Rescue method, device, vehicle, medium and program product

Abstract

The application relates to the technical field of road rescue, in particular to a rescue method and device, a vehicle, a medium and a program product, wherein the method comprises the following steps: receiving help-seeking information of a fault vehicle, and extracting current position information and current state information of the fault vehicle according to the help-seeking information; determining unmanned aerial vehicle formation information for rescuing the fault vehicle, a rescue path corresponding to each unmanned aerial vehicle in the unmanned aerial vehicle formation information and a target rescue position based on the current position information and the current state information; controlling the unmanned aerial vehicles to fly according to the rescue path, and cooperatively hoisting and transporting the fault vehicle to the target rescue position. Therefore, the problems in the prior art that response is lagged, traffic congestion is easily affected, emergency rescue demand cannot be met, traffic capacity is limited, complex scenes such as mountainous areas, rural muddy roads and tunnels cannot be adapted, the fault vehicle is easily stranded, rescue cost is high, professional personnel and equipment investment are large, and the rescue cost-effectiveness for light fault vehicles is low are solved.

Description

Technical Field

[0001] This application relates to the field of road rescue technology, and in particular to a rescue method, device, vehicle, medium and program product. Background Technology

[0002] With the continuous increase in the number of motor vehicles worldwide, the demand for emergency roadside assistance for vehicles that have broken down has been growing year by year. Consequently, the roadside assistance industry has developed rapidly and gradually formed a rescue system centered on traditional tow trucks. Among related technologies, the mainstream roadside assistance methods mainly rely on tow trucks of various specifications, including flatbed trailers and two-to-one trailers. These tow trucks transport broken-down vehicles to repair stations or safe areas through mechanical connections or load-bearing methods. They have been used for many years in various road scenarios, including urban roads, highways, and national roads, and are currently the most mature and widely used main technology in the field of roadside assistance.

[0003] However, the relevant technologies suffer from slow response, are susceptible to traffic congestion, cannot meet emergency rescue needs, have limited traffic capacity, are difficult to adapt to complex scenarios such as mountainous areas, muddy rural roads, and tunnels, and are prone to causing breakdowns of vehicles to be stranded. In addition, the rescue costs are high, the investment in professional personnel and equipment is large, and the cost-effectiveness of rescuing light-duty breakdown vehicles is low, which urgently needs to be improved. Summary of the Invention

[0004] This application provides a rescue method, device, vehicle, medium, and program product to solve the problems in related technologies, such as delayed response, susceptibility to traffic congestion, inability to meet emergency rescue needs, limited traffic capacity, difficulty in adapting to complex scenarios such as mountainous areas, muddy rural roads, and tunnels, easy to cause vehicle breakdowns to be stranded, high rescue costs, large investment in professional personnel and equipment, and low cost-effectiveness for rescuing light-duty vehicles.

[0005] The first aspect of this application provides a vehicle rescue method, comprising the following steps: receiving a distress request from a disabled vehicle, and extracting the current location information and current status information of the disabled vehicle based on the distress request; determining, based on the current location information and the current status information, drone platoon information for rescuing the disabled vehicle, a rescue path corresponding to each drone in the drone platoon information, and a target rescue location; controlling the drones to fly along the rescue path and collaboratively hoisting the disabled vehicle to the target rescue location.

[0006] Optionally, in one embodiment of this application, determining the drone platoon information for rescuing the malfunctioning vehicle based on the current location information and the current status information includes: generating a drone call instruction for rescuing the malfunctioning vehicle based on the current location information and the current status information; responding to the drone call instruction, if the initial drone is not in normal use, repairing the initial drone until the repaired drone is in normal use, and generating the drone platoon information based on the repaired drone.

[0007] Optionally, in one embodiment of this application, determining the drone platoon information for rescuing the disabled vehicle based on the current location information and the current status information includes: determining the weight and size information of the disabled vehicle based on the current status information; determining the number of drones in the drone platoon information and the mounting point information of the corresponding drones based on the weight and size information; and obtaining the drone platoon information based on the number of drones and the mounting point information.

[0008] Optionally, in one embodiment of this application, the coordinated hoisting of the faulty vehicle to the target rescue location includes: collecting the flight attitude information of the UAV and the attitude information of the faulty vehicle; and coordinating the hoisting of the faulty vehicle to the target rescue location based on the flight attitude information and the attitude information.

[0009] Optionally, in one embodiment of this application, controlling the drone to fly along the rescue path includes: acquiring actual environmental information on the rescue path; generating an adjustment command for the rescue path based on the actual environmental information; determining the final rescue path based on the adjustment command; and controlling the drone to fly along the final rescue path.

[0010] A second aspect of this application provides a vehicle rescue device, comprising: an extraction module for receiving a distress call from a disabled vehicle and extracting the current location information and current status information of the disabled vehicle based on the distress call information; a determination module for determining, based on the current location information and the current status information, drone platoon information for rescuing the disabled vehicle, a rescue path corresponding to each drone in the drone platoon information, and a target rescue location; and a control module for controlling the drones to fly along the rescue path and collaboratively hoist the disabled vehicle to the target rescue location.

[0011] Optionally, in one embodiment of this application, the determining module includes: a first generating unit, configured to generate a drone call instruction for rescuing the malfunctioning vehicle based on the current location information and the current state information; and a repair unit, configured to, in response to the drone call instruction, repair the initial drone if it is not in normal use, until the repaired drone is in normal use, and generate the drone formation information based on the repaired drone.

[0012] Optionally, in one embodiment of this application, the determining module includes: a first determining unit, configured to determine the weight and size information of the faulty vehicle based on the current state information; a second determining unit, configured to determine the number of drones and the mounting point information of the corresponding drones in the drone formation information based on the weight and size information; and a second generating unit, configured to obtain the drone formation information based on the number of drones and the mounting point information.

[0013] Optionally, in one embodiment of this application, the control module includes: a data acquisition unit for acquiring flight attitude information of the UAV and attitude information of the faulty vehicle; and a coordinated hoisting unit for coordinating the hoisting of the faulty vehicle to the target rescue location based on the flight attitude information and the attitude information.

[0014] Optionally, in one embodiment of this application, the control module includes: an acquisition unit for acquiring actual environmental information on the rescue path; a third generation unit for generating an adjustment instruction for the rescue path based on the actual environmental information; and a third determination unit for determining the final rescue path based on the adjustment instruction and controlling the UAV to fly according to the final rescue path.

[0015] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle rescue method as described in the above embodiments.

[0016] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle rescue method described above.

[0017] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the vehicle rescue method described above.

[0018] This application embodiment can extract the current location and status information of a disabled vehicle based on the received distress call information. This allows for the determination of drone swarm information for vehicle rescue, the rescue path for each drone in the swarm, and the target rescue location. The drones are then controlled to fly along the rescue path and collaboratively transport the disabled vehicle to the target location. Because the location and status of the disabled vehicle are obtained through the distress call information, the drone swarm, rescue path, and target rescue location are planned, and the drone swarm is controlled to collaboratively transport the disabled vehicle. Therefore, it is not limited by traffic congestion or complex road conditions, enabling rapid response and arrival at the scene, timely transfer of the disabled vehicle, avoiding secondary safety hazards and vehicle delays. Simultaneously, it reduces rescue manpower and equipment costs, improving the cost-effectiveness of rescuing lightly disabled vehicles. This solves the problems of related technologies, such as delayed response, susceptibility to traffic congestion, inability to meet emergency rescue needs, limited traffic capacity, difficulty adapting to complex scenarios such as mountainous areas, muddy rural roads, and tunnels, and easy delays for disabled vehicles. Furthermore, it addresses the high rescue costs, large investment in professional personnel and equipment, and low cost-effectiveness of rescuing lightly disabled vehicles.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 This is a schematic diagram of the structure of a rescue request system provided according to an embodiment of this application; Figure 2 This is a flowchart of a vehicle rescue method provided according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure for takeoff of a drone according to an embodiment of this application; Figure 4 This is a schematic diagram of a drone hovering and positioning system according to an embodiment of this application; Figure 5 This is a schematic diagram of the connection structure of the fixing device according to an embodiment of this application; Figure 6 This is a schematic diagram of a collaborative hoisting structure according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure for completing a rescue operation according to an embodiment of this application; Figure 8 A flowchart illustrating the working principle of a vehicle rescue method according to an embodiment of this application; Figure 9This is a block diagram of a vehicle rescue device provided according to an embodiment of this application; Figure 10 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0023] Before introducing the vehicle rescue method proposed in the embodiments of this application, a rescue request system involved in the embodiments of this application will be introduced first.

[0024] Specifically, Figure 1 This is a schematic diagram of the structure of a rescue request system provided according to an embodiment of this application.

[0025] like Figure 1 As shown, the rescue request system includes four drones, a central control system, a vehicle securing device, a positioning module, a communication module, and a ground communication terminal.

[0026] Each drone is equipped with an independent power system, attitude control system, and payload hook. The power system uses a high-capacity lithium battery to ensure sufficient endurance; the attitude control system uses a gyroscope and an accelerometer to achieve precise attitude adjustment of the drone. The central control system includes a coordination control unit and a path planning unit. The coordination control unit controls the synchronized movements of the four drones, while the path planning unit plans the optimal rescue route based on the location and destination of the disabled vehicle.

[0027] The vehicle securing device includes a flexible securing strap and a buffer pad. The flexible securing strap is used to connect the faulty vehicle to the load hooks of the four drones, and the buffer pad is placed at the contact point between the securing strap and the vehicle to prevent damage to the vehicle.

[0028] The positioning module uses both the Global Positioning System (GPS) and BeiDou dual-mode positioning to ensure the positioning accuracy of malfunctioning vehicles and drones.

[0029] The communication module uses 5G communication technology to enable real-time data transmission between the UAV and the central control system and ground communication terminals.

[0030] The rescue methods, apparatus, vehicles, media, and program products of this application are described below with reference to the accompanying drawings. To address the issues mentioned in the background technology, such as delayed response, susceptibility to traffic congestion, inability to meet emergency rescue needs, limited traffic capacity, difficulty in adapting to complex scenarios like mountainous areas, muddy rural roads, and tunnels, leading to vehicle delays, high rescue costs, significant investment in professional personnel and equipment, and low cost-effectiveness for rescuing light-duty disabled vehicles, this application provides a vehicle rescue method. In this method, the current location and status information of the disabled vehicle can be extracted from the received request for assistance. This allows for the determination of drone swarm information for rescuing the disabled vehicle, the rescue path for each drone in the swarm, and the target rescue location. The drones are then controlled to fly along the rescue path and collaboratively lift the disabled vehicle to the target rescue location. Because the location and status of the disabled vehicle are obtained through the request for assistance, the drone swarm, rescue path, and target rescue location are planned, and the drone swarm is controlled to collaboratively lift the disabled vehicle, the method is not limited by traffic congestion or complex road conditions. It enables rapid response and arrival at the scene, timely transfer of disabled vehicles, avoidance of secondary safety hazards and vehicle delays, and simultaneously reduces rescue manpower and equipment costs, improving the cost-effectiveness of rescuing light-duty disabled vehicles. This solves the problems in related technologies, such as delayed response, susceptibility to traffic congestion, inability to meet emergency rescue needs, limited traffic capacity, difficulty in adapting to complex scenarios such as mountainous areas, muddy rural roads, and tunnels, which can easily cause vehicles to be stranded, high rescue costs, large investment in professional personnel and equipment, and low cost-effectiveness for rescuing light-duty vehicles.

[0031] Specifically, Figure 2 This is a flowchart of a vehicle rescue method provided according to an embodiment of this application.

[0032] like Figure 2 As shown, the rescue method for this vehicle includes the following steps: In step S201, a distress call from a disabled vehicle is received, and the current location and status information of the disabled vehicle are extracted based on the distress call.

[0033] It is understood that, in the embodiments of this application, the request for help information refers to information sent by a disabled vehicle to the outside world (such as a rescue system, rescue platform, or related service provider, etc., this application does not impose specific limitations) containing information about the problem it has encountered and the need for assistance. This information can be sent automatically through the vehicle's emergency call system, or it can be manually entered and conveyed by the user through a mobile application, SMS, telephone, etc. The specific settings can be configured by those skilled in the art according to the actual situation, and this application does not impose specific limitations.

[0034] The current location information is data used to determine the specific location of the faulty vehicle in geospatial space. It can be obtained through the Global Positioning System, base station positioning, or inertial navigation system. This application does not impose any specific restrictions.

[0035] The current status information is a data set that reflects the various operating conditions and fault characteristics of the disabled vehicle at the time of request for assistance. It may include, but is not limited to, vehicle operating parameters such as engine speed, vehicle speed, water temperature, fuel level, battery charge, etc. This application does not impose specific limitations; fault codes; and vehicle appearance and internal condition data, such as vehicle type, vehicle weight, whether there is collision damage to the exterior, whether the tires are leaking air, whether there are people trapped inside the vehicle, etc. This application does not impose specific limitations.

[0036] In some embodiments, the present application can parse the current location information and current status information of the disabled vehicle based on the distress request information of the disabled vehicle.

[0037] For example, this application embodiment takes the breakdown assistance of a small car A on an urban main road as an example, wherein the curb weight of car A is 1200kg, and the fault type is that the engine stalls and cannot be started.

[0038] Furthermore, in this embodiment of the application, the owner of vehicle A launches the drone roadside assistance APP associated with the ground communication terminal. The APP automatically obtains the real-time location information of vehicle A, such as latitude and longitude, through the built-in global positioning system and Beidou dual-mode positioning module, without the need for manual input. In the "Fault Type" option displayed in the APP, the owner selects "Engine Fault - Unable to Start" and uploads photos of the front bumper, rear bumper, and side of the vehicle to obtain the current status information of vehicle A, thereby obtaining the connection point of the fixed device of vehicle A, and filling in the corresponding contact phone number.

[0039] It should be noted that the embodiments of this application can control the APP to pop up rescue safety notices, such as requiring the drone to stay 5m away from the vehicle during hoisting and prohibiting the placement of valuables around the vehicle. After the car owner confirms, the APP generates a unique rescue order number and triggers the 5G communication module to transmit data to the central control system. In step S202, based on the current location information and current status information, the drone formation information for rescuing the disabled vehicle, the rescue path and target rescue location corresponding to each drone in the drone formation information are determined.

[0040] It is understood that, in the embodiments of this application, drone swarm information refers to the relevant parameters and configuration of a group of drones organized for rescuing a disabled vehicle. It may include, but is not limited to, the number of drones; drone models; drone roles, such as some drones being responsible for hoisting, some drones being responsible for reconnaissance and monitoring, and some drones being responsible for communication relay, etc., which are not specifically limited in this application; and collaborative working methods, such as the relative positions, flight speeds, and flight altitudes of the drones, which are not specifically limited in this application.

[0041] The rescue path may include, but is not limited to, the flight path of the drone from its starting position (such as a drone base or standby point) to the location of the disabled vehicle, the flight path of the drone from the current location of the disabled vehicle to the target rescue location, and the flight path of the drone from the target rescue location back to the starting position, etc., and this application does not impose specific limitations. In the embodiments of this application, when determining the rescue path, it is necessary to perform area verification, road condition verification, equipment compatibility verification, battery power verification, and equipment self-test, etc., and this application does not impose specific limitations.

[0042] In this application, the regional verification can be understood as determining, based on the urban low-altitude no-fly zone database, that the rescue route is located in a permitted hoisting area, such as a non-no-fly zone or a non-densely populated area. This application does not impose any specific restrictions.

[0043] Road condition verification can be understood as accessing the urban traffic monitoring system in this application embodiment to obtain environmental information around the faulty vehicle, such as vehicle A being stopped in the right lane, with a temporary warning sign set up 50m behind it and no congestion. The device compatibility verification can be understood as the process in this application embodiment matching the nearest drone parking point, such as 3.2km (this application does not impose specific limitations), and retrieving the real-time status of the drone at that parking point. Battery power verification can be understood as ensuring that the drone's flight time is ≥30 minutes in this application embodiment. The specific settings can be made by those skilled in the art according to the actual situation, and this application does not impose any specific restrictions.

[0044] The device self-test can be understood as the ability of the UAV to perform self-tests in this application embodiment, such as whether the load hook tension sensor can be used normally, whether the accuracy of the attitude control system is ≤5±0.5°, and whether the signal strength of the 5G communication module meets 75dBm. The specific self-test content can be set by those skilled in the art according to the actual situation, and this application does not impose specific limitations.

[0045] In some embodiments, this application can accurately plan the drone platoon information required to rescue the disabled vehicle based on the current location and status information fed back by the disabled vehicle, and plan the corresponding rescue path and target rescue location for each drone in the drone platoon.

[0046] Based on the current location and status information, determine the drone swarm information for rescuing the disabled vehicle, the rescue path for each drone in the drone swarm information, and the target rescue location.

[0047] For example, in this application embodiment, after the APP sends the current location information and current status information of the disabled vehicle, the central control system deployed in the city rescue command center receives the order information within 100ms, and determines the drone formation information for rescuing the disabled vehicle based on the current location information and current status information, such as four drones, which can be represented as U1-U4, and each drone has a maximum payload of ≥500kg, a flight time of ≥30 minutes, a collaborative response time of different drones of ≤10ms, and a positioning module accuracy of ≤1m for each drone, etc. This application does not impose specific limitations.

[0048] Furthermore, the central control system in this embodiment combines real-time traffic data to determine the shortest time path for each UAV, i.e., the rescue path: parking point → low-altitude flight along urban secondary roads (50m altitude, avoiding 110kV high-voltage lines) → fault point, with a total flight distance of 3.2km and an estimated flight time of 8 minutes; and U1-U4 adopt a diamond formation (where U1 is in front left, U2 in front right, U3 in rear left, and U4 in rear right, with a front-to-back and left-to-right spacing of 15m to avoid airflow interference, such as... Figure 3 As shown, the positions and spacing of U1-U4 can be set by those skilled in the art according to the actual situation (this application does not impose specific restrictions). Furthermore, in this embodiment, after receiving the drone call command, U1-U4 take off sequentially at 10-second intervals (or other values, this application does not impose specific restrictions) to avoid wake turbulence, and control the central control system to monitor the drone's position, flight speed and battery level in real time until the faulty vehicle reaches the target rescue location.

[0049] Furthermore, in this embodiment of the application, the central control system can be controlled to generate a rescue task order for vehicle A, and a drone dispatch instruction can be issued to the nearest drone parking point via 5G communication. At the same time, the APP can push a message to the vehicle owner that "the order has been accepted, and four drones are expected to arrive within 10 minutes. Please wait."

[0050] Optionally, in one embodiment of this application, determining drone platoon information for rescuing a disabled vehicle based on current location information and current status information includes: generating a drone call command for rescuing a disabled vehicle based on current location information and current status information; responding to the drone call command, if the initial drone is not in normal use, repairing the initial drone until the repaired drone is in normal use, and generating drone platoon information based on the repaired drone.

[0051] It is understood that, in the embodiments of this application, the drone call command may include, but is not limited to, the number and model of the drones to be called, the initial take-off location, the initial path to the location of the faulty vehicle, etc., and this application does not impose specific limitations.

[0052] As one possible implementation, embodiments of this application can generate a drone call command for rescue based on the current location and status information of the faulty vehicle. When responding to the drone call command, it checks whether the initial drone can be used normally. If the initial drone cannot be used normally, it carries out the repair work of the initial drone until the repaired drone can be used normally, and generates drone formation information accordingly.

[0053] It should be noted that in this embodiment of the application, if the initial repair time of the drone is greater than 30 minutes and the repaired drone is still unusable, the drone is replaced.

[0054] In this application, the embodiments can initially determine the fault type of the UAV and identify the corresponding repair actions, such as replacing damaged parts; debugging and repairing the UAV's software system, such as reinstalling flight control software and repairing communication protocols; and replenishing energy, etc. This application does not impose specific limitations.

[0055] For example, in this embodiment of the application, a pre-flight secondary verification is performed before the drone swarm takes off. For instance, after the central control system determines that four drones are needed based on the current location and status information, the nearest drone parking point, upon receiving the drone call command from the central control system, performs a pre-flight secondary verification on U1-U4. This includes testing whether the initial drone's motor no-load speed is 6000 r / min and whether the speed error is ≤50 r / min (to meet the power requirements for a maximum load of 500 kg); whether the simulated lowering / retraction stroke of the initial drone's load hook is greater than 1.2 m and the response time is ≤0.8 s (to meet the operation requirements of the load hook); whether the faulty vehicle is pre-installed with four high-strength flexible fixing straps, and whether each strap is 5 m long, has a maximum tensile strength of ≥2000 kg, whether each strap has a quick-release buckle at the end, and whether the quick-release buckle is compatible with the M12 standard interface of a car bumper and whether a 5 cm thick elastic rubber buffer pad is pasted on the inside of the buckle. By inspecting the initial drone's power system, load hook, and anchor straps, it is determined whether the initial drone is in normal operating condition. The initial drone is considered to be in normal operating condition if: the motor's no-load speed is 6000 r / min, the speed error is ≤50 r / min, the simulated lowering / retraction stroke of the load hook is greater than 1.2m, the response time is ≤0.8s, the faulty vehicle is pre-installed with 4 high-strength flexible anchor straps, each strap is 5m long, the maximum tensile strength is ≥2000kg, each anchor strap has a quick-release buckle at the end, the quick-release buckle is compatible with the M12 standard interface of a car bumper, a 5cm thick elastic rubber buffer pad is attached to the inside of the buckle, and all anchor straps are correctly pre-installed on the load hook. Otherwise, the initial drone is considered not in normal operating condition. Based on the fault type of the initial drone, corresponding repair actions are determined until the repaired drone is in normal operating condition, and drone formation information is generated based on the repaired drone.

[0056] It should be noted that the content of the pre-flight secondary verification can be set by those skilled in the art according to the actual situation, and this application does not impose specific restrictions.

[0057] Optionally, in one embodiment of this application, determining the drone platoon information for rescuing a disabled vehicle based on the current location information and current status information includes: determining the weight and size information of the disabled vehicle based on the current status information; determining the number of drones in the drone platoon information and the mounting point information of the corresponding drones based on the weight and size information; and obtaining the drone platoon information based on the number of drones and the mounting point information.

[0058] It is understood that the weight information in the embodiments of this application is used to describe the total mass of the disabled vehicle itself and the cargo it carries. Only by accurately knowing the weight of the disabled vehicle can the number of drones participating in the rescue be reasonably selected, thereby ensuring that the drones can safely and stably lift the disabled vehicle.

[0059] The dimensional information may include, but is not limited to, the length, width, and height of the faulty vehicle. This application does not impose specific limitations. The dimensional information helps determine the location and number of mounting points for the UAV. Different vehicle sizes require different mounting methods. A reasonable mounting point setting can ensure the balance and stability of the vehicle during lifting, and avoid the vehicle shaking or slipping due to improper mounting.

[0060] In actual implementation, the embodiments of this application can determine the weight and size information of the disabled vehicle based on the current status information of the disabled vehicle, and based on this, determine the number of drones required for rescue and the mounting point information of each drone, and then generate the corresponding drone formation information.

[0061] For example, in this embodiment of the application, the curb weight of vehicle A is 1200kg, and the maximum payload of each drone is 500kg. Considering safety factors, this embodiment of the application can determine that the number of drones required in the drone formation information is four, and determine the mounting points of the drones according to the size information of the faulty vehicle. Generally, the four corners of the vehicle chassis are selected as mounting points. The specific settings can be made by those skilled in the art according to the actual situation. This application does not impose any specific limitations.

[0062] In step S203, the drone is controlled to fly along the rescue route and to transport the disabled vehicle to the target rescue location.

[0063] In some embodiments, the present application can control drones to fly along a rescue route and work together to smoothly lift the disabled vehicle to the target rescue location.

[0064] For example, in this embodiment of the application, the operator can control the drone to hover above the disabled vehicle through a ground communication terminal, and connect the pre-installed flexible fixing straps to the four load-bearing parts of the disabled vehicle (both sides of the front and rear bumpers or wheel hubs) in sequence. The operator can adjust the tightness of the fixing straps through the buffer pads, and issue a coordinated call command through the central control system to control the four drones to adjust their attitude and altitude synchronously to ensure that the disabled vehicle remains in a horizontal state and flies along the rescue path to lift the disabled vehicle to the target rescue location, such as an emergency parking lane or repair station. This application does not impose specific limitations.

[0065] It should be noted that, in this embodiment of the application, when controlling the drone to hover above the disabled vehicle, precise alignment between the drone and the disabled vehicle is required to ensure the safety of subsequent fixing operations. A schematic diagram of the drone hovering and positioning is shown below. Figure 4 As shown, the main content can be as follows: When U1-U4 approaches within 100m of the faulty vehicle, it automatically reduces its speed to 20km / h. The ground operator (holding a portable ground communication terminal) confirms through the terminal camera whether the environment is safe, such as whether there are no obstacles such as trees or utility poles around the vehicle, and whether the vehicle owner has set up a temporary warning triangle 50m behind the vehicle as instructed by the APP. This application does not impose specific restrictions. Whether the personnel have been evacuated: if the onlookers have been guided to a safe area of ​​5m away, they can be reminded by voice broadcast, such as "Drone in operation, please do not approach", to ensure that the onlookers are outside the safe area. The specific settings can be made by the technical personnel in this field according to the actual situation. This application does not impose specific restrictions.

[0066] Furthermore, in this embodiment, under safe environmental conditions and after personnel have been evacuated, the central control system can issue a hovering command to gradually lower U1-U4 to a height of 1.8m above the disabled vehicle (a safety gap of 0.3m can be reserved, but this application does not impose specific limitations). Positioning is achieved through a global positioning system and a BeiDou dual-mode positioning module, aligning U1-U4 with the vehicle's front left (e.g., 1.2m from the front of the vehicle, 0.8m from the left side of the vehicle, etc., but this application does not impose specific limitations), front right, rear left, and rear right bumpers, with a positioning error ≤0.5m. The tilt angle of the drones is corrected using a gyroscope to ensure that the horizontal plane error of the propellers of the four drones is ≤0.2°, avoiding vehicle tilting during the initial lifting operation. Specific settings can be configured by those skilled in the art according to actual conditions, and this application does not impose specific limitations.

[0067] Optionally, in one embodiment of this application, the coordinated hoisting of a disabled vehicle to a target rescue location includes: collecting flight attitude information of the UAV and attitude information of the disabled vehicle; and coordinating the hoisting of the disabled vehicle to the target rescue location based on the flight attitude information and attitude information.

[0068] In some embodiments, the present application can acquire the attitude information of the faulty vehicle during the hoisting process and the flight attitude information of the UAV during the hoisting process in real time, and then coordinate the hoisting of the faulty vehicle to the target rescue location based on the flight attitude information and attitude information.

[0069] In this embodiment of the application, before the drone-assisted lifting of a faulty vehicle, the vehicle fixing device and tension can be checked. A schematic diagram of the fixing device connection is shown below. Figure 5As shown, the main contents can be: In this application embodiment, the central control system issues connection instructions according to the principle of front priority and symmetrical operation: (1) Front connection: U1 and U2 simultaneously lower the fixing belt (speed 0.2m / s), the operator holds a 3m long auxiliary hook rod, fastens the quick buckle with the front bumper load-bearing interface (rotates 90° to lock), and triggers the locking feedback signal to the central control system; (2) Rear connection: U3 and U4 repeat the above operation, and the bumper is connected after completion; (3) Buffer pad adaptation: ensure that the buffer pad is completely attached to the surface of the bumper, and make fine adjustments by hook rod when there is a deviation.

[0070] Furthermore, in this embodiment, after the fixed strap connection is completed, the central control system is controlled to start the tension verification procedure: (1) Pre-tension application: The UAV is instructed to apply a pre-tension of 100kg→200kg→300kg synchronously, with a pause of 5s at each level; (2) Verification standard: The tension difference of the four fixed straps is ≤50kg to ensure uniform force; (3) Abnormal adjustment: If the tension difference of the fixed straps is >50kg, for example, if the tension of U3 exceeds the standard, the fixed strap of U3 can be retracted by ≤5cm each time until the tension does not exceed the standard; The specific verification content can be set by those skilled in the art according to the actual situation, and this application does not impose specific restrictions.

[0071] Furthermore, in this embodiment, after the operator checks the fixing straps around the vehicle to ensure they are not twisted and the buckles are locked, feedback indicates that the fixing is complete, and the drone is controlled to assist in lifting the faulty vehicle. Simultaneously, this embodiment can also collect real-time flight attitude information of the drone and the attitude information of the faulty vehicle to determine the safe transfer of the faulty vehicle. The main content is as follows: This embodiment controls the central control system to issue a pre-lift command, controlling the drone to rise at a speed of 0.1 m / s, and pausing when the vehicle is 10 cm off the ground. Based on the flight attitude information and attitude information, the levelness of the drone and the faulty vehicle is checked. For example, the forward tilt angle and side tilt angle of the faulty vehicle are monitored using a temporary tilt sensor on the roof to ensure they meet the requirements of ≤0.5°, such as a forward tilt angle of 0.1° and a side tilt angle of 0.05°. Figure 6 As shown, if the roll angle is ≤0.5°, it is determined that the roll angle does not meet the requirement of ≤0.5°; otherwise, if the roll angle reaches 1°, it is determined that the roll angle does not meet the requirement of ≤0.5°, and the central control system is controlled to issue a command to raise the height of U2 and U4 until the roll angle is ≤0.5°. The specific settings can be made by those skilled in the art according to the actual situation, and this application does not impose specific restrictions.

[0072] In addition, after the pre-lifting command is approved, this embodiment of the application can push a message to the vehicle owner via the APP: "Lifting has started, height 10cm, status stable". Furthermore, in this embodiment, the drone is controlled to fly towards the target rescue location, such as an emergency parking lane, at a speed of 30 km / h along the rescue path. The central control system receives the drone's flight attitude information, such as altitude, speed, and pull force, every 10 ms. This application does not impose specific limitations until the disabled vehicle reaches the emergency parking lane, at which point the vehicle's securing devices are released, and the drone then returns to the designated parking point along the rescue path. The vehicle owner can view the location of the faulty vehicle in real time through the APP, which is updated once per second, as well as the remaining time for the faulty vehicle to reach the emergency parking lane. The specific settings can be configured by those skilled in the art according to the actual situation, and this application does not impose any specific restrictions. In addition, in this embodiment of the application, after the disabled vehicle arrives at the emergency parking lane, in order to complete the rescue loop and ensure equipment recovery and verification of rescue effectiveness, the landing and grounding can be precisely controlled, as shown in the schematic diagram. Figure 7 As shown, the main content can be as follows: After the drone reaches the airspace above the emergency parking lane, it can be controlled to descend at a speed of 0.05m / s. Before the disabled vehicle touches the ground, it can confirm whether the ground is flat (e.g., without gravel, depressions, etc., this application does not make specific restrictions) and whether there are any obstacles under the vehicle wheels. Then, if the ground is flat and there are no faults under the vehicle wheels, the drone can be controlled to descend in stages. For example, it can pause when the tire of the disabled vehicle is 5cm off the ground, and after confirming that it is aligned with the center line of the parking lane, it can continue to descend until the tire touches the ground and the drone stops ascending. At the same time, the drone is instructed to synchronously reduce the tension of the fixing belt (e.g., 300kg→250kg→…→0kg), pausing for 3 seconds at each stage to avoid ground impact. The specific settings can be made by those skilled in the art according to the actual situation, and this application does not make specific restrictions.

[0073] Furthermore, in this embodiment of the application, after the faulty vehicle has completed tire contact with the ground, the following principle is followed: the hook rod is used to unlock the U3 and U4 buckles first, the fixing belt is removed, and then the U1 and U2 buckles are unlocked; and when the buffer pad is worn, the mark that needs to be replaced is marked, thereby completing the retrieval of the fixing belt.

[0074] Furthermore, in this embodiment of the application, after the fixed belt is retracted, U1-U4 can be controlled to return to the corresponding stopping point in a diamond formation, and the remaining power can be calculated. After arriving at the stopping point, the charging position can be automatically docked according to the remaining power, and the operation and maintenance system can start charging, equipment self-test, and generate equipment status report.

[0075] In addition, after the vehicle owner confirms that the faulty vehicle has no scratches, they can click "Rescue Complete" in the APP to control the central control system to generate a rescue report and upload it to the city rescue database for system optimization. Optionally, in one embodiment of this application, controlling the drone to fly along the rescue path includes: acquiring actual environmental information on the rescue path; generating adjustment instructions for the rescue path based on the actual environmental information; determining the final rescue path based on the adjustment instructions; and controlling the drone to fly along the final rescue path.

[0076] It is understandable that in the embodiments of this application, the environment has a great impact on the flight safety of the UAV. For example, when encountering a level 3 crosswind, the embodiments of this application instruct the propellers U1 and U3 on the upwind side to increase their rotation speed by 5% and the propellers U2 and U4 on the downwind side to increase their rotation speed by 3%. If the failure to keep the disabled vehicle level is unsuccessful, an adjustment instruction for the rescue path can be generated. When encountering a civilian aerial photography UAV, the U1-U4 are instructed to fly around it to obtain the final rescue path.

[0077] In some embodiments, the present application can collect actual environmental data along the rescue path to generate an adjustment instruction for the rescue path, determine the final rescue path based on the adjustment instruction, and control the drone to fly according to the final rescue path.

[0078] The working principle of the vehicle rescue method proposed in this application will be described below with reference to a specific embodiment.

[0079] in, Figure 8 This is a flowchart illustrating the working principle of a vehicle rescue method according to an embodiment of this application.

[0080] Step S801: Receive a distress call from a disabled vehicle.

[0081] Step S802: Determine the number of drones and the corresponding drone mounting point information.

[0082] In this embodiment, the current status information of the malfunctioning vehicle can be extracted from the distress call information, thereby determining the vehicle's weight and dimensions. Based on the weight and dimensions, the number of drones and their corresponding mounting points can be determined. For example, taking a vehicle A as an example, the vehicle A has a curb weight of 1200 kg, and each drone has a maximum payload of 500 kg. Considering safety factors, this embodiment can determine that the required number of drones in the drone formation information is four, and based on the dimensions of the malfunctioning vehicle, the four corners of the vehicle chassis can be used as mounting points.

[0083] Step S803: Check if the drone is in normal working order.

[0084] In this embodiment of the application, step S805 can be executed when the device is in normal use; otherwise, step S804 can be executed.

[0085] Step S804: Repair the drone.

[0086] In this embodiment, the drone can be repaired when it is not in normal use until it is in normal use.

[0087] Step S805: Control the drone to take off.

[0088] In this embodiment, the central control system combines real-time traffic data to determine the shortest time path for each UAV, i.e., the rescue path: parking point → low-altitude flight along a secondary urban road (50m altitude, avoiding 110kV high-voltage lines) → fault point, with a total flight distance of 3.2km and an estimated flight time of 8 minutes; and U1-U4 adopt a diamond formation (where U1 is in front left, U2 in front right, U3 in rear left, and U4 in rear right, with a front-to-back and left-to-right spacing of 15m to avoid airflow interference, such as... Figure 3 As shown in the figure, in this embodiment, after receiving the drone call command, U1-U4 take off sequentially at 10-second intervals (or other values, which are not specifically limited in this application) to avoid the influence of wake turbulence, and control the central control system to monitor the drone's position, flight speed and battery level in real time until the malfunctioning vehicle reaches the target rescue location.

[0089] Step S806: The drone arrives above the malfunctioning vehicle, performs positioning and alignment, and connects the fixing device.

[0090] The positioning and alignment diagram is as follows: Figure 4 As shown, a schematic diagram of the fixing device connection is as follows. Figure 5 As shown above, the main content will not be repeated here.

[0091] It should be noted that the embodiments of this application can handle abnormalities in the connection of the fixing device, such as when the difference in tension of the fixing belt is greater than 50 kg. The specific details are as described above and will not be repeated here.

[0092] Step S807: Control the drone to fly along the rescue route.

[0093] The schematic diagram of the collaborative hoisting in this embodiment is shown below. Figure 6 As shown, I will not go into further detail here.

[0094] Step S808: Determine whether the disabled vehicle has reached the target rescue location.

[0095] In this embodiment of the application, step S807 can be executed if the disabled vehicle has not reached the target rescue location; otherwise, step S809 can be executed.

[0096] Step S809: Once the disabled vehicle reaches the target rescue location, control the drone to land and place the disabled vehicle safely.

[0097] The schematic diagram of controlling the drone to land and smoothly place the faulty vehicle in an embodiment of this application is shown below. Figure 7 As shown, I will not go into further detail here.

[0098] Step S810: Generate a rescue report.

[0099] In this embodiment, after the vehicle owner confirms that the disabled vehicle has no scratches, they can complete the rescue process via the app by clicking "Rescue Complete." The central control system then generates a rescue report and uploads it to the city's rescue database for system optimization. Problems encountered during the rescue process are also recorded to optimize subsequent rescue procedures.

[0100] The vehicle rescue method proposed in this application can extract the current location and status information of the disabled vehicle based on the received request for help. This allows for the determination of the drone swarm information for rescuing the disabled vehicle, the rescue path for each drone in the swarm, and the target rescue location. The drones are then controlled to fly along the rescue path and collaboratively lift the disabled vehicle to the target rescue location. Because the location and status of the disabled vehicle are obtained through the request for help, the drone swarm, rescue path, and target rescue location are planned, and the drone swarm is controlled to collaboratively lift the disabled vehicle, the method is not limited by traffic congestion or complex road conditions. It enables rapid response and arrival at the scene, timely transfer of the disabled vehicle, avoidance of secondary safety hazards and vehicle delays, and reduction of rescue manpower and equipment costs, thus improving the cost-effectiveness of rescuing lightly disabled vehicles. This solves the problems of related technologies, such as delayed response, susceptibility to traffic congestion, inability to meet emergency rescue needs, limited traffic capacity, difficulty in adapting to complex scenarios such as mountainous areas, muddy rural roads, and tunnels, and easy delays for disabled vehicles. Furthermore, it addresses the high rescue costs, large investment in professional personnel and equipment, and low cost-effectiveness of rescuing lightly disabled vehicles.

[0101] Next, a vehicle rescue device according to an embodiment of this application is described with reference to the accompanying drawings.

[0102] Figure 9 This is a block diagram of a vehicle rescue device provided according to an embodiment of this application.

[0103] like Figure 9 As shown, the vehicle's rescue device 10 includes: an extraction module 100, a determination module 200, and a control module 300.

[0104] The extraction module 100 is used to receive the distress request from the disabled vehicle and extract the current location and current status information of the disabled vehicle based on the distress request.

[0105] The determination module 200 is used to determine the drone formation information for rescuing the disabled vehicle, the rescue path and target rescue location of each drone in the drone formation information, based on the current location information and the current status information.

[0106] The control module 300 is used to control the drone to fly along the rescue route and to coordinate the hoisting of the disabled vehicle to the target rescue location.

[0107] Optionally, in one embodiment of this application, the determining module 200 includes: a first generating unit and a repair unit.

[0108] The first generation unit is used to generate a drone dispatch instruction for rescuing a disabled vehicle based on the current location information and the current status information.

[0109] The repair unit is used to respond to the drone call command. If the initial drone is not in normal use, it repairs the initial drone until the repaired drone is in normal use, and generates drone formation information based on the repaired drone.

[0110] Optionally, in one embodiment of this application, the determining module 200 includes: a first determining unit, a second determining unit, and a second generating unit.

[0111] The first determining unit is used to determine the weight and size information of the faulty vehicle based on the current state information.

[0112] The second determining unit is used to determine the number of drones in the drone formation information and the corresponding drone mounting point information based on weight and size information.

[0113] The second generation unit is used to obtain drone formation information based on the number of drones and the mounting point information.

[0114] Optionally, in one embodiment of this application, the control module 300 includes: a data acquisition unit and a collaborative hoisting unit.

[0115] The acquisition unit is used to collect flight attitude information of the UAV and attitude information of the malfunctioning vehicle.

[0116] The collaborative hoisting unit is used to collaboratively hoist a disabled vehicle to the target rescue location based on flight attitude information and attitude information.

[0117] Optionally, in one embodiment of this application, the control module 300 includes: an acquisition unit, a third generation unit, and a third determination unit.

[0118] The acquisition unit is used to acquire actual environmental information along the rescue route.

[0119] The third generation unit is used to generate adjustment instructions for the rescue route based on actual environmental information.

[0120] The third determining unit is used to determine the final rescue path based on the adjustment instructions and control the drone to fly along the final rescue path.

[0121] It should be noted that the foregoing explanation of the vehicle rescue method embodiment also applies to the vehicle rescue device of this embodiment, and will not be repeated here.

[0122] The vehicle rescue device proposed in this application can extract the current location and status information of a disabled vehicle based on the received distress call information. This allows for the determination of drone swarm information for rescuing the disabled vehicle, the rescue path for each drone in the swarm, and the target rescue location. The device then controls the drones to fly along the rescue path and collaboratively lift the disabled vehicle to the target location. Because the location and status of the disabled vehicle are obtained through the distress call information, the drone swarm, rescue path, and target rescue location are planned, and the drone swarm is controlled to collaboratively lift the disabled vehicle, the device is not limited by traffic congestion or complex road conditions. It can quickly respond and arrive at the scene, promptly transferring the disabled vehicle, avoiding secondary safety hazards and vehicle delays. Simultaneously, it reduces rescue manpower and equipment costs, improving the cost-effectiveness of rescuing lightly disabled vehicles. This solves the problems of related technologies, such as delayed response, susceptibility to traffic congestion, inability to meet emergency rescue needs, limited traffic capacity, difficulty adapting to complex scenarios such as mountainous areas, muddy rural roads, and tunnels, and the tendency to cause disabled vehicles to be delayed. Furthermore, it addresses the high rescue costs, large investment in professional personnel and equipment, and low cost-effectiveness of rescuing lightly disabled vehicles.

[0123] Figure 10 This is a schematic diagram of the structure of a vehicle according to an embodiment of this application. The vehicle may include: The memory 1001, the processor 1002, and the computer program stored on the memory 1001 and capable of running on the processor 1002.

[0124] When the processor 1002 executes the program, it implements the vehicle rescue method provided in the above embodiments.

[0125] Furthermore, the vehicle also includes: Communication interface 1003 is used for communication between memory 1001 and processor 1002.

[0126] The memory 1001 is used to store computer programs that can run on the processor 1002.

[0127] The memory 1001 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0128] If the memory 1001, processor 1002, and communication interface 1003 are implemented independently, then the communication interface 1003, memory 1001, and processor 1002 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0129] Optionally, in a specific implementation, if the memory 1001, processor 1002, and communication interface 1003 are integrated on a single chip, then the memory 1001, processor 1002, and communication interface 1003 can communicate with each other through an internal interface.

[0130] The processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0131] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle rescue method described above.

[0132] This application also provides a computer program product, including a computer program that, when executed, implements the vehicle rescue method described above.

[0133] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0134] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0135] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0136] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0137] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0138] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0139] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0140] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for rescuing a vehicle, characterized in that, Includes the following steps: Receive a distress call from a disabled vehicle, and extract the vehicle's current location and status information based on the distress call. Based on the current location information and the current status information, determine the drone platoon information for rescuing the disabled vehicle, the rescue path and target rescue location corresponding to each drone in the drone platoon information; The drone is controlled to fly along the rescue route and to assist in hoisting the disabled vehicle to the target rescue location.

2. The method according to claim 1, characterized in that, The step of determining the drone platoon information for rescuing the disabled vehicle based on the current location information and the current status information includes: Based on the current location information and the current status information, a drone dispatch instruction for rescuing the disabled vehicle is generated; In response to the drone call command, if the initial drone is not in normal use, the initial drone is repaired until the repaired drone is in normal use, and the drone formation information is generated based on the repaired drone.

3. The method according to claim 1, characterized in that, The step of determining the drone platoon information for rescuing the disabled vehicle based on the current location information and the current status information includes: Based on the current status information, determine the weight and size information of the faulty vehicle; Based on the weight information and the size information, the number of drones in the drone formation information and the corresponding drone mounting point information are determined. Based on the number of drones and the mounting point information, the drone formation information is obtained.

4. The method according to claim 1, characterized in that, The coordinated hoisting of the disabled vehicle to the target rescue location includes: Collect the flight attitude information of the UAV and the attitude information of the faulty vehicle; Based on the flight attitude information and the attitude information, the faulty vehicle is hoisted to the target rescue location in a coordinated manner.

5. The method according to claim 1, characterized in that, Controlling the drone to fly along the rescue route includes: Obtain actual environmental information along the rescue route; Based on the actual environmental information, an adjustment instruction for the rescue route is generated; Based on the adjustment instructions, the final rescue route is determined, and the drone is controlled to fly along the final rescue route.

6. A vehicle rescue device, characterized in that, include: The extraction module is used to receive a distress call from a disabled vehicle and extract the vehicle's current location and current status information based on the distress call. The determination module is used to determine, based on the current location information and the current status information, the drone platoon information for rescuing the disabled vehicle, the rescue path and target rescue location corresponding to each drone in the drone platoon information; The control module is used to control the drone to fly along the rescue route and to coordinate the hoisting of the disabled vehicle to the target rescue location.

7. The apparatus according to claim 6, characterized in that, The determining module includes: The first generation unit is used to generate a drone call command for rescuing the disabled vehicle based on the current location information and the current status information. The repair unit is used to respond to the drone call command, and if the initial drone is not in normal use, repair the initial drone until the repaired drone is in normal use, and generate the drone formation information based on the repaired drone.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle rescue method as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle rescue method as described in any one of claims 1-5.

10. A computer program product, characterized in that, Includes a computer program, which, when executed, is used to implement the vehicle rescue method as described in any one of claims 1-5.

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