CN-121999648-A - Unmanned aerial vehicle control method, unmanned aerial vehicle control device and storage medium

CN121999648ACN 121999648 ACN121999648 ACN 121999648ACN-121999648-A

Abstract

The application discloses a control method and device of an unmanned aerial vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps of controlling an unmanned aerial vehicle to take off along a flight route and shooting a forward image of a road section to be inspected, obtaining front information of a first vehicle, controlling the unmanned aerial vehicle to reversely rotate for a second degree and shooting a reverse image of the road section to be inspected in response to the unmanned aerial vehicle reaching a flight end point, obtaining rear information of a second vehicle, obtaining an out-of-stop detection result based on the front information of the first vehicle, the rear information of the second vehicle and comprehensive out-of-stop area information, and prompting an owner of the out-of-stop vehicle in response to the fact that the out-of-stop vehicle exists. The vehicle parking violation inspection is efficiently and accurately completed through the unmanned aerial vehicle.

Inventors

HUANG YONG
SAI YINGHUI
SUN AIDONG
HUANG DAXI
PAN JIALIANG

Assignees

芜湖汽车前瞻技术研究院有限公司
奇瑞汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260312

Claims (10)

1. A method of controlling a drone, the method comprising: Acquiring information of a to-be-inspected road section of an unmanned aerial vehicle, wherein the information of the to-be-inspected road section comprises a flight route of the unmanned aerial vehicle on the to-be-inspected road section, an initial flight altitude, an initial flight speed, an initial frequency of a picture shot by the unmanned aerial vehicle on the to-be-inspected road section and initial forbidden stop area information of the to-be-inspected road section, and the flight route comprises a flight starting point and a flight ending point; controlling the unmanned aerial vehicle to fly to the flight starting point and shooting a global image of the road section to be inspected; Optimizing the initial flight altitude, the initial flight speed, the initial frequency and the initial forbidden region information based on global information contained in the global image to obtain safe flight altitude, safe flight speed, target frequency and comprehensive forbidden region information; the unmanned aerial vehicle is controlled to take off along the flight route according to the safe flight altitude and the safe flight speed, and the forward image of the road section to be inspected is shot according to the target frequency, wherein the initial orientation of a cradle head of the unmanned aerial vehicle is a first degree, and the shooting mode is wide-angle shooting; Acquiring front information of a first vehicle in a parking state in response to the first vehicle being identified from the forward image of the road section to be patrolled; controlling the unmanned aerial vehicle to reversely rotate for a second degree and shooting a reverse image of the road section to be inspected in response to the unmanned aerial vehicle reaching the flight terminal, wherein the second degree is greater than the first degree; acquiring rear information of a second vehicle in a parking state in response to the second vehicle being identified from the reverse image of the road section to be patrolled; acquiring a parking violation detection result based on the front information of the first vehicle, the rear information of the second vehicle and the comprehensive parking prohibition area information, wherein the parking violation detection result is used for indicating whether a parking violation vehicle exists in the flight route; And prompting an owner of the parking-violating vehicle in response to the detection result of the parking-violating vehicle in the flight route.
2. The method of claim 1, wherein after prompting the owner of the offending vehicle, the method further comprises: Determining a recheck time interval based on the global information; after prompting the owner of the illegal parking vehicle, controlling the unmanned aerial vehicle to take off along the flight route at the safe flight altitude and the safe flight speed at intervals, and shooting a recheck image of the road section to be inspected; And in response to detecting the prompted illegal parking vehicle from the recheck image, confirming that the prompted illegal parking vehicle is a vehicle to be processed.
3. The method of claim 1, wherein the front information of the first vehicle includes a front license plate number, a front vehicle model, a front color, a front image, and a point in time for acquiring the front information of the first vehicle, and wherein the acquiring the front information of the first vehicle includes: Adjusting the focal length of a camera of the unmanned aerial vehicle so that the image of the first vehicle occupies a preset proportion of the picture shot by the camera; Controlling the cradle head to adjust the orientation at a preset speed; extracting the front vehicle model, the front color and the front image from the forward image of the road section to be inspected, storing the time point of acquiring the front information of the first vehicle and acquiring a detection result of a front license plate number, wherein the detection result of the front license plate number is used for indicating whether the front license plate number of the first vehicle is extracted from the forward image of the road section to be inspected; and in response to the detection result of the front license plate number of the first vehicle extracted from the forward image of the road section to be patrolled, controlling the cradle head to stop adjusting the orientation and switching to the initial orientation.
4. The method of claim 3, wherein the rear information of the second vehicle includes a rear license plate number, a rear vehicle model, a rear color, a rear image, and a point in time at which the rear information of the second vehicle is acquired, and wherein the acquiring the rear information of the second vehicle includes: adjusting the focal length of a camera of the unmanned aerial vehicle so that the image of the second vehicle occupies the preset proportion of the picture shot by the camera; Controlling the cradle head to adjust the orientation at the preset speed; Extracting the rear vehicle model, the rear color and the rear image from the reverse image of the road section to be inspected, storing the time point of acquiring the rear information of the second vehicle and acquiring a detection result of a rear license plate number, wherein the detection result of the rear license plate number is used for indicating whether the rear license plate number of the second vehicle is extracted from the reverse image of the road section to be inspected; And in response to the detection result of the rear license plate number of the second vehicle extracted from the reverse image of the road section to be patrolled, controlling the cradle head to stop adjusting the direction and switching to the initial direction.
5. The method of claim 4, wherein the obtaining the illicit detection result based on the front information of the first vehicle, the rear information of the second vehicle, and the integrated stop zone information comprises: Determining comprehensive information of a vehicle in a stopped state in the flight route based on front information of the first vehicle and rear information of the second vehicle, wherein the comprehensive information of the vehicle in the stopped state comprises a final license plate number, a vehicle type overall view, a color overall view, an image overall view and a time period for acquiring the vehicle information in the stopped state; determining the type of the parked vehicle based on the vehicle model overview, the color overview and the image overview of the parked vehicle; And responding to the fact that at least one type of the vehicle in the parking state belongs to a comprehensive parking forbidden type corresponding to the comprehensive parking forbidden area, and the comprehensive parking forbidden time period corresponding to the comprehensive parking forbidden type coincides with the time period for acquiring the vehicle information in the parking state, and acquiring a detection result of the illegal parking vehicle in the flight route.
6. The method of claim 1, wherein the global information includes a shielding condition of the road section to be inspected, a density of the vehicles in a stopped state in the road section to be inspected, a stop mark and a stop guideboard of the road section to be inspected, the initial stop area information includes an initial stop area, an initial stop vehicle type and an initial stop time period corresponding to the initial stop area, and the optimizing the initial flight height, the initial flight speed, the initial frequency and the initial stop area information based on global information included in the global image, and obtaining safe flight height, safe flight speed, target frequency and comprehensive stop area information includes: Optimizing the initial flight height based on the shielding condition of the road section to be inspected to obtain the safe flight height; optimizing the initial flying speed and the initial frequency based on the density degree of the vehicles in the parking state to obtain the safe flying speed and the target frequency; And optimizing the initial forbidden region information based on forbidden marks and forbidden signboards of the road sections to be inspected to obtain comprehensive forbidden region information, wherein the comprehensive forbidden region information comprises a comprehensive forbidden region and a comprehensive forbidden type and a comprehensive forbidden time period corresponding to the comprehensive forbidden region.
7. The method of claim 1, wherein after the acquiring the rear information of the second vehicle, the method further comprises: Controlling the drone to remain stationary hovering in response to the drone returning to the flight origin.
8. A control device for an unmanned aerial vehicle, the device comprising: The first acquisition module is used for acquiring information of a to-be-inspected road section of the unmanned aerial vehicle, wherein the information of the to-be-inspected road section comprises a flight route of the unmanned aerial vehicle on the to-be-inspected road section, an initial flight altitude, an initial flight speed, an initial frequency of a shooting picture of the unmanned aerial vehicle on the to-be-inspected road section and initial forbidden stop area information of the to-be-inspected road section, and the flight route comprises a flight start point and a flight end point; The first control module is used for controlling the unmanned aerial vehicle to fly to the flight starting point and shooting a global image of the road section to be inspected; The optimization module is used for optimizing the initial flight altitude, the initial flight speed, the initial frequency and the initial forbidden region information based on global information contained in the global image to obtain safe flight altitude, safe flight speed, target frequency and comprehensive forbidden region information; the second control module is used for controlling the unmanned aerial vehicle to take off along the flight route according to the safe flight altitude and the safe flight speed and shooting a forward image of the road section to be patrolled according to the target frequency, wherein the initial orientation of a cradle head of the unmanned aerial vehicle is a first degree, and the shooting mode is wide-angle shooting; The second acquisition module is used for acquiring front information of the first vehicle in response to the fact that the first vehicle in a parking state is identified from the forward image of the road section to be patrolled; The third control module is used for controlling the unmanned aerial vehicle to reversely rotate for a second degree and shooting a reverse image of the road section to be patrolled in response to the unmanned aerial vehicle reaching the flight end point, wherein the second degree is larger than the first degree; A third acquisition module for acquiring rear information of a second vehicle in a parking state in response to the second vehicle being identified from a reverse image of the road section to be patrolled; a fourth obtaining module, configured to obtain a parking violation detection result based on the front information of the first vehicle, the rear information of the second vehicle, and the comprehensive parking prohibition area information, where the parking violation detection result is used to indicate whether a parking violation vehicle exists in the flight route; And the prompt module is used for prompting the owner of the illegal parking vehicle in response to the detection result of the illegal parking vehicle in the flight route.
9. A computer program product comprising computer instructions which, when executed by a processor, implement the steps of the control method of the drone of any one of claims 1 to 7.
10. A non-transitory computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, which is loaded and executed by a processor to implement the control method of the drone of any one of claims 1 to 7.

Description

Unmanned aerial vehicle control method, unmanned aerial vehicle control device and storage medium Technical Field The embodiment of the application relates to the technical field of vehicle control, in particular to a control method and device of an unmanned aerial vehicle and a storage medium. Background Along with the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles are also applied to the field of vehicle parking inspection. In the related art, an unmanned aerial vehicle is required to change different positions around a vehicle for a certain illegal parking vehicle, take a plurality of photos at different angles, and judge whether the illegal parking prompt is required to be carried out on the vehicle according to the photos. In the related art, multiple-camera shooting needs to be performed for each vehicle, shooting of one vehicle is performed before shooting of the next vehicle is performed, so that time consumption is long, efficiency and accuracy of vehicle illegal stop patrol are seriously affected, and a quick response mechanism of traffic management is not facilitated. Therefore, how to efficiently and accurately complete the vehicle parking violation inspection through the unmanned aerial vehicle is a problem to be solved. Disclosure of Invention The embodiment of the application provides a control method, a control device and a storage medium of an unmanned aerial vehicle, which can be used for efficiently and accurately completing vehicle illegal stop inspection through the unmanned aerial vehicle. The technical scheme is as follows: In one aspect, an embodiment of the present application provides a control method of an unmanned aerial vehicle, where the method includes: Acquiring information of a to-be-inspected road section of an unmanned aerial vehicle, wherein the information of the to-be-inspected road section comprises a flight route of the unmanned aerial vehicle on the to-be-inspected road section, an initial flight altitude, an initial flight speed, an initial frequency of a picture shot by the unmanned aerial vehicle on the to-be-inspected road section and initial forbidden stop area information of the to-be-inspected road section, and the flight route comprises a flight starting point and a flight ending point; controlling the unmanned aerial vehicle to fly to the flight starting point and shooting a global image of the road section to be inspected; Optimizing the initial flight altitude, the initial flight speed, the initial frequency and the initial forbidden region information based on global information contained in the global image to obtain safe flight altitude, safe flight speed, target frequency and comprehensive forbidden region information; the unmanned aerial vehicle is controlled to take off along the flight route according to the safe flight altitude and the safe flight speed, and the forward image of the road section to be inspected is shot according to the target frequency, wherein the initial orientation of a cradle head of the unmanned aerial vehicle is a first degree, and the shooting mode is wide-angle shooting; Acquiring front information of a first vehicle in a parking state in response to the first vehicle being identified from the forward image of the road section to be patrolled; controlling the unmanned aerial vehicle to reversely rotate for a second degree and shooting a reverse image of the road section to be inspected in response to the unmanned aerial vehicle reaching the flight terminal, wherein the second degree is greater than the first degree; acquiring rear information of a second vehicle in a parking state in response to the second vehicle being identified from the reverse image of the road section to be patrolled; acquiring a parking violation detection result based on the front information of the first vehicle, the rear information of the second vehicle and the comprehensive parking prohibition area information, wherein the parking violation detection result is used for indicating whether a parking violation vehicle exists in the flight route; And prompting an owner of the parking-violating vehicle in response to the detection result of the parking-violating vehicle in the flight route. In another aspect, there is provided a control apparatus of an unmanned aerial vehicle, the apparatus comprising: The first acquisition module is used for acquiring information of a to-be-inspected road section of the unmanned aerial vehicle, wherein the information of the to-be-inspected road section comprises a flight route of the unmanned aerial vehicle on the to-be-inspected road section, an initial flight altitude, an initial flight speed, an initial frequency of a shooting picture of the unmanned aerial vehicle on the to-be-inspected road section and initial forbidden stop area information of the to-be-inspected road section, and the flight route comprises a flight start point and a flight end point; The first control module