram shown is a structural schematic of the environmental monitoring device provided in an embodiment of this application;

[0053] Figure 7 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0054] Explanation of reference numerals in the attached figures:

[0055] 10-Vehicle, 11-UAV, 12-Image acquisition equipment, 13-UAV airport, 131-Housing mechanism, 132-High-roof structure, 14-Anemometer, 15-Rain gauge, 16-Roof extension structure, 17-Rear extension structure. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0057] It should be noted that the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification in other embodiments. In some other embodiments, the methods may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be broken down into multiple steps in other embodiments; and multiple steps described in this specification may be combined into a single step in other embodiments.

[0058] If the environmental monitoring device detects that the environment around the vehicle is unfavorable for the drone's flight, the drone will return to the containment mechanism. After the vehicle has traveled a certain distance, the drone will fly out from the containment mechanism through the open cover to make contact with the environment. If the environment around the vehicle is still unfavorable for the drone's flight, the drone will return to the containment mechanism again. This presents a technical problem: the drone may rise from its designated flight path, detect an unsuitable environment, and then return to the containment mechanism, creating an abnormal situation.

[0059] To address the technical problem of unsuitable environmental conditions detected after drones are lifted from the airfield, requiring them to return to the cabin, this application provides an environmental monitoring method applied to a vehicle. The vehicle may include, but is not limited to, an external environment detection system installed and connected to the exterior of the vehicle body, and a drone airfield for parking the drone. The external environment detection system monitors the surrounding environment outside the vehicle in real time, and controls the drone in conjunction with the drone airfield. The system detects whether the surrounding environment outside the vehicle meets the drone's flight conditions. If not, the drone is controlled to park within the containment structure, and the canopy structure is kept closed. If the conditions are met, the canopy structure is opened, and the drone leaves the containment structure for takeoff. By utilizing the external environment detection system to determine if the surrounding environment meets the drone's flight conditions, the drone only needs to take off once from the canopy structure, eliminating the need for repeated takeoffs and detections, reducing the occurrence of anomalies, and saving significant time.

[0060] Figure 1 The diagram shown is a schematic diagram of the first working state of the vehicle used in the environmental monitoring method according to an embodiment of this application.

[0061] like Figure 1 As shown, the aforementioned vehicle includes an external environment detection system and a drone airport for parking drones. The vehicle in this article may include drones, referred to as a vehicle-mounted drone. Alternatively, the vehicle may not include drones, with the drones operating independently of the vehicle but in conjunction with it.

[0062] The drone 11 is used to collect information about the surrounding environment outside the vehicle, obtain video, called the second video stream, and send this second video stream to the vehicle 10.

[0063] The external environment detection system on the exterior of vehicle 10 may include, but is not limited to, an image acquisition device 12, used to collect information about the surrounding environment outside the vehicle and obtain video, referred to as the first video stream. Since the drone's altitude is higher than the plane on which vehicle 10 is located, the drone's vertical field of view is greater than that of the vehicle. Thus, based on the field of view of the image acquisition device 12, the field of view of the drone 11 is extended, ultimately achieving an ultra-wide-angle field of view.

[0064] In this article, the "first" in "first video stream" and the "second" in "second video stream" are used to distinguish between the two video streams and do not restrict their order.

[0065] Continue as Figure 1 As shown, the vehicle exterior environment detection system is used to detect the surrounding environment information outside the vehicle in real time. The image acquisition device 12 is used to acquire the first video stream. This image acquisition device 12 may also include, but is not limited to, cameras, video cameras, and other devices with photo-taking capabilities. Other devices with photo-taking capabilities include mobile phones, tablets, etc.

[0066] The vehicle 10 described above is also used to display the second video stream collected by the drone 11 and the first video stream from the image acquisition device 12 of the external environment detection system on the vehicle 10's exterior on a display screen. Thus, the vehicle 10 and the drone 11 of this application can work together to complete corresponding tasks. For example, the vehicle 10 can drive to the work location, and then the drone 11 can fly out to perform the task at the work location. Alternatively, while the vehicle 10 is driving to the work location, the drone 11 can fly around the vehicle 10 to help it broaden its field of vision.

[0067] See also Figure 1 As shown, the vehicle 10 may also include, but is not limited to, a drone airport 13 for parking drones. The drone airport 13 is used to support and park drones 11, and / or to charge drones 11, etc. The drone airport 13 may include, but is not limited to, a housing mechanism 131 for supporting and parking drones 11. Further, the housing mechanism 131 is installed at the rear of the vehicle. In one example, the housing mechanism 131 may be installed in the vehicle's rear cargo bed. In another example, the housing mechanism 131 may be installed in the vehicle's trunk. Thus, the vehicle's trunk and the high-cover structure 132 can be opened and closed simultaneously with a single control, improving the efficiency of controlling drone takeoff or landing. In yet another example, continuing as... Figure 1As shown, the accommodating mechanism 131 is mounted on a roof extension structure 16 at the rear of the vehicle and above the rear cargo bed. The roof extension structure 16 is arranged longitudinally along the vehicle body and extends towards the roof, for mounting and supporting the drone airport 13. The accommodating mechanism 131 has a high-cover structure 132. This high-cover structure 132 can be controlled to open to release the space of the accommodating mechanism 131, allowing the drone 11 to take off, or the high-cover structure 132 can be controlled to close to lock the space of the accommodating mechanism 131 to accommodate the drone 11.

[0068] Figure 2 As shown Figure 1 The diagram shows the structure of the housing mechanism 131 in the vehicle.

[0069] Combination Figure 2 In the example of the high-cover structure 132 shown, the high-cover structure 132 is a double-sided opening structure. In another example, the high-cover structure 132 is a single-sided opening structure. After the drone 11 flies out of the receiving mechanism 131, the high-cover structure 132 can be controlled to close. When the drone 11 returns to the receiving mechanism 131, the high-cover structure 132 can be opened. Alternatively, after the drone 11 flies out of the receiving mechanism 131, the high-cover structure 132 can be controlled to remain open until the drone 11 returns to the receiving mechanism 131, at which point the high-cover structure 132 can be closed.

[0070] Figure 3 The diagram shown is a flowchart of an environmental monitoring method according to an embodiment of this application.

[0071] like Figure 3 As shown, this environmental monitoring method is applied to a vehicle, and thus the vehicle performs the method. This environmental monitoring method may include, but is not limited to, the following steps 110 to 130:

[0072] Step 110: Monitor the surrounding environment information outside the vehicle detected in real time by the vehicle external environment detection system.

[0073] The surrounding environment information outside the vehicle refers to the sum of various dynamic and static information related to driving, including but not limited to the areas in front of, behind, to the left and right of the vehicle, and the areas near and far from the vehicle. This surrounding environment information is used to determine whether the drone can operate.

[0074] Step 120: If the monitored surrounding environment information does not meet the conditions for drone flight, control the drone to park in the containment mechanism and keep the high cover structure closed, and continue to execute step 110.

[0075] The above-mentioned drone flight conditions are used to indicate at least one of the meteorological and spatial conditions under which drones can operate.

[0076] Both step 120 and step 130 below can receive control commands from external devices connected to the vehicle or control commands input by the vehicle itself. These control commands may include, but are not limited to, at least one of the following: a control closing command for controlling the drone to park within the containment mechanism and maintaining the closed cover structure; and a control opening command for controlling the open cover structure and controlling the drone to park within the containment mechanism, as detailed below.

[0077] In some examples, step 120 may be controlled by the vehicle receiving a control shutdown command from an external console connected to the drone, in order to control the closing of the canopy structure and to control the drone to park within the containment mechanism.

[0078] In other examples, step 120 may receive a control shutdown command input from the vehicle to control the closure of the canopy structure and to control the drone to park within the containment mechanism.

[0079] Step 130: If the monitored surrounding environmental information meets the conditions for drone flight, control the high cover structure to open and control the drone to leave the housing mechanism and take off.

[0080] In some examples, step 130 may receive a control opening command input from the vehicle to control the opening of the canopy structure and to control the drone to leave the housing and take off.

[0081] In other examples, step 130 may receive a control opening command input from the vehicle to control the opening of the canopy structure and to control the drone to park inside the housing.

[0082] The aforementioned vehicle input refers to input from the vehicle's infotainment system or the vehicle's central control screen.

[0083] As one embodiment, the environmental monitoring method of this application may also include, but is not limited to: monitoring abnormal events and transmitting these abnormal events to the command center of the drone for alert, thereby notifying the drone of the presence of abnormal events. Abnormal events are events that affect the drone's takeoff or the operation at the work site. Examples of abnormal events include: the outside ambient temperature exceeding the drone's extreme temperature conditions; abnormal weather; and, for instance, temporarily switching to a new task when arriving near the work site to perform the task, etc., which will not be listed further here.

[0084] Combination Figure 3 As shown, the vehicle external environment detection system includes an external temperature sensor installed on the outside of the vehicle.

[0085] Step 110 above may include, but is not limited to, the following step (1). And, if the monitored surrounding environment information in step 120 does not meet the conditions for drone flight, then controlling the drone to park in the containment mechanism and maintaining the high cover structure closed may include, but is not limited to, the following step (2).

[0086] (1) Monitor the ambient temperature outside the vehicle in real time by the outside temperature sensor.

[0087] (2) If the ambient temperature outside the vehicle is monitored to exceed the extreme temperature conditions of the drone, the drone is controlled to be parked in the housing mechanism and the high cover structure is kept closed. The ventilation system inside the high cover structure is also controlled to start, and the drone airport air conditioner is also controlled to start, so that the ventilation system is connected to the environment inside the drone airport and the air flows to maintain the charging temperature of the drone.

[0088] The meteorological conditions for the aforementioned flight operations may include the temperature conditions of the UAV. For example, extreme temperature conditions for a UAV are used to indicate that the UAV does not meet the conditions for flight. In this article, the extreme temperature conditions for the UAV refer to the battery's tolerance temperature. Generally, the extreme temperature conditions for a UAV are below 0°C or above 40°C. Further, the extreme temperature conditions for a UAV are below -10°C or above 40°C.

[0089] In this embodiment, the vehicle is equipped with an external temperature sensor that monitors the ambient temperature in real time. When the external temperature is too high or too low, the gateway will activate the ventilation system inside the roof and simultaneously control the drone airport to activate its air conditioning to ensure the drone charging temperature remains normal.

[0090] As an example, the method may also include, but is not limited to, the following steps ① to ③:

[0091] ① Before the vehicle arrives at the work site, obtain the real-time weather conditions at the work site and the weather forecast for the estimated work period to determine whether there is abnormal weather during the work period.

[0092] The term "operation location" in this article refers to the location where the UAV performs its mission. Since the mission at the operation location has a time requirement, this required time is called the operation period.

[0093] The above real-time weather information indicates the current weather conditions at the work site. There are various ways to obtain real-time weather information. The above real-time weather information may include, but is not limited to, key meteorological elements such as temperature, humidity, precipitation (rain, snow, hail), wind force, wind direction, air pressure, visibility, and cloud cover.

[0094] In one acquisition method, since the vehicle has not arrived at the work site, it cannot directly obtain the real-time weather conditions of the work site. Therefore, the vehicle can interact with other vehicles to receive the real-time weather conditions of the work site from other vehicles currently at the work site.

[0095] In another method, real-time weather conditions at the work site and the estimated weather forecast for the work site during the work period are obtained through vehicle-mounted weather forecasts.

[0096] ② If abnormal weather occurs, the abnormal weather will be transmitted to the command center of the drone to warn that the task at the work site needs to be interrupted due to abnormal weather. At the same time, the vehicle and drone will be controlled to interrupt the task at the work site.

[0097] ③ If there is no abnormal weather, continue with step ① to obtain the real-time weather conditions at the work site and the estimated weather forecast for the work site during the work period, and determine whether there is abnormal weather during the work period.

[0098] The command center for the UAV described in this paper is used to control and command the UAV. The command center can be a vehicle-mounted device or a device independent of the vehicle. Thus, through the UAV's command center, steps 120 and 130 can receive control commands from external devices connected to the vehicle or receive control commands input by the vehicle itself.

[0099] In this embodiment, the weather conditions for the operation location and time period can be obtained in advance to avoid drones and vehicles making a wasted trip and failing to complete the operation. This facilitates advance planning of drone operations.

[0100] Figure 4 As shown Figure 3 The environmental monitoring method shown includes a schematic diagram of a rain gauge and an anemometer.

[0101] Combination Figure 3 and Figure 4 As shown, the aforementioned vehicle exterior environment detection system includes a rain gauge 15 and an anemometer 14 installed and connected to the canopy structure 132. The rain gauge 15 and the anemometer 14 are installed at intervals to prevent interference. Alternatively, a rear extension structure 17 is installed and connected to the canopy structure 132, with the rain gauge 15 and anemometer 14 connected to the rear extension structure 17. Continuing as... Figure 1 and Figure 4As shown, the rear extension structure 17 is arranged laterally along the vehicle body and extends towards the rear of the vehicle, used to install and support the rain gauge 15 and the anemometer 14. The rain gauge 15 is an instrument used to measure the total amount of liquid or solid precipitation (such as melted snow or hail) that falls to the ground within a certain period of time. It can be measured in millimeters (mm) to reflect the amount of precipitation (1 mm of precipitation is equivalent to 1 liter of water accumulated on 1 square meter area). The rain gauge 15 can include, but is not limited to, tipping bucket rain gauges, siphon rain gauges, and weighing rain gauges. The anemometer 14 (also known as a wind speed meter) is an instrument that measures the speed of air movement (wind speed). Some models can also measure wind direction simultaneously. The unit of wind speed is meters per second (m / s), kilometers per hour (km / h), or knots (1 knot ≈ 0.514 m / s). The anemometer 14 can include, but is not limited to, mechanical (cup-shaped, wing-shaped) anemometers, hot-wire anemometers, and ultrasonic anemometers.

[0102] In this way, the drone 11, rain gauge 15, and anemometer 14 do not interfere with each other. Thus, by obtaining real-time rainfall through the rain gauge 15 and wind speed through the anemometer 14, real-time weather conditions of the surrounding environment outside the vehicle can be obtained. Therefore, after the vehicle arrives at the work site, the rain gauge 15 and anemometer 14 installed on the raised cover structure 132 replace the rain gauge and anemometer on the drone airport. This allows for direct measurement of real-time rainfall and wind speed, which is then transmitted to the drone airport via a gateway.

[0103] Step 110 above may include, but is not limited to, step 1). If the monitored surrounding environmental information in step 120 does not meet the conditions for drone flight, controlling the drone to park in the containment mechanism and maintaining the high cover structure closed may include, but is not limited to, steps 3) to 5).

[0104] 1) Once the vehicle arrives at the work site, monitor the real-time weather conditions at the work site as detected by the rain gauge and anemometer; the real-time weather conditions include real-time rainfall and wind speed.

[0105] The method may also include, but is not limited to, step 2 below:

[0106] 2) Estimate the remaining time of the mission at the work site. Thus, when the vehicle arrives at the work site, real-time weather forecasts are made for the remaining time, so that the mission of the vehicle and drone can be interrupted in time before abnormal weather occurs.

[0107] The remaining time is obtained by subtracting the time already spent on tasks from the estimated total task time.

[0108] 3) Based on real-time rainfall and wind speed, and the estimated weather forecast for the remaining time, determine whether there is any sudden abnormal weather.

[0109] The aforementioned abnormal weather refers to meteorological conditions that may affect the flight safety, stability, or operational accuracy of drones. These abnormal weather conditions exceed the normal tolerance range of the drone's design or do not meet operational specifications. Common types include at least one of the following: strong winds, precipitation, relatively low visibility, extreme temperatures, and lightning.

[0110] The aforementioned strong winds, such as those encountered by multi-rotor drones which are typically rated for wind resistance of level 4-6, can negatively impact motor and battery performance, and may even cause short circuits. Relatively low visibility conditions, such as dense fog, thick smoke, and sandstorms, can cause visual positioning failures in drones, preventing operators from visually controlling the aircraft.

[0111] 4) If abnormal weather occurs suddenly, return to steps 2) and 3).

[0112] 5) In case of sudden abnormal weather, the abnormal weather will be transmitted to the command center of the drone for warning. At the same time, the drone will be controlled to park in the containment mechanism and the high cover structure will be kept closed. The vehicle and drone will be controlled to stop performing tasks at the work site.

[0113] In this embodiment, during the drone's mission at the work site, future weather conditions can be predicted in real time. This allows for timely control of the vehicle and drone to interrupt the mission and return to a safe location before abnormal weather occurs. This improves the safety of drone and vehicle operations.

[0114] Combination Figure 1 As shown, the vehicle camera can be adjusted to a normal angle in at least one of the vehicle's gear positions, including but not limited to D (Drive), R (Reverse), and N (Neutral).

[0115] As one example, the environmental monitoring method may also include, but is not limited to: before the drone operation, using the vehicle's built-in positioning module to perform drone airport calibration, recording the number of satellites acquired at the operation location, the positioning signal strength, and any abnormal events; and transmitting abnormal events to the drone's command center for alert. This can improve the accuracy of drone and vehicle positioning in real time, and simultaneously report abnormal events promptly.

[0116] The vehicle's built-in positioning module may include, but is not limited to, RTK (Real-Time Kinematic) positioning technology. Subsequently, before the drone operation, the gateway calls the vehicle's RTK for airport calibration, first reading the vehicle's RTK and then transmitting it to the drone for airport calibration. It also records the number of satellites acquired at the operation location, the RTK signal strength, and any abnormal events.

[0117] Among them, abnormal events are used to indicate events that affect the drone's current operation at the work site. For example, abnormal events may include, but are not limited to, other drones performing tasks at the work site, or receiving other tasks in the vicinity of the work site before arriving at the work site. These events are used to issue an alert to the drone's command center to indicate task duplication. The actual task that the drone needs to perform can be determined using the following methods:

[0118] In the first alternative approach, the command center receiving the drone selects from the task at the operational location and other tasks prior to the operational location to issue a task.

[0119] In the second alternative approach, continue performing tasks at the work site.

[0120] In the third optional method, if other tasks are received multiple times around the work site, it is considered as forcing the execution of other tasks. In this case, the tasks at the work site are suspended, and the execution of other tasks is switched to prioritized until they are completed before the tasks at the work site are resumed.

[0121] In this embodiment, if a new task (also called another task) is received just before the vehicle arrives at the work site, the new task can be executed first, and then the task at the work site can be executed after the new task is completed. In this way, multiple tasks can be performed while the vehicle is moving and the drone is flying.

[0122] For example, before a drone operation and takeoff, the drone is allowed to complete satellite acquisition. Operation only begins once the number of acquired satellites reaches the minimum required by the equipment, such as more than 10 for a particular drone, and the signals are stable. Alternatively, some drone GPS (Global Positioning System) devices require at least 5 satellites with stable signals before operation can commence, to ensure accurate positioning and operational safety.

[0123] Operation monitoring: During the operation, continuously monitor changes in the number of satellites acquired. If the number of satellites acquired suddenly decreases, it may affect positioning accuracy. In this case, the operation should be paused to check for signal obstruction, interference, or other issues. The operation can resume only after the signal is restored or the operation position is adjusted.

[0124] In terms of functional form, the vehicle in this application embodiment can be a pickup truck, sedan, SUV (Sport Utility Vehicle), motorhome, truck, etc.; in terms of power form, it can be a fuel vehicle or a new energy vehicle (such as a hybrid vehicle, pure electric vehicle, hydrogen fuel cell vehicle, methanol fuel cell vehicle, etc.). This invention does not limit the specific form of the vehicle.

[0125] However, it should be noted that the vehicle itself must at least possess computing and control functions. For example, the vehicle may be equipped with a control module, which is used to implement the logic of the method for controlling the take-off and landing of the UAV according to this invention. Optionally, the vehicle itself may also be equipped with a screen, HUD (Head-up Display), or other display modules.

[0126] See also Figure 1 The first operating state shown includes an image acquisition device connected to the outside of the vehicle body;

[0127] The above method may also include, but is not limited to, steps [1] to [5]:

[0128] [1] When it is determined that the vehicle is parked and the UAV is about to take off or land, the angle of the image acquisition device is adjusted to automatically align with the direction of the UAV airport. Adjusting the angle of the image acquisition device to automatically align with the direction of the UAV airport is the first working state.

[0129] The image acquisition equipment is used to capture video around the vehicle, working in conjunction with the drone to expand the field of view. It also assists occupants in monitoring the drone's status before takeoff or landing. This image acquisition equipment may include, but is not limited to, a first image acquisition device on the outer side of the vehicle's front, a second image acquisition device on at least one of the outer sides of the vehicle's body relative to the left and right sides, and at least one of a third image acquisition device mounted on the outer side of the high-roof structure. The front and rear of the vehicle are considered as the front and rear sides, respectively. Therefore, when the front of the vehicle is considered the front, the left and right sides of the vehicle are...

[0130] The terms "first" in "first image acquisition device," "second" in "second image acquisition device," and "third" in "third image acquisition device" are used to distinguish the three image acquisition devices and do not imply any sequential order.

[0131] These image acquisition devices can be preset with a default field of view (also known as a default angle). Among them, all image acquisition devices with a default field of view include the first image acquisition device facing the front of the vehicle, the second image acquisition devices facing the sides of the vehicle, and the third image acquisition device facing the rear of the vehicle; the drone is higher than the vehicle and its field of view is controlled to face the front of the vehicle, the sides of the vehicle, and the rear of the vehicle, respectively.

[0132] The embodiments of this application may include controlling the adjustment of the angle of at least one image acquisition device. For example, the angle of one image acquisition device may be controlled, such as a third image acquisition device whose default angle is at the rear of the vehicle, thus enabling the tracking of the process before the drone takes off or lands.

[0133] For example, in this embodiment of the application, the angles of two image acquisition devices can be controlled and adjusted. For instance, the default angle of the second image acquisition device is facing the front of the vehicle, and the default angle of the third image acquisition device is facing the rear of the vehicle. In this way, the process before the drone takes off or lands can be tracked.

[0134] [2] Display the first video stream from all image acquisition devices on the vehicle’s display screen and activate the sensors around the vehicle.

[0135] Sensors around a vehicle are core components for the vehicle to perceive its environment, monitor its status, and enable intelligent functions. They act as the vehicle's eyes, helping it "see" and understand its surroundings. Examples include cameras and various radars. These sensors are installed on the roof or around the perimeter of the vehicle.

[0136] [3] Based on the signals collected by the sensors and the display screen, monitor whether there are obstacles around the vehicle.

[0137] [4] If no obstacles are detected around the vehicle, return to step [3].

[0138] [5] If obstacles are detected around the vehicle, the vehicle and drone will be controlled to stop performing the task at the work site, and an alert will be sent to the drone's command center to remind that there are obstacles and to control the vehicle and drone to stop performing the task at the work site.

[0139] Combination Figure 1 As shown, when the vehicle is in P (Parking) gear, and before the drone takes off and lands, the camera automatically adjusts to face the direction of the rear cargo area, and all camera videos are displayed on the vehicle's screen. Simultaneously, sensors around the vehicle activate to monitor for people, animals, or obstacles approaching. At this time, by combining the automatic monitoring of objects outside the cargo area within the camera's field of view with the detection of obstacles by the vehicle's sensors, the system will control both the vehicle and the drone to suspend their tasks at the work site and issue an alarm.

[0140] In this embodiment, the image acquisition device can be automatically aligned with the direction of the drone airport by adjusting its angle, in order to better determine the drone's takeoff and / or landing status. This allows the image acquisition device to rotate according to user needs, improving its reusability.

[0141] Figure 5 As shown Figure 3 The diagram shows the second working state of the vehicle used in the environmental monitoring method.

[0142] like Figure 5 As shown, the environmental monitoring method, as one embodiment, may also include, but is not limited to, the following [1] to [3]:

[0143] [1] When it is determined that the vehicle is in motion and the UAV is in takeoff, the field of view of all image acquisition devices is adjusted to the default angle, and the field of view of the UAV is also adjusted; the field of view of the UAV and all image acquisition devices are stitched together to form an ultra-wide-angle field of view. The adjustment of the field of view of all image acquisition devices to the default angle and the adjustment of the UAV's field of view in this paper are referred to as the second working state.

[0144] 2] Obtain the first video stream acquired by all image acquisition devices, and obtain the second video stream acquired by the drone.

[0145] 3] The second video stream and the first video stream from all image acquisition devices are merged and displayed on the vehicle's display screen.

[0146] The video stream from the drone and the first video stream from all image acquisition devices are merged using the following method:

[0147] First, tasks are sent from the cloud to vehicles and drones.

[0148] Second, the cloud sends out synchronization time frames multiple times.

[0149] Third, the cloud receives synchronization time frames from both the drone and the vehicle.

[0150] Fourth, a synchronized standard timestamp is sent from the cloud to monitor the network status of drones and vehicles. If the network status is poor, the time synchronization step is repeated.

[0151] Fifth, the cloud receives the video streams that the drones start pushing, and the cloud receives the video streams that the vehicles start pushing.

[0152] Sixth, the cloud merges the two video streams.

[0153] When drones are performing exploration or other tasks requiring a full field of view, the vehicle activates its cameras to provide a video stream with a lower field of view. The cloud then merges the first and second video streams to create a single image with a wide field of view.

[0154] In this embodiment, the field of view of the UAV can be expanded based on the field of view of the image acquisition device, thereby compensating for the lack of field of view of the image acquisition device.

[0155] Based on the same inventive concept as the methods described above, embodiments of this application also provide an environmental monitoring device, such as... Figure 6As shown, the environmental monitoring device of this application embodiment is applied to a vehicle. The vehicle includes an external environmental detection system installed and connected to the outside of the vehicle body and a drone airport for parking drones. The drone airport includes a housing mechanism for supporting and parking drones; the housing mechanism has a high-cover structure. The device may include the following modules:

[0156] The monitoring module 31 is used to monitor the surrounding environment information outside the vehicle detected in real time by the vehicle external environment detection system;

[0157] The parking control module 32 is used to control the drone to park in the containment mechanism if the monitored surrounding environmental information does not meet the drone flight conditions, and to maintain the high cover structure closed, and to continue to perform the steps of monitoring the surrounding environmental information outside the vehicle detected in real time by the vehicle external environment detection system.

[0158] The takeoff control module 33 is used to control the opening of the cover structure and the takeoff of the drone from the housing mechanism if the monitored surrounding environmental information meets the conditions for drone flight.

[0159] As an example, the environmental monitoring device may also include, but is not limited to, an abnormal weather determination module, used to obtain the real-time weather conditions of the work site before the vehicle arrives at the work site, and compare them with the estimated weather forecast for the work site during the work period, to determine whether there is abnormal weather during the work period.

[0160] The control module is used to transmit the abnormal weather information to the drone's command center as a warning if abnormal weather occurs, and at the same time, control the vehicle and drone to suspend the task at the work site.

[0161] As an example, the environmental monitoring device may also include, but is not limited to, a remaining time estimation module for estimating the remaining time of a task at the work site.

[0162] As one embodiment, the vehicle exterior environment detection system includes an image acquisition device connected to the outside of the vehicle body. Correspondingly, the device may also include, but is not limited to, an adjustment module for automatically aligning the image acquisition device with the direction of the drone's airport when it is determined that the vehicle is parked and the drone is about to take off or land.

[0163] The display module is used to display the first video stream from all image acquisition devices on the vehicle's display screen and activate the sensors around the vehicle.

[0164] The monitoring module is used to monitor the presence of obstacles around the vehicle based on signals collected by sensors and the display screen.

[0165] The warning module is used to control the vehicle and drone to suspend the task at the work site if obstacles are detected around the vehicle, and to send a warning to the drone's command center.

[0166] As one embodiment, the device may also include, but is not limited to: an angle adjustment module, used to adjust the field of view of all image acquisition devices to the default angle when it is determined that the vehicle is in motion and the drone is taking off, and to adjust the field of view of the drone; the field of view of the drone and all image acquisition devices are stitched together to form an ultra-wide field of view;

[0167] The video stream acquisition module is used to acquire the first video stream acquired by all image acquisition devices, and the second video stream acquired by the drone;

[0168] The fusion module is used to merge the second video stream and the first video stream from all image acquisition devices and display them on the vehicle's display screen.

[0169] As an example, the above-mentioned environmental monitoring device may also include, but is not limited to: a calibration module, used to call the vehicle's built-in positioning module to perform UAV airport calibration before the UAV operation, and record the number of satellites searched, positioning signal strength and abnormal events at the operation location; and an anomaly transmission module, used to transmit abnormal events to the UAV's command center for warning.

[0170] Each module / submodule of the above-mentioned device corresponds to the steps of the above-mentioned method. The specific implementation process of the function and role of each module / submodule in the above-mentioned device can be found in the implementation process of the corresponding steps in the above-mentioned method, which can achieve the same technical effect, and will not be repeated here.

[0171] An electronic device according to an embodiment of this application includes the above-described environmental monitoring device.

[0172] The environmental monitoring device in this application embodiment is applied to an electronic device. The electronic device can be a server-side device or an in-vehicle terminal connected to a vehicle. The server-side device can include, but is not limited to, a server, a cloud server, a desktop computer, a tablet computer, or a laptop computer. The in-vehicle terminal can be, but is not limited to, a vehicle body processor, a center console, a processor, a controller, or a vehicle HUD (Head-Up Display).

[0173] Figure 7 The diagram shown is a structural schematic of the electronic device 50 provided in an embodiment of this application.

[0174] like Figure 7 As shown, the electronic device 50 includes one or more processors 51 for implementing the environmental monitoring method described above.

[0175] In some embodiments, electronic device 50 may include storage medium 59. For example, a computer-readable storage medium may store a program that can be invoked by processor 51, and may include non-volatile storage medium. In some embodiments, electronic device 50 may include memory 58 and interface 57. In some embodiments, electronic device 50 may also include other hardware depending on the specific application.

[0176] The computer-readable storage medium of this application embodiment stores a program that, when executed by processor 51, is used to implement the environmental monitoring method described above.

[0177] This application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the method described in any of the preceding claims.

[0178] This application also provides a computer program stored in a computer-readable storage medium, for example... Figure 7 The storage medium 59, and when the processor executes the computer program, causes the processor 51 to perform the method described above.

[0179] This application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented using any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0180] It should be noted that when a component is described as "fixed to," "set on," "fixed to," or "mounted on" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intervening component. Furthermore, when a component is considered to be "fixedly connected" to another component, the connection can be detachable or non-detachable, such as through socketing, snap-fitting, integral molding, welding, etc., which are achievable in conventional technologies and will not be elaborated upon here.

[0181] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0182] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but may also include, but is not limited to, other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitations, an element qualified by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method of environmental monitoring, characterized in that, The application is applied to a vehicle, which comprises an external environment detection system installed on the outside of the vehicle body and a drone airport for parking a drone; the drone airport comprises a containing mechanism for supporting and parking the drone; The containing mechanism has a high cover structure; The environment monitoring method comprises: Monitoring the surrounding environment information of the outside of the vehicle detected by the external environment detection system in real time; If the surrounding environment information monitored does not meet the flight conditions of the drone, the drone is controlled to be parked in the containing mechanism, the high cover structure is maintained to be closed, and the step of monitoring the surrounding environment information of the outside of the vehicle detected by the external environment detection system in real time is continued to be executed; If the surrounding environment information monitored meets the flight conditions of the drone, the high cover structure is controlled to be opened, and the drone is controlled to take off from the containing mechanism.

2. The method of claim 1, wherein, The external environment detection system comprises an external temperature sensor installed on the outside of the vehicle; The monitoring of the surrounding environment information of the outside of the vehicle detected by the external environment detection system in real time comprises: Monitoring the external environment temperature collected by the external temperature sensor in real time; If the external environment temperature monitored exceeds the extreme temperature conditions of the drone, the drone is controlled to be parked in the containing mechanism, the high cover structure is maintained to be closed, and the ventilation system in the high cover structure is controlled to be started, and the drone airport air conditioner is controlled to be started, so that the ventilation system and the environment in the drone airport are in air flow communication, and the charging temperature of the drone is maintained. The external environment detection system comprises a rain gauge and an anemometer installed on the high cover structure; 3. The method of claim 1, wherein, The monitoring of the surrounding environment information of the outside of the vehicle detected by the external environment detection system in real time comprises: In the case that the vehicle arrives at a work site, the real-time rain and wind speed of the work site where the vehicle is located are monitored by the rain gauge and the anemometer in real time; The method further comprises: Estimating the remaining duration of the task at the work site; The control of the drone to be parked in the containing mechanism and the maintenance of the high cover structure to be closed if the surrounding environment information monitored does not meet the flight conditions of the drone comprises: According to the real-time rain and wind speed and the weather forecast in the estimated remaining duration, it is determined whether abnormal weather occurs; If abnormal weather occurs, the abnormal weather is transmitted to the command center of the drone for warning, and the drone is controlled to be parked in the containing mechanism and the high cover structure is maintained to be closed, and the vehicle and the drone are controlled to interrupt the execution of the task at the work site. The method further comprises:

4. The method of claim 1, wherein, Before the vehicle arrives at the work site, the real-time weather condition of the work site is acquired, and the weather forecast in the estimated work time period of the work site is acquired, to determine whether abnormal weather exists in the work time period. ​ If the abnormal weather exists, the abnormal weather is transmitted to a command center of the drone for warning, and the vehicle and the drone are controlled to interrupt the task of the work site.

5. The method of claim 1, wherein, The vehicle exterior environment detection system comprises image acquisition devices connected to the outside of the vehicle body; The method further comprises: When it is determined that the vehicle is in a parking state and the drone is in a pre-takeoff or pre-landing state, the angle of the image acquisition device is adjusted to automatically align with the direction of the drone airport; The first video stream of all image acquisition devices is displayed on the display screen of the vehicle, and the sensors around the vehicle are started; Based on the signals collected by the sensors and the display screen, it is monitored whether there are obstacles around the vehicle; If it is monitored that there are obstacles around the vehicle, the vehicle and the drone are controlled to interrupt the task of the work site, and a warning is sent to the command center of the drone.

6. The method of environmental monitoring according to any one of claims 1 to 5, wherein, The method further comprises: When it is determined that the vehicle is in a driving state and the drone is in a takeoff state, the field of view angle of all image acquisition devices is adjusted to a default angle, and the field of view angle of the drone is adjusted; the field of view of the drone and the field of view of all image acquisition devices are spliced to form an ultra-wide-angle field of view; The first video stream collected by all image acquisition devices is obtained, and the second video stream collected by the drone is obtained; The second video stream and the first video stream of all image acquisition devices are fused and displayed on the display screen of the vehicle.

7. The method of environmental monitoring according to any one of claims 1 to 5, wherein, The method further comprises: Before the drone works, a positioning module of a vehicle machine is called to calibrate the drone airport, and the number of search stars, the positioning signal strength and the abnormal events of the work site are recorded; The abnormal events are transmitted to the command center of the drone for warning.

8. An environmental monitoring device, characterized in that, Applied to a vehicle, the vehicle comprises a vehicle exterior environment detection system connected to the outside of the vehicle body and a drone airport for parking a drone; the drone airport comprises a containing mechanism for supporting and parking the drone; The containing mechanism has a high cover structure; The environment monitoring device comprises: A monitoring module for monitoring the surrounding environment information on the outside of the vehicle detected by the vehicle exterior environment detection system in real time; A parking control module for controlling the drone to be parked in the containing mechanism and maintaining the high cover structure to be closed if it is monitored that the surrounding environment information does not meet the flight conditions of the drone, and continuing to perform the step of monitoring the surrounding environment information on the outside of the vehicle detected by the vehicle exterior environment detection system in real time; A takeoff control module for controlling the high cover structure to be opened and controlling the drone to take off from the containing mechanism if it is monitored that the surrounding environment information meets the flight conditions of the drone.

9. An environmental monitoring system, characterized by One or more processors are included for implementing the environment monitoring method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A program is stored thereon, which is executed by a processor to implement the environment monitoring method of any one of claims 1 to 7.

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