CN107089248A - UAV Intelligent anti-collision early warning control method and system during a kind of train lost contact - Google Patents
UAV Intelligent anti-collision early warning control method and system during a kind of train lost contact Download PDFInfo
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- CN107089248A CN107089248A CN201710298271.3A CN201710298271A CN107089248A CN 107089248 A CN107089248 A CN 107089248A CN 201710298271 A CN201710298271 A CN 201710298271A CN 107089248 A CN107089248 A CN 107089248A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses UAV Intelligent anti-collision early warning control method during a kind of train lost contact and system, this method to unmanned plane by being improved, and the dispersed placement work station along railroad track, fully utilize the flexibility of unmanned plane, actively find lost contact train and be tracked, the all standing of monitoring is realized, the blind area being monitored to lost contact train has been filled up；In addition, the system also carries out task handing-over using unmanned plane prior-warning device in work station, it is ensured that the reliability of monitor task；Meanwhile, train lost contact warning center calculates the distance between lost contact train and preposition train, lost contact train and rearmounted train automatically, and is made comparisons with preposition safe distance and rearmounted safe distance, realizes the alarm trigger mechanism automatically controlled, simple and reliable.
Description
Technical field
The invention belongs to UAV Intelligent anti-collision early warning controlling party during a kind of field of track traffic, more particularly to train lost contact
Method and system.
Background technology
Track traffic is one of indispensable types of transportation in the national comprehensive system of transport, with low cost with its, transport
Ability is big, and climate and effect of natural conditions are small, the features such as safe and reliable, long-term as most important in the national comprehensive system of transport
Part, promote national economy development in play very important effect.
It is increasingly busy with Rail Transit System, among actual operation and scheduling process, technology mistake or operation
The suddenly change of environment is likely to cause serious driving accident.If train loses with control centre and contacted, even if losing
The connection time is very short, and the blind area that a train real-time status can not be real-time monitored can be also occurred in that on rail track.This
The presence of individual blind area causes scheduling portion can not grasp the running situation of train, it is impossible to make effective commander, can not also send
Accurate alarm, no matter this is all one huge for other trains that lost contact train is run in itself or on the circuit
Potential safety hazard.
When train and control centre this emergency situations out of touch occur, how to operate in the train in blind area with
And it is one of safing effective measures that the train normally run, which makes early warning warning,.However, in existing security protection skill
In art, the use of unmanned plane is being merely possible to the replacement of manpower, such as unmanned plane line walking, most security protections most of the time
For lost contact, this emergency situations being likely to occur does not make reply to technology.
The content of the invention
The present invention is directed to the blank of lost contact situation in order to fill up in applicable safety guard technology, present in railway operation
Blind area is excluded, it is proposed that one kind be used for lost contact train unmanned plane anticollision method for early warning and system, using it is improved nobody
Machine prior-warning device train is tracked and data real-time collection, can be very even if train is out of touch with control centre
The generation of security incident is avoided in big degree, safety in operation of the train in the case of lost contact is significantly improved.
UAV Intelligent anti-collision early warning control method, comprises the following steps during a kind of train lost contact：
Step 1：It is equidistantly spaced work station along trackage, each work station sets several unmanned planes pre-
Alarm device；
The unmanned plane prior-warning device is communicated with the work station, the work station, train lost contact warning center and
Ground control centre is communicated successively；
Step 2：When train and railway trains control centre are out of touch, railway trains control centre is pre- to train lost contact
Alert center sends the rearmost position coordinate recorded before lost contact train number and the train lost contact；
Step 3：Searching instruction is sent to the rearmost position coordinate location of lost contact train by train lost contact warning center
Between former and later two adjoining workstations, each one unmanned plane prior-warning device of workstation startup towards lost contact train rearmost position sit
Mark flight；
Step 4：After unmanned plane prior-warning device monitors train, compiled using airborne Kinect sensor collection train
Number, it is compared with lost contact train number, if comparing successfully, into step 5, otherwise, continues to fly, repeat step 4；
Step 5：Train lost contact warning center sends control instruction so that unmanned plane prior-warning device keeps mutually synchronized with train
Degree is travelled in the same direction, meanwhile, utilize the velocity sensor on unmanned plane prior-warning device, GPS positioning device and range sensor to survey
Measure train real time execution speed, train real-time location coordinates and unmanned plane prior-warning device and train relative distance, and synchronous hair
Train lost contact warning center is sent to after the work station for delivering to institute's subordinate；
Step 6：Train lost contact warning center using work station transmit come lost contact train GPS information calculating lost contact train
Position in orbit, meanwhile, with reference to moving block system, the position in orbit according to lost contact train, real time GPS coordinate with
And real time execution speed calculates the distance of lost contact train and preposition train and rearmounted train；
Preposition train and rearmounted train refer in the train before and after being located at lost contact train on order of dispatching a car；
Step 7：When the distance between lost contact train and preposition train are less than or equal to preposition safe distance, or lost contact train
When being less than or equal to rearmounted safe distance with the distance between rearmounted train, earthward train controlling center sends alarm, ground row
Car control centre carries out the real-time monitoring of speed to preposition train and rearmounted train.
Preposition safe distance：
When the real-time vehicle velocity V 1 of preposition train vehicle velocity V 0 real-time more than lost contact train, preposition safe distance is not considered, because of two
The danger that train does not bump against；
When the real-time vehicle velocity V 1 of preposition train vehicle velocity V 0 real-time less than lost contact train, preposition safe distanceWherein, K is that safety coefficient considers orbit radius and track unflatness, and K takes 1.1-1.2, a to be
Train braking acceleration；
K setting is postponed and the error brought by orbit radius, information transfer, processing to make up；
Rearmounted safe distance：
When the real-time vehicle velocity V 0 of lost contact train vehicle velocity V 2 real-time more than rearmounted train, preposition safe distance is not considered, because of two
The danger that train does not bump against；
When the real-time vehicle velocity V 0 of lost contact train vehicle velocity V 2 real-time less than rearmounted train, rearmounted safe distance
Further, when unmanned plane prior-warning device and lost contact train synchronization, one of unmanned plane prior-warning device is located at
Lost contact train head, another unmanned plane prior-warning device is located at the lost contact train tailstock.
Further, after unmanned plane prior-warning device and lost contact train synchronization move ahead, in lost contact train driving to next work
When standing, unmanned plane prior-warning device carries out task handing-over, the newest work station that train lost contact control centre enters to lost contact train
Send instruction so that two unmanned plane prior-warning devices of the work station take off synchronized tracking lost contact train, two originally flown
Unmanned plane prior-warning device enters the work station, is charged, and the real-time speed of lost contact train and position are sent to train mistake
Join warning center.
The handing-over of carry out task enables to the electricity of unmanned plane prior-warning device to be maintained, and prevents electricity exhausts from can not continue
Tracking.
Further, in train travelling process, if lost contact train has recovered the communication with railway trains control centre,
Railway trains control centre sends the instruction of task termination to train lost contact warning center, so that train lost contact warning center is to work
Instruction is sent as station, unmanned plane prior-warning device layback its nearest work station for controlling to work；
If lost contact train fails to recover to recover to contact with railway trains control centre always, two unmanned plane prior-warning devices
Have been at working condition.
UAV Intelligent anti-collision early warning control system during a kind of train lost contact, including：
Railway trains control centre, including train scheduling module, warning information memory module and the first wireless telecommunications mould
Block；
Train lost contact warning center, including unmanned plane scheduler module, anti-collision warning data memory module, central processing unit mould
Block and the second wireless communication module；
Work station, is set in qually spaced on trackage, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse,
Three wireless communication modules and at least two unmanned plane prior-warning devices；
Wherein, each unmanned plane prior-warning device include flight instruments and be loaded on flight instruments GPS positioning device,
Range sensor, Kinect sensor, train speed sensor and the 4th wireless communication module；
Unmanned plane prior-warning device gathers speed and the position of lost contact train in real time, is arranged while being gathered by Kinect sensor
Car is numbered；
Work station receives the message that unmanned plane prior-warning device is gathered in real time, and transfers a message in train lost contact early warning
The heart, train lost contact warning center is analyzed and processed to message, result is sent in real time to railway trains control centre；
When having risk of collision, warning information is sent to railway trains control centre；When there is no risk of collision, without rear
Continuous operation, continues to perform anti-collision monitoring operation；
The train lost contact warning center and railway trains control centre are according to above-mentioned method to unmanned plane prior-warning device
Control is scheduled with train, so as to realize anti-collision warning.
Anti-collision warning data memory module is used to store data and the processing in real time that unmanned plane prior-warning device is gathered in real time
Data；
Further, it is additionally provided with LED on the unmanned plane prior-warning device.
Beneficial effect
The invention provides UAV Intelligent anti-collision early warning control method during a kind of train lost contact and system, this method passes through
Unmanned plane is improved, and the dispersed placement work station along railroad track, it is main fully using the flexibility of unmanned plane
It is dynamic to find lost contact train and be tracked, all standing of monitoring is realized, the blind area being monitored to lost contact train has been filled up；Two
The individual unmanned plane prior-warning device for being in working condition measures and transmits train real time execution speed and train real-time location coordinates, shape
Into two group data streams, this two group data stream ensure that observability of the lost contact train for ground control centre so that ground is arranged
Car control centre can be by being scheduled the generation come collision free to other trains；Unmanned plane prior-warning device is continuously returned
Every bit in information structure data flow network, this network is corresponded with the every bit in lost contact train travelling process,
Realize the seamless monitoring to lost contact train；In addition, the system also carries out task friendship using unmanned plane prior-warning device in work station
Connect, it is ensured that the reliability of monitor task；Meanwhile, train lost contact warning center calculates lost contact train and preposition train, mistake automatically
Join the distance between train and rearmounted train, and made comparisons with preposition safe distance and rearmounted safe distance, realize automatic control
The alarm trigger mechanism of system, it is simple and reliable.
Brief description of the drawings
Fig. 1 is unmanned plane prior-warning device working state schematic representation；
Fig. 2 is the overall structure diagram of early warning system of the present invention.
Embodiment
Below in conjunction with drawings and examples, the present invention is described further.
The speed of service of common railway is universal in below 180km/h, is used for this programme using unmanned plane of the prior art
In unmanned plane prior-warning device, GTR DRONE hundred kilometers of acceleration time of Japan's production are only 1.3s, and can be kept
185km/h cruising speed, unmanned plane speed in part of the prior art is up to more than 200km/h.
UAV Intelligent anti-collision early warning control method, comprises the following steps during a kind of train lost contact：
Step 1：It is equidistantly spaced work station along trackage, each work station sets several unmanned planes pre-
Alarm device；
The unmanned plane prior-warning device is communicated with the work station, the work station, train lost contact warning center and
Ground control centre is communicated successively；
Step 2：When train and railway trains control centre are out of touch, railway trains control centre is pre- to train lost contact
Alert center sends the rearmost position coordinate recorded before lost contact train number and the train lost contact；
Step 3：Searching instruction is sent to the rearmost position coordinate location of lost contact train by train lost contact warning center
Between former and later two adjoining workstations, each one unmanned plane prior-warning device of workstation startup towards lost contact train rearmost position sit
Mark flight；
Step 4：After unmanned plane prior-warning device monitors train, compiled using airborne Kinect sensor collection train
Number, it is compared with lost contact train number, if comparing successfully, into step 5, otherwise, continues to fly, repeat step 4；
Step 5：Train lost contact warning center sends control instruction so that unmanned plane prior-warning device keeps mutually synchronized with train
Degree is travelled in the same direction, meanwhile, utilize the velocity sensor on unmanned plane prior-warning device, GPS positioning device and range sensor to survey
Measure train real time execution speed, train real-time location coordinates and unmanned plane prior-warning device and train relative distance, and synchronous hair
Train lost contact warning center is sent to after the work station for delivering to institute's subordinate；
As shown in figure 1, when unmanned plane prior-warning device is with lost contact train synchronization, one of unmanned plane prior-warning device, which is located at, to be lost
Join train head, another unmanned plane prior-warning device is located at the lost contact train tailstock.
The real-time data memory that train lost contact warning center returns to work station is to anti-collision warning data memory module；
Step 6：Train lost contact warning center using work station transmit come lost contact train GPS information calculating lost contact train
Position in orbit, meanwhile, with reference to moving block system, the position in orbit according to lost contact train, real time GPS coordinate with
And real time execution speed calculates the distance of lost contact train and preposition train and rearmounted train；
Preposition train and rearmounted train refer in the train before and after being located at lost contact train on order of dispatching a car；
Step 7：When the distance between lost contact train and preposition train are less than or equal to preposition safe distance, or lost contact train
When being less than or equal to rearmounted safe distance with the distance between rearmounted train, earthward train controlling center sends alarm, ground row
Car control centre carries out the real-time monitoring of speed to preposition train and rearmounted train；
The warning information storage that railway trains control centre sends train lost contact warning center stores mould to warning information
Block；
Preposition safe distance：
When the real-time vehicle velocity V 1 of preposition train vehicle velocity V 0 real-time more than lost contact train, preposition safe distance is not considered, because of two
The danger that train does not bump against；
When the real-time vehicle velocity V 1 of preposition train vehicle velocity V 0 real-time less than lost contact train, preposition safe distanceWherein, K is that safety coefficient considers orbit radius and track unflatness, and K takes 1.1-1.2, a to be
Train braking acceleration；
K setting is postponed and the error brought by orbit radius, information transfer, processing to make up；
Rearmounted safe distance：
When the real-time vehicle velocity V 0 of lost contact train vehicle velocity V 2 real-time more than rearmounted train, preposition safe distance is not considered, because of two
The danger that train does not bump against；
When the real-time vehicle velocity V 0 of lost contact train vehicle velocity V 2 real-time less than rearmounted train, rearmounted safe distance
After unmanned plane prior-warning device and lost contact train synchronization move ahead, in lost contact train driving to next work station, nothing
Man-machine prior-warning device carries out task handing-over, and the newest work station that train lost contact control centre enters to lost contact train sends instruction,
The synchronized tracking lost contact train so that two unmanned plane prior-warning devices of the work station take off, the two unmanned plane early warning originally flown
Device enters the work station, is charged, and the real-time speed of lost contact train and position are sent to train lost contact warning center.
In train travelling process, if lost contact train has recovered the communication with railway trains control centre, railway trains
Control centre sends the instruction of task termination to train lost contact warning center, so that train lost contact warning center is sent to work station
Instruction, controls unmanned plane prior-warning device layback its nearest work station worked；
If lost contact train fails to recover to recover to contact with railway trains control centre always, two unmanned plane prior-warning devices
Have been at working condition.
As shown in Fig. 2 UAV Intelligent anti-collision early warning control system during a kind of train lost contact, it is characterised in that including：
Railway trains control centre, including train scheduling module, warning information memory module and the first wireless telecommunications mould
Block；
First wireless communication module, the communication for realizing railway trains control centre and train lost contact warning center, bag
Include to train lost contact warning center and send task initialization instruction (finally going out current moment position coordinates comprising train number, train)
With warning information of the reception from train lost contact warning center；And the communication of railway trains control centre and train is realized, wrap
Include the Real-Time Scheduling for carrying out train.
Train lost contact warning center, including unmanned plane scheduler module, anti-collision warning data memory module, central processing unit mould
Block and the second wireless communication module；
Second wireless communication module, for realizing the communication of train lost contact warning center and work station, including receives work
Stand return real time data (such as train real time execution speed, train real-time location coordinates) and to work station send instruction (such as
Unmanned plane prior-warning device takes off and follows the trail of controlled train of target etc.)；And for realizing that train lost contact warning center is arranged with ground
The communication of car control centre, including receive the task initialization instruction of railway trains control centre (comprising train number, train most
After go out current moment position coordinates) and earthward train controlling center send warning information.
Station number, work station position coordinates, unmanned plane prior-warning device numbering and train are transported in varying environment difference
Safe stopping distance under scanning frequency degree is stored in the crash data memory module in train lost contact warning center；
Work station, is set in qually spaced on trackage, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse,
Three wireless communication modules and at least two unmanned plane prior-warning devices；
Unmanned plane operation module, for receiving the instruction from train lost contact warning center, enters to unmanned plane prior-warning device
Row is manipulated, including the initialization and the control of end, flying speed and height to unmanned plane task etc.；When unmanned plane prior-warning device
When standby, park and charge for it.
Unmanned Aerial Vehicle Data storehouse, for storing the unmanned plane having under its command numbering, the information that unmanned plane prior-warning device is returned；Including nothing
The relative distance of man-machine prior-warning device and train, the real time execution speed of train, the geographical position coordinates of train, time of measuring with
And unmanned plane numbering；Meanwhile, safe stopping distance of the train car under the different speeds of service of varying environment.
3rd wireless communication module is used to realize the communication between work station and unmanned plane prior-warning device, including receives nobody
Real time data (such as train real time execution speed, train real-time location coordinates) that machine prior-warning device is returned and to unmanned plane early warning
Device sends operational order (such as unmanned plane prior-warning device take off and follow the trail of the controlled train of target)；And realize work station and row
The communication of car lost contact warning center, including receive the instruction of train lost contact warning center (such as unmanned plane prior-warning device takes off and chased after
Controlled train of track target etc.) and (such as train real time execution speed, train are real-time to train lost contact warning center returning real-time data
Position coordinates etc.)；
Wherein, each unmanned plane prior-warning device include flight instruments and be loaded on flight instruments GPS positioning device,
Range sensor, Kinect sensor, train speed sensor and the 4th wireless communication module；
Kinect sensor is used to recognize train license number and other unmanned plane prior-warning devices；Train speed sensor is used
In the real time running speed for measuring current running train；GPS positioning device is used to determine that the geographical position of current time train to be sat
Mark；The information interchange that 4th wireless communication module is used between unmanned plane and work station；Range sensor for keep unmanned plane with
Train geo-stationary provides feedback data；
In order to ensure unmanned plane prior-warning device night can normal flight work, be additionally provided with LED；
Unmanned plane prior-warning device gathers speed and the position of lost contact train in real time, is arranged while being gathered by Kinect sensor
Car is numbered；
Work station receives the message that unmanned plane prior-warning device is gathered in real time, and transfers a message in train lost contact early warning
The heart, train lost contact warning center is analyzed and processed to message, result is sent in real time to railway trains control centre；
When having risk of collision, warning information is sent to railway trains control centre；When there is no risk of collision, without rear
Continuous operation, continues to perform anti-collision monitoring operation；
The train lost contact warning center and railway trains control centre are according to above-mentioned method to unmanned plane prior-warning device
Control is scheduled with train, so as to realize anti-collision warning.
Anti-collision warning data memory module is used to store data and the processing in real time that unmanned plane prior-warning device is gathered in real time
Data.
In summary,, can also be even if train is out of touch with control centre using the early warning system that provides of the present invention
The generation of security incident is largely avoided, safety in operation of the train in the case of lost contact is significantly improved.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skills in the art should understand that：Still can be to the specific of the present invention
Embodiment is modified or equivalent substitution, and any modification or equivalent substitution without departing from spirit and scope of the invention,
It all should cover among scope of the presently claimed invention.
Claims (6)
1. UAV Intelligent anti-collision early warning control method during a kind of train lost contact, it is characterised in that comprise the following steps：
Step 1：It is equidistantly spaced work station along trackage, each work station sets several unmanned plane early warning to fill
Put；
The unmanned plane prior-warning device is communicated with the work station, the work station, train lost contact warning center and ground
Control centre is communicated successively；
Step 2：When train and railway trains control centre are out of touch, railway trains control centre is into train lost contact early warning
The heart sends the rearmost position coordinate recorded before lost contact train number and the train lost contact；
Step 3：Interval where finding instruction to the rearmost position coordinate of lost contact train is sent by train lost contact warning center
Former and later two adjoining workstations, the rearmost position coordinate of each one unmanned plane prior-warning device of workstation startup towards lost contact train flies
OK；
Step 4：After unmanned plane prior-warning device monitors train, train number is gathered using airborne Kinect sensor, with
Lost contact train number is compared, if comparing successfully, into step 5, otherwise, continues to fly, repeat step 4；
Step 5：Train lost contact warning center sends control instruction so that unmanned plane prior-warning device speed identical with train holding is same
To traveling, meanwhile, measured and arranged using the velocity sensor on unmanned plane prior-warning device, GPS positioning device and range sensor
Car real time execution speed, train real-time location coordinates and unmanned plane prior-warning device and train relative distance, and synchronized transmission is extremely
Train lost contact warning center is sent to after the work station of institute's subordinate；
Step 6：Train lost contact warning center using work station transmit come lost contact train GPS information calculating lost contact train it is in-orbit
Position on road, meanwhile, with reference to moving block system, position, real time GPS coordinate and the reality in orbit according to lost contact train
When the speed of service calculate the distance of lost contact train and preposition train and rearmounted train；
Preposition train and rearmounted train refer in the train before and after being located at lost contact train on order of dispatching a car；
Step 7：When the distance between lost contact train and preposition train are less than or equal to preposition safe distance, or lost contact train is with after
When putting the distance between train less than or equal to rearmounted safe distance, earthward train controlling center sends alarm, railway trains control
Center processed carries out the real-time monitoring of speed to preposition train and rearmounted train；
Preposition safe distance：
When the real-time vehicle velocity V 1 of preposition train vehicle velocity V 0 real-time less than lost contact train, preposition safe distance
Wherein, K is that safety coefficient considers orbit radius and track unflatness, and K takes 1.1-1.2, a to be train braking acceleration；
Rearmounted safe distance：
When the real-time vehicle velocity V 0 of lost contact train vehicle velocity V 2 real-time less than rearmounted train, rearmounted safe distance
2. according to the method described in claim 1, it is characterised in that when unmanned plane prior-warning device and lost contact train synchronization, its
In unmanned plane prior-warning device be located at lost contact train head, another unmanned plane prior-warning device is located at the lost contact train tailstock.
3. method according to claim 2, it is characterised in that when unmanned plane prior-warning device and lost contact train synchronization move ahead
Afterwards, in lost contact train driving to next work station, unmanned plane prior-warning device carry out task handing-over, train lost contact control centre to
The newest work station that lost contact train enters sends instruction so that two unmanned plane prior-warning devices of the work station take off synchronized tracking
Lost contact train, the two unmanned plane prior-warning devices originally flown enter the work station, are charged, and by the real-time of lost contact train
Speed and position are sent to train lost contact warning center.
4. according to the method described in claim 1, it is characterised in that in train travelling process, if lost contact train recovered with
The communication of railway trains control centre, then railway trains control centre to train lost contact warning center send task termination finger
Order, so that train lost contact warning center sends instruction to work station, controls the unmanned plane prior-warning device layback worked
Its nearest work station；
If lost contact train fails to recover to recover to contact with railway trains control centre always, two unmanned plane prior-warning devices are always
It is in working condition.
5. UAV Intelligent anti-collision early warning control system during a kind of train lost contact, it is characterised in that including：
Railway trains control centre, including train scheduling module, warning information memory module and the first wireless communication module；
Train lost contact warning center, including unmanned plane scheduler module, anti-collision warning data memory module, CPU module with
And second wireless communication module；
Work station, is set in qually spaced on trackage, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd nothing
Line communication module and at least two unmanned plane prior-warning devices；
Wherein, each unmanned plane prior-warning device includes flight instruments and the GPS positioning device, the distance that are loaded on flight instruments
Sensor, Kinect sensor, train speed sensor and the 4th wireless communication module；
Unmanned plane prior-warning device gathers speed and the position of lost contact train in real time, is compiled while gathering train by Kinect sensor
Number；
Work station receives the message that unmanned plane prior-warning device is gathered in real time, and transfers a message to train lost contact warning center, arranges
Car lost contact warning center is analyzed and processed to message, result is sent in real time to railway trains control centre；
The train lost contact warning center and railway trains control centre are pre- to unmanned plane according to the method described in power any one of 1-4
Alarm device and train are scheduled control, so as to realize anti-collision warning.
6. system according to claim 5, it is characterised in that be additionally provided with LED on the unmanned plane prior-warning device.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109353338A (en) * | 2018-08-10 | 2019-02-19 | 重庆大数据研究院有限公司 | A kind of intelligent vehicle fast collision probability safety predicting method |
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