A method and system for coordinated operation of traffic monitoring drones and road surface video equipment

Abstract

This invention relates to a method and system for the collaborative linkage of traffic monitoring drones and road surface video equipment. The invention includes: connecting the road surface video equipment and traffic monitoring drones to a unified management and control platform; initiating the corresponding collaborative linkage mode based on the received event trigger type; generating a video scheduling queue; generating flight mission plans for the traffic monitoring drones, enabling them to enter the front of the video scheduling queue based on their mission and flight status; dividing the video scheduling queue into a primary display queue, a secondary pre-receive queue, and a tertiary verification queue according to a comprehensive weight value from high to low; and realizing multi-channel collaborative splicing display of traffic monitoring drone videos and road surface video equipment videos on the unified management and control platform. This invention enables multi-angle collaborative monitoring of traffic events and automated management of multiple types of videos.

Description

Technical Field

[0001] This invention relates to the fields of intelligent traffic management, drone collaborative management, and intelligent video dispatching, and in particular to a collaborative linkage method and system for traffic monitoring drones and road video equipment applicable to scenarios such as urban main roads and highways. Background Technology

[0002] With the deepening of intelligent transportation construction, fixed video surveillance equipment on the road has achieved large-scale coverage and has become a core means of traffic incident monitoring and illegal evidence collection; while traffic monitoring drones have the advantages of being mobile, flexible and having a wide field of view, becoming an important supplement to fixed monitoring equipment and being widely used in scenarios such as traffic emergency response and routine inspections.

[0003] However, existing technologies have some shortcomings, such as fragmented equipment control systems lacking effective overall management, incomplete coverage of collaborative scenarios, and video queue adjustments that are not adapted to large-screen control scenarios. This invention aims to provide a collaborative linkage method between traffic monitoring drones and roadside video equipment. Through a unified management platform, it achieves two types of collaborative linkage logic centered on events and drones. Combined with a quantitative automatic equipment scheduling algorithm, it solves some of the problems existing in existing technologies, enabling multi-angle collaborative monitoring of traffic events and automated management of multiple types of video. Summary of the Invention

[0004] To address this, the present invention provides a method and system for the collaborative linkage of traffic monitoring drones and road video equipment. By building a unified management and control platform, a dual-core collaborative linkage logic is realized. The core innovation lies in the organic coupling of distance adaptability and shooting capability, constructing a refined automatic scheduling algorithm, and designing a three-level video queue mechanism adapted to the management and control screen. This solves the problems of fragmented equipment scheduling, insufficient rationality, single collaborative logic, and inefficient video scheduling in existing technologies, thereby realizing multi-angle collaborative monitoring of traffic events and automated management of multiple types of videos.

[0005] To address the aforementioned technical problems, this invention provides a method for the coordinated operation of a traffic monitoring drone and road surface video equipment, comprising: Connect the road video equipment and traffic monitoring drones to be managed to a unified management and control platform; Based on the received event trigger type, the corresponding collaborative linkage mode is activated; wherein, when the event trigger type is an emergency event reported from a fixed location, an emergency collaborative linkage mode centered on the event location is activated; when the event trigger type is an event triggered by routine inspections of traffic monitoring drones or imported in other ways, a routine inspection collaborative linkage mode centered on traffic monitoring drones is activated. The road video devices are screened according to their effective shooting distance. The distance-shooting capability coupling score of the road video devices that meet the screening criteria is calculated. Based on the distance-shooting capability coupling score and the collaborative linkage mode, the comprehensive weight value of the devices is calculated. The road video devices are sorted from high to low according to their comprehensive weight values ​​to generate a video scheduling queue. The flight mission plan of the traffic monitoring drone is generated so that the traffic monitoring drone can enter the front of the video scheduling queue according to its mission status and flight status. The video scheduling queue is divided into a first-level display queue, a second-level pre-connection queue, and a third-level verification queue according to the comprehensive weight value from high to low. The first-level display queue is used for large-screen display, the second-level pre-connection queue is used for pre-connection buffering, and when the first-level display queue is unavailable, it is switched to large-screen display in order of comprehensive weight value. The third-level verification queue is used for device status verification, and when there are device vacancies in the first-level display queue or the second-level pre-connection queue, they are added to the corresponding queues in order of comprehensive weight value. The unified management and control platform enables multi-channel collaborative splicing and display of traffic monitoring drone videos and road surface video equipment videos.

[0006] In one embodiment of the present invention, the method further includes acquiring metadata of the road video equipment, the metadata including at least the equipment type, effective shooting distance range, and focusing capability parameters; The road video equipment is classified into at least three types based on its shooting capabilities: fixed bullet cameras, ordinary PTZ cameras, and high-position PTZ cameras.

[0007] In one embodiment of the present invention, a corresponding collaborative linkage mode is activated based on the received event trigger type, including: Event information is obtained from at least one of the following sources: traffic incidents reported by roadside video equipment, emergency incidents entered manually, and abnormal incidents reported by traffic monitoring drones. The event information includes the event's latitude and longitude location, event type, event level, and trigger time.

[0008] In one embodiment of the present invention, activating an emergency collaborative linkage mode centered on event location includes: Using the latitude and longitude location of the event as the center, search for road video devices that are online and idle within a preset radius, sort them according to the calculated comprehensive weight value of each road video device, select a preset number of road video devices, and generate a scheduling instruction to make the shooting angle of the road video devices align with the event location. Meanwhile, the system selects the available traffic monitoring drones closest to the incident location and automatically generates a flight reconnaissance mission that includes the takeoff point, waypoint, and incident point. After the pilot confirms the mission, the flight reconnaissance mission is executed to meet safety requirements. Once the traffic monitoring drone reaches the incident point, the system switches to manual operation or auxiliary handling operation.

[0009] In one embodiment of the present invention, a routine inspection and collaborative linkage mode centered on traffic monitoring drones is initiated, including: Based on the preset inspection route, real-time location, and shooting range of the traffic monitoring drone, the preset inspection route is divided into several waypoints. After the traffic monitoring drone arrives at each waypoint or at a fixed time interval, the video scheduling queue is automatically updated. As the traffic monitoring drone progresses, the video from road surface video equipment that matches the inspection area of ​​the traffic monitoring drone is automatically scheduled to achieve collaborative blind spot filling along the inspection area of ​​the traffic monitoring drone.

[0010] In one embodiment of the present invention, the road video equipment is screened according to the effective shooting distance, including: Determine the target location, calculate the straight-line distance from each road video device to the target location, and determine whether the straight-line distance is within the effective shooting distance range of the corresponding type of road video device; if it is not within the effective shooting distance range, the road video device is determined to be an invalid device and removed; if it is within the effective shooting distance range, a distance-shooting capability coupled score is performed.

[0011] In one embodiment of the present invention, the distance-shooting capability coupling calculation is as follows: ; Where d is the straight-line distance from the road video equipment to the target point. The table shows the minimum effective shooting distance for road video equipment. This refers to the maximum effective shooting distance of the road video equipment. The distance adaptation coefficient is used within the effective shooting range. , Within this range, the smaller d is, the closer the coefficient is to 1; This represents the shooting capability level coefficient.

[0012] In one embodiment of the present invention, the overall weight value of the device is calculated as follows: ; in, Assign values ​​to the device status as online and idle, online but occupied, and offline; For type-adaptive scores, dynamically assign values ​​based on collaborative linkage mode and device type; This is a weighting coefficient, dynamically adjusted according to the collaborative linkage mode.

[0013] In one embodiment of the present invention, the device status score is assigned according to the device status: 100 points for being online and idle, 30 points for being online but occupied or having poor network quality, and 0 points for being offline. The type adaptation score is dynamically assigned based on the collaborative linkage mode and equipment type. When a traffic monitoring drone performs a task, it is given priority in the video scheduling queue. In the emergency collaborative linkage mode, the high-position PTZ camera is assigned 80 points, the ordinary PTZ camera is assigned 60 points, and the fixed bullet camera is assigned 40 points. In the normalized inspection collaborative linkage mode, the road video equipment is uniformly assigned 100 points.

[0014] This invention also provides a collaborative linkage system between a traffic monitoring drone and road surface video equipment, comprising: A unified management and control platform is used to connect the road video equipment and traffic monitoring drones to be managed; The collaborative linkage mode activation module is used to activate the corresponding collaborative linkage mode according to the received event trigger type; wherein, when the event trigger type is an emergency event reported from a fixed location, the emergency collaborative linkage mode with the event location as the core is activated; when the event trigger type is an event triggered by routine inspections of traffic monitoring drones or imported in other ways, the routine inspection collaborative linkage mode with traffic monitoring drones as the core is activated. The video scheduling queue generation module is used to filter the road video devices according to their effective shooting distance, calculate the distance-shooting capability coupling score of the road video devices that meet the filtering conditions, calculate the comprehensive weight value of the devices based on the distance-shooting capability coupling score and the collaborative linkage mode, sort the road video devices according to the comprehensive weight value from high to low, and generate a video scheduling queue; generate flight mission plans for traffic monitoring drones, so that traffic monitoring drones can enter the front of the video scheduling queue according to their mission status and flight status; The queue partitioning module is used to divide the video scheduling queue into a first-level display queue, a second-level pre-connection queue, and a third-level verification queue according to the comprehensive weight value from high to low. The first-level display queue is used for large-screen display, the second-level pre-connection queue is used for pre-connection buffering, and when the first-level display queue is unavailable, it switches to large-screen display in order of comprehensive weight value. The third-level verification queue is used for device status verification, and when there are device vacancies in the first-level display queue or the second-level pre-connection queue, they are added to the corresponding queues in order of comprehensive weight value. The multi-channel collaborative splicing and display module is used to realize the multi-channel collaborative splicing and display of traffic monitoring drone videos and road surface video equipment videos on the unified management and control platform.

[0015] The technical solution of the present invention has the following advantages compared with the prior art: The present invention discloses a collaborative linkage method and system for traffic monitoring drones and road video equipment. It completes the access and centralized management of road equipment video and drone video through a unified management and control platform. It designs two sets of linkage logics: emergency tasks centered on event location and routine inspection tasks centered on drones. It adopts a nearest-neighbor optimal device automatic scheduling algorithm based on multi-factor weights to realize automated and quantitative screening of devices. It also designs a three-level video queue mechanism based on comprehensive weights to ensure stable and orderly display of video.

[0016] This invention is adaptable to various traffic scenarios such as urban main roads and highways, and supports deployment and operation in an intranet environment. It solves the problems of fragmented management and control systems, single collaborative logic, and low scheduling efficiency of existing technologies and equipment, and helps traffic management departments achieve automated management of multiple types of videos and multi-angle collaborative monitoring of road events. Attached Figure Description

[0017] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0018] Figure 1 This is the main flowchart of a collaborative linkage method between traffic monitoring drones and road surface video equipment.

[0019] Figure 2 A flowchart illustrating the collaboration between drones and roadside video equipment in emergency situations.

[0020] Figure 3 A flowchart illustrating the collaborative process between drones and roadside video equipment during routine inspections. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0022] In this invention, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of this invention, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0023] In this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number; "above," "below," "within," etc., are understood to include the stated number. In the description of this invention, the terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] In this invention, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this invention based on the specific content of the technical solution.

[0025] Example 1 Reference Figures 1 to 3 As shown, this embodiment provides a method for the collaborative linkage of traffic monitoring drones and road surface video equipment. This method is applicable to traffic monitoring and emergency response scenarios on urban main roads and highways, and is adaptable to various deployment environments such as private networks and intranets. It includes: S1. Unified access and metadata management of equipment: Connect the road video equipment and traffic monitoring drones to be managed to the unified management and control platform, and collect and store the metadata of the road video equipment.

[0026] In this embodiment, the metadata includes at least device type, effective shooting distance range, and focusing capability parameters; The road video equipment is classified into at least three types based on its shooting capabilities: fixed bullet cameras, ordinary PTZ cameras, and high-position PTZ cameras.

[0027] The fixed-angle bullet camera is a road video device with a fixed viewing angle and supports focus adjustment, and its default effective shooting distance range is 50m to 2000m; the ordinary PTZ camera is a road video device that supports 360° horizontal rotation, vertical rotation and zoom adjustment, and its default effective shooting distance range is 50m to 2000m; the high-position PTZ camera is a road video device that is installed at a high position and supports omnidirectional rotation and telephoto zoom, and its default effective shooting distance range is 200m to 5000m.

[0028] The traffic monitoring drone is a rotary-wing drone, and the traffic monitoring drone includes at least an RTK high-precision positioning module, a high-definition gimbal camera, a dedicated image transmission module, and an autonomous flight control module. The unified management and control platform is adapted to private network or intranet environments and is used to meet the usage specifications of traffic management departments for video access, equipment scheduling, and flight mission management.

[0029] S2. Collaborative Mode Trigger: Based on the received event trigger type, activate the corresponding collaborative linkage mode; wherein, when the event trigger type is an emergency event reported from a fixed location, activate the emergency collaborative linkage mode centered on the event location; when the event trigger type is an event triggered by routine inspections of traffic monitoring drones or imported in other ways, activate the routine inspection collaborative linkage mode centered on traffic monitoring drones.

[0030] Specifically, event information is obtained from at least one of the following sources: traffic events reported by roadside video equipment through intelligent analysis, emergency events entered manually, and abnormal events reported by traffic monitoring drones. The event information includes the latitude and longitude location of the event, the event type, the event level, and the trigger time.

[0031] Specifically, an emergency coordination and linkage model centered on the location of the incident will be activated, including: Using the latitude and longitude location of the event as the center, search for road video devices that are online and idle within a preset radius, sort them according to the calculated comprehensive weight value of each road video device, select a preset number of road video devices, and generate a scheduling instruction to make the shooting angle of the road video devices align with the event location. Meanwhile, the system selects the available traffic monitoring drones closest to the incident location and automatically generates a flight reconnaissance mission that includes the takeoff point, waypoint, and incident point. After the pilot confirms the mission, the flight reconnaissance mission is executed to meet safety requirements. Once the traffic monitoring drone reaches the incident point, the system switches to manual operation or auxiliary handling operation.

[0032] Specifically, a routine inspection and collaborative operation model centered on traffic monitoring drones will be launched, including: Based on the preset inspection route, real-time location, and shooting range of the traffic monitoring drone, the preset inspection route is divided into several waypoints. After the traffic monitoring drone arrives at each waypoint or at a fixed time interval, the video scheduling queue is automatically updated. As the traffic monitoring drone progresses, the video from road surface video equipment that matches the inspection area of ​​the traffic monitoring drone is automatically scheduled to achieve collaborative blind spot filling along the inspection area of ​​the traffic monitoring drone.

[0033] S3. Automatic Equipment Scheduling and Task Planning: The road video equipment is filtered according to its effective shooting distance. A distance-shooting capability coupling score is calculated for the road video equipment that meets the filtering criteria. Based on the distance-shooting capability coupling score and the collaborative linkage mode, a comprehensive weight value for the equipment is calculated. The road video equipment is then sorted from highest to lowest comprehensive weight value, generating a video scheduling queue. Flight mission plans for traffic monitoring drones are generated, allowing the traffic monitoring drones to enter the top ranks of the video scheduling queue based on their mission and flight status. Specifically, this includes: S31. Filter the road video devices according to their effective shooting distance, determine the target locations, calculate the straight-line distance d from each road video device to the target location, and determine whether the straight-line distance is within the effective shooting distance range corresponding to the type of road video device. , If the device is not within the effective shooting distance range, it is considered an invalid device and removed; if it is within the effective shooting distance range, a distance-shooting capability coupled score is performed.

[0034] S32, Calculate the distance-shooting capability coupling. : ; Where d is the straight-line distance from the road video equipment to the target point. The table shows the minimum effective shooting distance for road video equipment. This refers to the maximum effective shooting distance of the road video equipment. The distance adaptation coefficient is used within the effective shooting range. , Within this range, the smaller d is, the closer the coefficient is to 1; This represents the shooting capability level coefficient. In this embodiment, within the effective shooting range, the smaller d is, the closer the coefficient is to 1; The shooting capability level coefficient has a base value of 1.0 for high-position PTZ cameras, 0.8 for ordinary PTZ cameras, and 0.6 for fixed bullet cameras, and supports further weighting based on actual shooting clarity, zoom range, night infrared capability, etc. S33. Calculate the comprehensive weight value of the equipment. : ; in, Assign values ​​to the device status as online and idle, online but occupied, and offline; For type-adaptive scores, dynamically assign values ​​based on collaborative linkage mode and device type; This is a weighting coefficient, dynamically adjusted according to the collaborative linkage mode.

[0035] In this embodiment, the device status score is assigned according to the device status: 100 points for being online and idle, 30 points for being online but occupied or having poor network quality, and 0 points for being offline. The type adaptation score is dynamically assigned based on the collaborative linkage mode and equipment type. When the traffic monitoring drone performs a task, the traffic monitoring drone is given priority in the video scheduling queue. In the emergency collaborative linkage mode, the high-position PTZ camera is scored 80 points, the ordinary PTZ camera is scored 60 points, and the fixed bullet camera is scored 40 points. In the normalized inspection collaborative linkage mode, the road video equipment is uniformly assigned a score of 100 points. S34: Sort by comprehensive weight value W from high to low, select a preset number of valid devices, and generate corresponding scheduling instructions.

[0036] S4. Three-level video queue scheduling based on comprehensive weight: The video scheduling queue is divided into a primary display queue, a secondary pre-connection queue, and a tertiary verification queue according to the comprehensive weight value from high to low. The primary display queue is used for large-screen display, the secondary pre-connection queue is used for pre-connection buffering, and when the primary display queue is unavailable, it switches to large-screen display in order of comprehensive weight value. The tertiary verification queue is used for device status verification, and when there are device vacancies in the primary display queue or the secondary pre-connection queue, they are sequentially added to the corresponding queues in order of comprehensive weight value. Specifically, this includes: S41. Drones are automatically placed in the first k positions of the queue based on their mission status, where k ≤ 3.

[0037] S42, Level 1 Display Queue: The video streams of the top n devices in the overall weight ranking are directly connected and displayed on the management screen in a split-screen manner. n is customized according to the number of split-screens on the screen, for example, n=9.

[0038] S43, Secondary Pre-connection Queue: Devices ranked n+1 to n+m in terms of comprehensive weight have their video streams pre-connected and cached in the background, and are not displayed on the large screen. When a device in the primary queue goes offline, malfunctions, or loses its shooting angle, it is seamlessly switched to the large screen for display according to its weight order. For example, m=6.

[0039] S44, Level 3 Verification Queue: All valid devices ranked after n+m+1 by comprehensive weight are only verified for real-time online status, without connecting the video stream. When there are vacancies in the Level 1 and Level 2 queues, they are added to the corresponding queues in order of weight.

[0040] S45. The total queue of videos to be scheduled only includes devices with a comprehensive weight value greater than 0 and normal device status; the queue updates the weight sorting and device status at regular intervals and automatically adjusts the device affiliation of the three-level queues.

[0041] S46. In particular, video queues also have the following special scenario processing logic: When there are multiple emergency events or multiple drones performing different tasks, the platform allows multiple tasks and multiple queues to exist simultaneously, and queues can be switched for display, or the top-ranked videos can be displayed. When a single emergency event calls up multiple drones, the default queue logic is used, and the top three priority queues are reserved for drones. Drones have a type adaptation score that is higher than that of fixed devices by default, and a comprehensive weight score is also calculated. When the number of drones is greater than 3, the participating video devices that are not in the top three priority queues are sorted together and their positions will be higher. It supports manually hiding a video from the queue, and by default, it adds and displays videos in the order of the queue.

[0042] S5. Linked Video Display and Full-Process Management: The unified management platform enables multi-channel collaborative splicing display of traffic monitoring drone videos and road surface video equipment videos. It can simultaneously display event or drone location information and equipment information, while recording log data of equipment scheduling, video transmission, and drone flight throughout the entire process, realizing full lifecycle management of multiple types of videos.

[0043] Example 2 Based on the same inventive concept, this embodiment provides a collaborative linkage system between a traffic monitoring drone and a road video device. The principle of solving the problem is similar to that of the collaborative linkage method between a traffic monitoring drone and a road video device, and the repetitions will not be repeated.

[0044] This embodiment provides a collaborative linkage system between a traffic monitoring drone and road surface video equipment, including: A unified management and control platform is used to connect the road video equipment and traffic monitoring drones to be managed; The collaborative linkage mode activation module is used to activate the corresponding collaborative linkage mode according to the received event trigger type; wherein, when the event trigger type is an emergency event reported from a fixed location, the emergency collaborative linkage mode with the event location as the core is activated; when the event trigger type is an event triggered by routine inspections of traffic monitoring drones or imported in other ways, the routine inspection collaborative linkage mode with traffic monitoring drones as the core is activated. The video scheduling queue generation module is used to filter the road video devices according to their effective shooting distance, calculate the distance-shooting capability coupling score of the road video devices that meet the filtering conditions, calculate the comprehensive weight value of the devices based on the distance-shooting capability coupling score and the collaborative linkage mode, sort the road video devices according to the comprehensive weight value from high to low, and generate a video scheduling queue; generate flight mission plans for traffic monitoring drones, so that traffic monitoring drones can enter the front of the video scheduling queue according to their mission status and flight status; The queue partitioning module is used to divide the video scheduling queue into a first-level display queue, a second-level pre-connection queue, and a third-level verification queue according to the comprehensive weight value from high to low. The first-level display queue is used for large-screen display, the second-level pre-connection queue is used for pre-connection buffering, and when the first-level display queue is unavailable, it switches to large-screen display in order of comprehensive weight value. The third-level verification queue is used for device status verification, and when there are device vacancies in the first-level display queue or the second-level pre-connection queue, they are added to the corresponding queues in order of comprehensive weight value. The multi-channel collaborative splicing and display module is used to realize the multi-channel collaborative splicing and display of traffic monitoring drone videos and road surface video equipment videos on the unified management and control platform.

[0045] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0046] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0047] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0048] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0049] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for coordinated operation between a traffic monitoring drone and road surface video equipment, characterized in that, include: Connect the road video equipment and traffic monitoring drones to be managed to a unified management and control platform; Based on the received event trigger type, the corresponding collaborative linkage mode is activated; wherein, when the event trigger type is an emergency event reported from a fixed location, an emergency collaborative linkage mode centered on the event location is activated; when the event trigger type is an event triggered by routine inspections of traffic monitoring drones or imported in other ways, a routine inspection collaborative linkage mode centered on traffic monitoring drones is activated. The road video devices are screened according to their effective shooting distance. The distance-shooting capability coupling score of the road video devices that meet the screening criteria is calculated. Based on the distance-shooting capability coupling score and the collaborative linkage mode, the comprehensive weight value of the devices is calculated. The road video devices are sorted from high to low according to their comprehensive weight values ​​to generate a video scheduling queue. The flight mission plan of the traffic monitoring drone is generated so that the traffic monitoring drone can enter the front of the video scheduling queue according to its mission status and flight status. The video scheduling queue is divided into a first-level display queue, a second-level pre-connection queue, and a third-level verification queue according to the comprehensive weight value from high to low. The first-level display queue is used for large-screen display, the second-level pre-connection queue is used for pre-connection buffering, and when the first-level display queue is unavailable, it is switched to large-screen display in order of comprehensive weight value. The third-level verification queue is used for device status verification, and when there are device vacancies in the first-level display queue or the second-level pre-connection queue, they are added to the corresponding queues in order of comprehensive weight value. The unified management and control platform enables multi-channel collaborative splicing and display of traffic monitoring drone videos and road surface video equipment videos.

2. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, It also includes acquiring metadata of the road video equipment, which includes at least the equipment type, effective shooting distance range, and focusing capability parameters; The road video equipment is classified into at least three types based on its shooting capabilities: fixed bullet cameras, ordinary PTZ cameras, and high-position PTZ cameras.

3. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, Based on the received event trigger type, the corresponding collaborative linkage mode is activated, including: Event information is obtained from at least one of the following sources: traffic incidents reported by roadside video equipment, emergency incidents entered manually, and abnormal incidents reported by traffic monitoring drones. The event information includes the event's latitude and longitude location, event type, event level, and trigger time.

4. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, Activate the emergency coordination and linkage mode centered on the event location, including: Using the latitude and longitude location of the event as the center, search for road video devices that are online and idle within a preset radius, sort them according to the calculated comprehensive weight value of each road video device, select a preset number of road video devices, and generate a scheduling instruction to make the shooting angle of the road video devices align with the event location. Meanwhile, the system selects the available traffic monitoring drones closest to the incident location and automatically generates a flight reconnaissance mission that includes the takeoff point, waypoint, and incident point. After the pilot confirms the mission, the flight reconnaissance mission is executed to meet safety requirements. Once the traffic monitoring drone reaches the incident point, the system switches to manual operation or auxiliary handling operation.

5. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, Initiate a routine, collaborative inspection model centered on traffic monitoring drones, including: Based on the preset inspection route, real-time location, and shooting range of the traffic monitoring drone, the preset inspection route is divided into several waypoints. After the traffic monitoring drone arrives at each waypoint or at a fixed time interval, the video scheduling queue is automatically updated. As the traffic monitoring drone progresses, the video from road surface video equipment that matches the inspection area of ​​the traffic monitoring drone is automatically scheduled to achieve collaborative blind spot filling along the inspection area of ​​the traffic monitoring drone.

6. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, The road video devices are screened according to their effective shooting distance, including: Determine the target location, calculate the straight-line distance from each road video device to the target location, and determine whether the straight-line distance is within the effective shooting distance range of the corresponding type of road video device; if it is not within the effective shooting distance range, the road video device is determined to be an invalid device and removed; if it is within the effective shooting distance range, a distance-shooting capability coupled score is performed.

7. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, The distance-shooting capability coupling component is calculated as follows: ； Where d is the straight-line distance from the road video equipment to the target point. The table shows the minimum effective shooting distance for road video equipment. This refers to the maximum effective shooting distance of the road video equipment. The distance adaptation coefficient is used within the effective shooting range. , Within this range, the smaller d is, the closer the coefficient is to 1; This represents the shooting capability level coefficient.

8. The method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 1, characterized in that, The overall weight value of the equipment is calculated as follows: ； in, Assign values ​​to the device status as online and idle, online but occupied, and offline; For type-adaptive scores, dynamically assign values ​​based on collaborative linkage mode and device type; This is a weighting coefficient, dynamically adjusted according to the collaborative linkage mode.

9. A method for coordinated operation of a traffic monitoring drone and road video equipment according to claim 8, characterized in that, The device status score is assigned according to the device status: 100 points for being online and idle, 30 points for being online but occupied or having poor network quality, and 0 points for being offline. The type adaptation score is dynamically assigned based on the collaborative linkage mode and equipment type. When a traffic monitoring drone performs a task, it is given priority in the video scheduling queue. In the emergency collaborative linkage mode, the high-position PTZ camera is assigned 80 points, the ordinary PTZ camera is assigned 60 points, and the fixed bullet camera is assigned 40 points. In the normalized inspection collaborative linkage mode, the road video equipment is uniformly assigned 100 points.

10. A collaborative linkage system between a traffic monitoring drone and road surface video equipment, characterized in that, include: A unified management and control platform is used to connect the road video equipment and traffic monitoring drones to be managed; The collaborative linkage mode activation module is used to activate the corresponding collaborative linkage mode according to the received event trigger type; wherein, when the event trigger type is an emergency event reported from a fixed location, the emergency collaborative linkage mode with the event location as the core is activated; when the event trigger type is an event triggered by routine inspections of traffic monitoring drones or imported in other ways, the routine inspection collaborative linkage mode with traffic monitoring drones as the core is activated. The video scheduling queue generation module is used to filter the road video devices according to their effective shooting distance, calculate the distance-shooting capability coupling score of the road video devices that meet the filtering conditions, calculate the comprehensive weight value of the devices based on the distance-shooting capability coupling score and the collaborative linkage mode, sort the road video devices according to the comprehensive weight value from high to low, and generate a video scheduling queue; generate flight mission plans for traffic monitoring drones, so that traffic monitoring drones can enter the front of the video scheduling queue according to their mission status and flight status; The queue partitioning module is used to divide the video scheduling queue into a first-level display queue, a second-level pre-connection queue, and a third-level verification queue according to the comprehensive weight value from high to low. The first-level display queue is used for large-screen display, the second-level pre-connection queue is used for pre-connection buffering, and when the first-level display queue is unavailable, it switches to large-screen display in order of comprehensive weight value. The third-level verification queue is used for device status verification, and when there are device vacancies in the first-level display queue or the second-level pre-connection queue, they are added to the corresponding queues in order of comprehensive weight value. The multi-channel collaborative splicing and display module is used to realize the multi-channel collaborative splicing and display of traffic monitoring drone videos and road surface video equipment videos on the unified management and control platform.

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