CN107524103A - A kind of Intelligent road caution system and its method based on unmanned plane - Google Patents
A kind of Intelligent road caution system and its method based on unmanned plane Download PDFInfo
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- CN107524103A CN107524103A CN201710760396.3A CN201710760396A CN107524103A CN 107524103 A CN107524103 A CN 107524103A CN 201710760396 A CN201710760396 A CN 201710760396A CN 107524103 A CN107524103 A CN 107524103A
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- 238000000034 method Methods 0.000 title claims description 37
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 6
- 230000005059 dormancy Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000011897 real-time detection Methods 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 4
- 238000010191 image analysis Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000002845 discoloration Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009304 pastoral farming Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/688—Free-standing bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F3/00—Landing stages for helicopters, e.g. located above buildings
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/30—Arrangements interacting with transmitters or receivers otherwise than by visible means, e.g. using radar reflectors or radio transmitters
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/608—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings for guiding, warning or controlling traffic, e.g. delineator posts or milestones
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
- E01F9/662—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing mounted on vehicles, e.g. service vehicles; Warning vehicles travelling along with road-maintenance, e.g. remotely controlled
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Emergency Alarm Devices (AREA)
Abstract
A kind of Intelligent road caution system based on unmanned plane, including unmanned plane, alarming device, drive device, wireless device, battery and processor, unmanned plane is additionally provided with the first camera, first camera is arranged at below unmanned plane, alarming device includes housing, second camera, display screen and radar sensor, housing outer surface is provided with the passive refractive body made by reflectorized material, second camera is arranged above housing, wrapped up around display screen by housing, radar detection device is arranged at below housing, attachment means include connection buckle, connecting rope and fixed card buckle, connection buckle is arranged at below unmanned plane, connecting rope is arranged at fixed card buckle interior location and is connected respectively with connection buckle and fixed card buckle, when in use, pulled out inside from fixed card buckle；Fixed card buckle is arranged at housing top position, and drive device includes motor and driving roller, motor are arranged at housing lower inner position, and roller is arranged at housing lower position.
Description
Technical field
The present invention relates to road caution field, more particularly to a kind of Intelligent road caution system and its side based on unmanned plane
Method.
Background technology
With the continuous development of the information technologies such as computer, internet, Internet of Things, 3G, cloud computing, people are constantly changing
Original habits and customs, traditional barter is fewer and fewer, Intelligent life service, the virtual goodses friendship taken informationalization as the leading force
It is easy etc. to have become the indispensable part of our daily lifes.Meanwhile the Development of Urbanization under condition of market economy and
Commodity market increasingly competes, and daily life rhythm is constantly accelerated, and how conveniently to solve daily life service and asks
Topic is particularly important.
At present, domestic conventional temporary-warning road markings, style has cone, cylinder, generally with cone
It is the most extensive using face.Also, the color of warning mark with red or red zone white circle separately be it is more, these colors
Boldness is particularly less desirable at night, and the fastness coloured is not very high, in the case of grazing is normally used
Easily there is the eclipsed situation with discoloration.The material of warning mark manufacture has wooden, cement, ceramic, plastics etc.
Deng.Although warning mark realizes mobility made of these materials, they still seem heavy, underaction,
Some is also easy to breakage.Meanwhile warning mark can only rely on extraneous light reflector to realize the effect of light-emitting caution, once
Rugged environment is run into, is reflected due to cannot get sufficient light source, does not often reach warning function, have impact on warning mark
Use range, more there is unexpected safe handling hidden danger.
The content of the invention
Goal of the invention：The shortcomings that in order to overcome in background technology, the embodiments of the invention provide a kind of based on unmanned plane
Intelligent road caution system and its method, it can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：
A kind of Intelligent road caution system based on unmanned plane, including unmanned plane, alarming device, drive device, wireless device, storage
Battery and processor, the unmanned plane are additionally provided with the first camera, and first camera is arranged at the unmanned pusher side
Orientation is put, for absorbing road image；The alarming device includes housing, second camera, display screen and radar sensor,
The housing outer surface is provided with the passive refractive body made by reflectorized material, and the second camera is arranged on the housing
Orientation is put, for absorbing images of environment surrounding；Wrapped up around the display screen by the housing, for showing the warning specified letter
Breath；The radar detection device is arranged at the housing lower position, for detecting terrestrial information；The attachment means include connecting
Buckle, connecting rope and fixed card buckle are connect, the connection buckle is arranged at the unmanned plane lower position, for connecting with connecting rope
Connect；The connecting rope is arranged at the fixed card buckle interior location and is connected respectively with the connection buckle and fixed card buckle,
When in use, pulled out inside fixed card buckle；The fixed card buckle is arranged at the housing top position, for storing and fixing
The connecting rope；The drive device includes motor and driving roller, the motor are arranged under the housing
Square interior location, for driving roller to run；The roller is arranged at the housing lower position, for driving housing to walk；
The wireless device is arranged at the case inside with unmanned plane, the first camera and network connection, the battery respectively
Position, for providing electric power；The processor respectively with wireless device, second camera, display screen, radar sensor, fixation
Buckle and motor connection.
As a kind of preferred embodiment of the present invention, the alarming device also includes infrared ray sensor, and the infrared ray passes
Sensor is respectively arranged at the housing front faces and rear surface location, for detecting human body information.
As a kind of preferred embodiment of the present invention, the alarming device also includes support bar and airplane parking area, the support
Bar is arranged at the housing top position and is connected with airplane parking area；The airplane parking area is arranged at the support bar top position, uses
In parking unmanned plane.
As a kind of preferred embodiment of the present invention, the alarming device also includes positioner, and the positioner is set
It is connected in the enclosure interior position and with processor, for positioning the shell position.
As a kind of preferred embodiment of the present invention, the alarming device also includes guider, and the guider is set
It is connected in the enclosure interior position and with processor, for planning track route.
A kind of Intelligent road alarming method for power based on unmanned plane, warned using a kind of described Intelligent road based on unmanned plane
Show system, methods described is further comprising the steps of：
When unmanned plane carries out pre-set velocity flight according to the route pre-set, it is arranged at first below the unmanned plane and takes the photograph
Processor is sent to as head real time shooting road image and by the image；
The processor is using the image of the first camera transmission described in wireless device real-time reception and according to the image
Analyze road specifying information；
If analyzing in the image, the processor is sent around winged using wireless device to the unmanned plane if problematic place
Row instruction；
After the unmanned plane receives the circular flight directive, control itself at described problem around flight；
At the Real-time image analysis described problem that first camera described in when the processor is surround according to the unmanned plane is sent
Whether setting warning sign is had；
If not having the processor to motor send driving instruction, to radar sensor send in real time detection instruction and
Real time shooting instruction is sent to second camera；
The motor receives the driving instruction and then drives the roller being arranged at below housing to run at described problem
Pre-determined distance position is simultaneously returned to up to information to the processor, and the radar sensor receives the instruction of detection in real time then
Startup optimization simultaneously sends road information to the processor, and it is then real-time that the second camera receives the real time shooting instruction
Absorb road image；
The processor sends warning corresponding with described problem to display screen if the processor receives and reaches information
Information, if the processor according to the road information received analyze road surface have pit and（Or）It is raised and according to reality
When the image analysing computer that receives go out front and there is vehicle traveling then to send to motor in real time to hide instruction；
The motor receive it is described hide instruction then drive pit described in the pair of rollers and（Or）It is raised and（Or）Car
Hidden.
As a kind of preferred embodiment of the present invention, run in the roller that motor driving is arranged at below housing
At described problem during pre-determined distance position, methods described is further comprising the steps of：
Whether the infrared ray sensor for being arranged at the housing front faces position detects walking front with the presence of human body in real time；
The infrared ray sensor transmits the human body information to processor if having, and the processor is according to the institute received
Human body information is stated to analyse whether to collide with the human body；
If can if the processor send human body to motor and hide instruction, the motor receive described in hide instruction
Human body described in the pair of rollers is then driven to be hidden.
As a kind of preferred embodiment of the present invention, run in the roller that motor driving is arranged at below housing
At described problem during pre-determined distance position, methods described is further comprising the steps of：
The processor is to the guider sending destination address and navigation instruction for being arranged at the enclosure interior position；
The address is arranged to destination according to the address and navigation instruction received and will rule by the guider
Draw optimal track route and be sent to the processor.
As a kind of preferred embodiment of the present invention, after the processor receives and reaches information, methods described also includes
Following steps：
Shut down if the image analysing computer that the processor is sent in real time according to first camera goes out to be arranged above the housing
The position on level ground then sends dormancy instruction to the unmanned plane；
The unmanned plane receives the dormancy instruction and then controls above the airplane parking area that itself flies to and enter park mode.
As a kind of preferred embodiment of the present invention, warning corresponding with described problem is sent to display screen stating processor
After information, methods described is further comprising the steps of：
The processor sends positioning instruction to the positioner for being arranged at enclosure interior position；
The positioner receives the positioning instruction and then current location is positioned and sends the location data of acquisition
To the processor；
The processor is received the location data and is then sent out information at the location data and problem using wireless device
Give roadside assistance center.
The present invention realizes following beneficial effect：The first shooting is utilized 1. the unmanned plane is gone on patrol in city, during patrol
Head real time shooting image, it is then that the image transmission is sharp if having to processor, the whether problematic place of processor analysis image
Gone at problem with motor driving roller control housing, then corresponding information warning is shown on display screen.
2. motor driving roller control housing walking when, infrared ray sensor detect in real time front whether someone
Body, the human body information is transferred to processor if having, processor analyses whether to touch with it according to described information
Hit, if can if control the motor to hide the human body.
3. before motor driving roller control housing walking, destination-address fill to navigation by the processor occur
Put, after the guider receives, the destination-address is arranged to final destination, then plans optimal traveling road
Line, processor is transmitted to after the completion of planning.
4. after motor driving roller control housing arrives at, shadow that processor absorbs according to the first camera
As analyzing the airplane parking area position above the housing, then control the unmanned plane to go to above airplane parking area and parked, parked
After the completion of, control unmanned plane enters park mode.
5. after the corresponding information warning is shown on the display screen by processor, positioner is to current location
Positioned and obtain location data, then location data is sent to the processor, the processor by the positioner
The specifying information at the location data and problem is sent to roadside assistance center after receiving.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.Fig. 1 is the one of example offer of the present invention based on unmanned plane
Intelligent road caution system schematic diagram；
Fig. 2 is the side sectional view for the Intelligent road caution system based on unmanned plane that the one of example of the present invention provides；
Fig. 3 is the flow chart for the Intelligent road alarming method for power based on unmanned plane that the one of example of the present invention provides；
Fig. 4 is flow chart of the detection human body close to method of the one of example offer of the present invention；
Fig. 5 is the flow chart for the carry out air navigation aid that the one of example of the present invention provides；
Fig. 6 is the flow chart for the unmanned plane dormancy method that the one of example of the present invention provides；
Fig. 7 is the flow chart for the progress localization method that the one of example of the present invention provides；
Fig. 8 is the Organization Chart for the Intelligent road caution system based on unmanned plane that the one of example of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
With reference to figure 1-2, shown in Fig. 8, Fig. 1 is the warning of the Intelligent road based on the unmanned plane system that the one of example of the present invention provides
The schematic diagram of system；Fig. 2 is that the side for the Intelligent road caution system based on unmanned plane that the one of example of the present invention provides is cutd open
View；Fig. 8 is the Organization Chart for the Intelligent road caution system based on unmanned plane that the one of example of the present invention provides.
Specifically, the present embodiment provides a kind of Intelligent road caution system based on unmanned plane, including unmanned plane 1, warning
Device 2, attachment means 3, drive device 4, wireless device 5, battery 6 and processor 7, the unmanned plane 1 are additionally provided with
One camera 10, first camera 10 is arranged at the lower position of unmanned plane 1, for absorbing road image；The police
Showing device 2 includes housing 20, second camera 21, display screen 22 and radar sensor 23, and the outer surface of housing 20 is set
There is the passive refractive body made by reflectorized material, the second camera 21 is arranged at the side position of housing 20, for taking the photograph
Take images of environment surrounding；The surrounding of display screen 22 is wrapped up by the housing 20, for showing the information warning specified；The thunder
The lower position of housing 20 is arranged at up to detection means, for detecting terrestrial information；The attachment means 3 include connection buckle
30th, connecting rope 31 and fixed card buckle 32, the connection buckle 30 is arranged at the lower position of unmanned plane 1, for being connected
The connection of rope 31；The connecting rope 31 is arranged at the interior location of fixed card buckle 32 and respectively with the connection buckle 30 and admittedly
Determine buckle 32 to connect, when in use, pulled out from the inside of fixed card buckle 32；The fixed card buckle 32 is arranged at the top of housing 20
Position, for storing and fixing the connecting rope 31；The drive device 4 includes motor 40 and driving roller 41, institute
State motor 40 and be arranged at the lower inner position of housing 20, for driving roller 41 to run；The driving roller 41 is set
The lower position of housing 20 is placed in, for driving housing 20 to walk；The wireless device 5 images with unmanned plane 1, first respectively
First 10 and network connection, the battery 6 is arranged at the inner side of housing 20, for providing electric power；The processor 7
Connect respectively with wireless device 5, second camera 21, display screen 22, radar sensor 23, fixed card buckle 32 and motor 40
Connect.
As a kind of preferred embodiment of the present invention, the alarming device also includes infrared ray sensor 24, the infrared ray
Sensor 24 is respectively arranged at the 20 preceding surface of housing and rear surface location, for detecting human body information.
As a kind of preferred embodiment of the present invention, the alarming device also includes support bar 25 and airplane parking area 26, described
Support bar 25 is arranged at the top position of housing 20 and is connected with airplane parking area 26；The airplane parking area 26 is arranged at the support bar
25 top positions, for parking unmanned plane 1.
As a kind of preferred embodiment of the present invention, the alarming device also includes positioner 27, the positioner 27
It is arranged at the interior location of housing 20 and is connected with processor 7, for positions the position of housing 20.
As a kind of preferred embodiment of the present invention, the alarming device also includes guider 28, the guider 28
It is arranged at the interior location of housing 20 and is connected with processor 7, for plans track route.
Embodiment two
With reference to shown in figure 3, Fig. 3 is the stream for the Intelligent road alarming method for power based on unmanned plane that the one of example of the present invention provides
Cheng Tu.
Specifically, the present embodiment provides a kind of Intelligent road alarming method for power based on unmanned plane, a kind of described base is used
It is further comprising the steps of in the Intelligent road caution system of unmanned plane 1, methods described：
S1, when unmanned plane 1 carries out pre-set velocity flight according to the route that pre-sets, be arranged at the lower section of unmanned plane 1
The image is simultaneously sent to processor 7 by the real time shooting road image of the first camera 10；
S2, the processor 7 are using the image of the first camera 10 transmission described in the real-time reception of wireless device 5 and according to institute
State image analysing computer road specifying information；
S3, if analyzing in the image, the processor 7 is sent using wireless device 5 to the unmanned plane 1 if problematic place
Around flight directive；
After S4, the unmanned plane 1 receive the circular flight directive, control itself at described problem around flight；
Described in the Real-time image analysis that first camera 10 described in when S5, the processor 7 are surround according to the unmanned plane 1 is sent
Whether setting warning sign is had at problem；
S6, the processor 7 sends driving instruction to motor 40, sends real-time detection to radar sensor 23 if not having
Instruct and send real time shooting instruction to second camera 21；
S7, the motor 40 receive the driving instruction, and then to drive the roller for being arranged at the lower section of housing 20 to run to described
Pre-determined distance position and returned at problem to the processor 7 up to information, the radar sensor 23 receive it is described in real time
Detection instructs then startup optimization and sends road information to the processor 7, and the second camera 21 receives described real-time
Intake instructs then real time shooting road image；
S8, the processor 7 is corresponding with described problem to the transmission of display screen 22 if the processor 7 receives and reaches information
Information warning, if the processor 7 according to the road information received analyze road surface have pit and（Or）It is raised with
And according to real-time reception to the image analysing computer go out front have vehicle traveling then in real time to motor 40 send hide instruction；
S9, the motor 40 receive it is described hide instruction then drive the driving roller 41 to the pit and（Or）It is convex
Rise and（Or）Vehicle is hidden.
Wherein, the track route pre-set can be municipality directly under the Central Government, provincial capital, prefecture-level city, county-level city, small towns very
One of them into more corregidor, in the present embodiment city route preferably corresponding to the position of alarming device 2；
The pre-set velocity is 0-100 kilometers/hour, in the present embodiment preferably 20 kilometers/hour；Pre-determined distance is 0-1000
Rice, it is preferably in the present embodiment and the opening position at problem at a distance of 50 meters；Included but are not limited at described problem at construction,
The path problem such as at pit and accident；If then the corresponding information warning refers to remind vehicular traffic construction at construction
The length in section and the road section information that detours etc.；If pit, then the pre-determined distance is 0-1000 rice, excellent in the present embodiment
Elect as with pit at a distance of 5 meters of opening position, the pit includes sewer mouth and with ground more than 20 centimeters of distances
Pit, the corresponding information warning refer to the scope for the depth and pit for reminding passing pedestrian and vehicle pit；If
For then the pre-determined distance is 0-1000 rice opening positions at accident, it is preferably in the present embodiment and the position at accident at a distance of 50 meters
Place is put, the corresponding information warning refers to location of accident, the accident distance for reminding passing pedestrian and vehicle front generation
And points for attention；If it was found that if having at construction the processing unit using wireless device 5 to centered on alarming device 2 to four
Other alarming devices 2 in the range of 3 kilometer radius of week diffusion send mobile request, and other alarming devices 2 move after receiving request
Move to distinguishing with the 2 corresponding opening position of alarming device, i.e., described alarming device 2 with other alarming devices 2 at the construction
Front end and back-end location at construction；If it was found that the processing unit utilizes wireless device 5 to police if having pit
Centered on showing device 2 the mobile request of the transmission of other alarming devices 2 in the range of 3 kilometer radius, other warning dresses are spread to surrounding
Put 2 receive request after be moved to the pit and the 2 corresponding opening position of alarming device, i.e., described alarming device 2 and
Other alarming devices 2 are located at the surrounding opening position of the pit respectively, are in state of siege by the pit；The alarming device
After 2 are moved to specified location, into lock-out state；The processor 7 is sent to unmanned plane if having emergency generation connects
Instruction is connect, the unmanned plane controls the connection buckle 30 below itself with being arranged at the housing after receiving the link order
The connecting rope 31 of some fixed card buckles 32 of 20 top positions is attached, then the housing 20 is sling flown or
Hide.
In S1,20 kilometers/hour of speed progress is specifically being carried out according to the track route of current city in unmanned plane 1
During flight, it is arranged at the real time shooting road image of the first camera 10 of the lower section of unmanned plane 1 and is sent to the image
Processor 7, i.e., described unmanned plane 1 is when current city is gone on patrol, to have monitored whether path problem generation.
In S2, the institute of the first camera 10 transmission described in the real-time reception of wireless device 5 is specifically utilized in the processor 7
After stating image, the processor 7 detects first camera 10 and taken the photograph in real time according to the image analysing computer road specifying information
Whether have in the road image taken at construction, whether ground has more than 20 centimeters of pit and road has the roads such as accident occur
Problem.
In S3, specifically have in the image is analyzed at construction, ground whether have more than 20 centimeters of pit with
And after road has the problems such as accident occurs, the processor 7 is sent using wireless device 5 to the unmanned plane 1 to be referred to around flight
Order, that is, control the unmanned plane 1 to carry out comprehensive detection.
In S4, specifically after the unmanned plane 1 receives the circular flight directive, control and itself surround described problem
Place is around flight, and when around flight, the road image of real time shooting is sent to processor 7 by first camera 10.
In S5, specifically after the real-time imaging that the processor 7 receives that first camera 10 is sent, the place
Reason device 7 warning sign according to corresponding to whether having at the image analysing computer described problem and set is warned, that is, has detected whether to carry
Awake vehicular traffic and the warning sign of pedestrian.
In S6, specifically after the processor 7 analyzes and do not have warning sign to be warned, the processor 7 is to driving
Motor 40 sends and goes to the driving instruction of correspondence position, sends detection instruction in real time to radar sensor 23 and imaged to second
First 21 send real time shooting instruction, that is, control motor 40 to drive roller 41 to control the housing 20 to go at the problem of corresponding
Address, while control radar sensor 23 and second camera 21 monitor road conditions in real time, avoid occurring in walking process
Problem.
In S7, specifically after the motor 40 receives the driving instruction, driving is arranged at the lower section of housing 20
The pre-determined distance opening position that runs at the problem of described corresponding of roller, then the motor 40 is to the processor 7
Return to and reach information, the radar sensor 23 receive it is described in real time detection instruction after, control itself startup optimization and to
The processor 7 sends road information, after the second camera 21 receives the real time shooting instruction, starts to take the photograph in real time
Take road image.
In S8, specifically the processor 7 receive reach information after, the processor 7 to display screen 22 send with
Information warning corresponding at described problem, if the processor 7 is according to the road information received point in the process of moving
Separate out road surface have pit and（Or）If the image raised and that the processor 7 arrives according to real-time reception in the process of moving
Analyze front have vehicle traveling after, the processor 7 in real time to motor 40 send corresponding to hide instruction.
In S9, specifically received in the motor 40 corresponding to it is described hide instruction after, the motor 40
Drive the driving roller 41 control the housing 20 from the pit and（Or）It is raised and（Or）The safe side of vehicle is got around
Hidden；The safe side refers to not have the intact safe section of vehicle and pedestrian and ground.
Embodiment two
With reference to shown in figure 4, Fig. 4 is flow chart of the detection human body close to method of the one of example offer of the present invention.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, in the drive
When the roller that the dynamic driving of motor 40 is arranged at the lower section of housing 20 runs to pre-determined distance position at described problem, methods described is also wrapped
Include following steps：
Whether S70, the detection walking in real time of infrared ray sensor 24 front for being arranged at the front face location of housing 20 have human body
In the presence of；
S71, the infrared ray sensor 24 transmits the human body information to processor 7 if having, and the processor 7 is according to connecing
The human body information received analyses whether to collide with the human body；
S72, if can if the processor 7 to motor 40 send human body hide instruction, the motor 40 receives institute
Stating to hide to instruct then drives the driving roller 41 to hide the human body.
Specifically, run to the problem of described corresponding in the roller that the motor 40 driving is arranged at below housing 20
During the pre-determined distance opening position at place, the infrared ray sensor 24 for being arranged at the front face location of housing 20 detects the shell in real time
Whether the front of body 20 detects whether that pedestrian can be collided, if the infrared ray sensor 24 detects front with the presence of human body
After human body, the infrared ray sensor 24 transmits the human body information to processor 7, and the processor 7 is according to connecing
The human body information received analyses whether to collide with the human body, that is, calculate according to current distance and speed whether
Pedestrian can be collided, the processor 7 is to motor 40 if the processor 7 is calculated and can collided with the human body
Send human body and hide instruction, the motor 40 is received after the human body hides instruction, then drives and described drive roller 41
The housing 20 is controlled to be hidden from the safe side of the human body.
Embodiment three
With reference to shown in figure 5, Fig. 5 is the flow chart for the carry out air navigation aid that the one of example of the present invention provides.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, in the drive
When the roller that the dynamic driving of motor 40 is arranged at the lower section of housing 20 runs to pre-determined distance position at described problem, methods described is also wrapped
Include following steps：
S73, the processor 7 to the sending destination address of guider 28 for being arranged at the interior location of housing 20 and are led
Boat instruction；
The address is arranged to destination by S74, the guider 28 according to the address and navigation instruction that receive
And it will plan that optimal track route is sent to the processor 7.
Specifically, run to the problem of described corresponding in the roller that the motor 40 driving is arranged at below housing 20
During the pre-determined distance opening position at place, before the processor 7 is sent to the guider 28 for being arranged at the interior location of housing 20
Past destination-address and navigation instruction, after the guider 28 receives the address and navigation instruction, by described in
Destination-address is arranged to final destination and plans optimal track route, and the guider 28 will plan the walking completed
Route is sent to the processor 7, the optimal track route refer to it is most short from the opening position of housing 20 to the destination used time and
The minimum route of travel distance, the processor 7 send it to motor 40 after receiving, the motor 40 receives
After arriving, walked according to the track route driving driving roller 41.
Example IV
With reference to shown in figure 6, Fig. 6 is the flow chart for the unmanned plane dormancy method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, is connect in the processor 7
Receive after reaching information, methods described is further comprising the steps of：
The image analysing computer that S80, the processor 7 are sent in real time according to first camera 10 goes out to be arranged on the housing 20
The position of square airplane parking area 26 then sends dormancy instruction to the unmanned plane 1；
S81, the unmanned plane 1 receive the dormancy instruction and then control above the airplane parking area 26 that itself flies to and enter dormancy
Pattern.
Specifically, after the arrival information that search processor 7 receives that the motor 40 returns, the processor 7
The image analysing computer sent in real time according to first camera 10 goes out be arranged at the position of the top airplane parking area 26 of housing 20 after,
The processor 7 sends dormancy instruction to the unmanned plane 1, that is, controls the unmanned plane 1 to dock at airplane parking area 26, it is described nobody
After machine 1 receives the dormancy instruction, the top of airplane parking area 26 of itself flying to is controlled to be parked, then the unmanned plane 1
Control and itself enter park mode, wait the processor 7 and send new instruction, to save the energy.
Embodiment five
With reference to shown in figure 7, Fig. 7 is the flow chart for the progress localization method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, difference part be, in the present embodiment, the processor 7 to
After display screen 22 sends information warning corresponding with described problem, methods described is further comprising the steps of：
S82, the processor 7 send positioning instruction to the positioner 27 for being arranged at the interior location of housing 20；
S83, the positioner 27 receive the positioning instruction and then current location positioned and by the positioning number of acquisition
According to being sent to the processor 7；
S84, the processor 7 receive the location data then using wireless device 5 by the location data and problem
Information is sent to roadside assistance center.
Specifically, send information warning corresponding with described problem, the display to display screen 22 in the processor 7
After the information warning that receives described in the display of screen 22, the processor 7 to be arranged at it is described can be with the positioner of interior location
27 send positioning instruction, after the positioner 27 receives the positioning instruction, start to position current location and obtained
Location data is taken, the location data is then sent to the processor 7, the processor 7 receives the location data
Afterwards, the specifying information at the location data, problem and image are sent to roadside assistance center using wireless device 5.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
1. a kind of Intelligent road caution system based on unmanned plane, including unmanned plane, alarming device, drive device, wireless device,
Battery and processor, it is characterised in that the unmanned plane is additionally provided with the first camera, and first camera is arranged at
Unmanned plane side position, for absorbing road image；The alarming device include housing, second camera, display screen with
And radar sensor, the housing outer surface are provided with the passive refractive body made by reflectorized material, the second camera is set
The housing top position is placed in, for absorbing images of environment surrounding；Wrapped up around the display screen by the housing, for showing
Show the information warning specified；The radar detection device is arranged at the housing lower position, for detecting terrestrial information；It is described
Attachment means include connection buckle, connecting rope and fixed card buckle, and the connection buckle is arranged at the unmanned plane lower position,
For being connected with connecting rope；The connecting rope be arranged at the fixed card buckle interior location and respectively with the connection buckle and
Fixed card buckle connects, and when in use, is pulled out from fixed card buckle inside；The fixed card buckle is arranged at the housing top position,
For storing and fixing the connecting rope；The drive device includes motor and driving roller, the motor are set
The housing lower inner position is placed in, for driving roller to run；The roller is arranged at the housing lower position, is used for
Drive housing walking；The wireless device is arranged at unmanned plane, the first camera and network connection, the battery respectively
The case inside position, for providing electric power；The processor respectively with wireless device, second camera, display screen, radar
Sensor, fixed card buckle and motor connection.
A kind of 2. Intelligent road caution system based on unmanned plane according to claim 1, it is characterised in that the warning
Device also includes infrared ray sensor, and the infrared ray sensor is respectively arranged at the housing front faces and rear surface position
Put, for detecting human body information.
A kind of 3. Intelligent road caution system based on unmanned plane according to claim 1, it is characterised in that the warning
Device also includes support bar and airplane parking area, and the support bar is arranged at the housing top position and is connected with airplane parking area；Institute
State airplane parking area and be arranged at the support bar top position, for parking unmanned plane.
A kind of 4. Intelligent road caution system based on unmanned plane according to claim 1, it is characterised in that the warning
Device also includes positioner, and the positioner is arranged at the enclosure interior position and is connected with processor, for positioning
The shell position.
A kind of 5. Intelligent road caution system based on unmanned plane according to claim 1, it is characterised in that the warning
Device also includes guider, and the guider is arranged at the enclosure interior position and is connected with processor, for planning
Track route.
6. a kind of Intelligent road alarming method for power based on unmanned plane, usage right requires a kind of described in 1-5 based on unmanned plane
Intelligent road caution system, it is characterised in that methods described is further comprising the steps of：
When unmanned plane carries out pre-set velocity flight according to the route pre-set, it is arranged at first below the unmanned plane and takes the photograph
Processor is sent to as head real time shooting road image and by the image；
The processor is using the image of the first camera transmission described in wireless device real-time reception and according to the image
Analyze road specifying information；
If analyzing in the image, the processor is sent around winged using wireless device to the unmanned plane if problematic place
Row instruction；
After the unmanned plane receives the circular flight directive, control itself at described problem around flight；
At the Real-time image analysis described problem that first camera described in when the processor is surround according to the unmanned plane is sent
Whether setting warning sign is had；
If not having the processor to motor send driving instruction, to radar sensor send in real time detection instruction and
Real time shooting instruction is sent to second camera；
The motor receives the driving instruction and then drives the roller being arranged at below housing to run at described problem
Pre-determined distance position is simultaneously returned to up to information to the processor, and the radar sensor receives the instruction of detection in real time then
Startup optimization simultaneously sends road information to the processor, and it is then real-time that the second camera receives the real time shooting instruction
Absorb road image；
The processor sends warning corresponding with described problem to display screen if the processor receives and reaches information
Information, if the processor according to the road information received analyze road surface have pit and（Or）It is raised and according to reality
When the image analysing computer that receives go out front and there is vehicle traveling then to send to motor in real time to hide instruction；
The motor receive it is described hide instruction then drive pit described in the pair of rollers and（Or）It is raised and（Or）Car
Hidden.
7. a kind of Intelligent road alarming method for power based on unmanned plane according to claim 6, it is characterised in that in the drive
When the roller that dynamic motor driving is arranged at below housing runs to pre-determined distance position at described problem, methods described also include with
Lower step：
Whether the infrared ray sensor for being arranged at the housing front faces position detects walking front with the presence of human body in real time；
The infrared ray sensor transmits the human body information to processor if having, and the processor is according to the institute received
Human body information is stated to analyse whether to collide with the human body；
If can if the processor send human body to motor and hide instruction, the motor receive described in hide instruction
Human body described in the pair of rollers is then driven to be hidden.
8. a kind of Intelligent road alarming method for power based on unmanned plane according to claim 6, it is characterised in that in the drive
When the roller that dynamic motor driving is arranged at below housing runs to pre-determined distance position at described problem, methods described also include with
Lower step：
The processor is to the guider sending destination address and navigation instruction for being arranged at the enclosure interior position；
The address is arranged to destination according to the address and navigation instruction received and will rule by the guider
Draw optimal track route and be sent to the processor.
9. a kind of Intelligent road alarming method for power based on unmanned plane according to claim 6, it is characterised in that at the place
After reason device receives arrival information, methods described is further comprising the steps of：
Shut down if the image analysing computer that the processor is sent in real time according to first camera goes out to be arranged above the housing
The position on level ground then sends dormancy instruction to the unmanned plane；
The unmanned plane receives the dormancy instruction and then controls above the airplane parking area that itself flies to and enter park mode.
10. a kind of Intelligent road alarming method for power based on unmanned plane according to claim 6, it is characterised in that stating place
After reason device sends information warning corresponding with described problem to display screen, methods described is further comprising the steps of：
The processor sends positioning instruction to the positioner for being arranged at enclosure interior position；
The positioner receives the positioning instruction and then current location is positioned and sends the location data of acquisition
To the processor；
The processor is received the location data and is then sent out information at the location data and problem using wireless device
Give roadside assistance center.
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