Unmanned aerial vehicle aerial positioning cruise ambulance

Abstract

The invention belongs to the technical field of medical ambulances, and relates to an unmanned aerial vehicle aerial positioning cruise ambulance which comprises a vehicle body, wheels arranged on the two sides of the front end and the rear end of the vehicle body, a cockpit arranged on the top of the front end of the vehicle body, a bearing bin arranged on the top of the rear end of the vehicle body, a storage bin arranged on the top of the middle section of the vehicle body, and a cabin arranged on the top of the storage bin. An unmanned aerial vehicle is placed in the cabin and comprises a fuselage, arms are radially arranged on the fuselage in the circumferential direction, driving motors connected with wings are arranged at the tail ends of the arms, a front camera is arranged at the front end of the fuselage, a fixing frame is arranged at the bottom of the fuselage, positioning cameras are connected to the inner walls of the two sides of the fixing frame through connecting shafts, and servo motors are connected to the outer sides of the connecting shafts. According to the invention, the vehicle-mounted unmanned aerial vehicle carries double cameras, so that the functions of aerial real-time environment monitoring, rapid wounded person positioning and path planning are realized, and the emergency response efficiency under complex terrains and traffic jam scenes is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of medical ambulances, and in particular relates to a cruise ambulance with aerial positioning by an unmanned aerial vehicle. Background Art

[0002] An ambulance refers to a motor vehicle used for emergency medical services and medical rescue in sudden public health incidents. Its main functions include basic treatment, observation and transfer of patients with mild symptoms, treatment, monitoring and transfer of critically ill patients, and treatment, monitoring and transfer of infectious patients.

[0003] Traditional ambulances are limited by ground traffic conditions. When encountering urban congestion, damaged mountain roads or disaster sites, the golden rescue time is often delayed due to traffic obstructions. The existing improvement scheme in the existing technology is to use drones to assist in rescue, but the integration of drones and ambulances is low, resulting in low deployment efficiency. Secondly, drones mostly use single-view cameras, and the path planning accuracy is insufficient. In addition, ambulances are insufficient in storing precision medical equipment and emergency supplies.

[0004] In response to the above problems, it is urgent to develop a cruise ambulance with drone aerial positioning, which can achieve rapid response and precise positioning of the drone, and at the same time have good medical supplies storage capacity to provide reliable technical support for emergency rescue. Summary of the invention

[0005] The purpose of the present invention is to provide a cruising ambulance with aerial positioning by a drone, which solves the problems of low integration between drones and ambulances and insufficient path planning accuracy in the prior art, as well as insufficient storage capacity of ambulances for precision medical equipment and emergency supplies, and enables rapid response and precise positioning of drones. It also has good storage capacity for medical supplies, providing reliable technical support for emergency rescue.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: the present invention provides a cruising ambulance with aerial positioning of a drone, comprising a body, wheels are arranged on both sides of the front and rear ends of the body, a cockpit is arranged on the top of the front end of the body, a load-bearing bin is arranged on the top of the rear end of the body, a storage bin is arranged on the top of the middle section of the body, a cabin is arranged on the top of the storage bin, a sliding door panel is arranged on the top of the cabin, an electric cylinder is arranged on the top of the load-bearing bin to connect the side walls of the sliding door panel, a drone is placed in the cabin, the drone comprises a fuselage, arms are arranged radially around the fuselage, a driving motor connected to the wings is arranged at the end of the arm, a front camera is arranged at the front end of the fuselage, a fixing frame is arranged at the bottom of the fuselage, the inner walls on both sides of the fixing frame are connected to the positioning camera through a connecting shaft, and a servo motor is connected to the outer side of the connecting shaft.

[0007] Specifically, doors are provided on both sides of the cockpit, a compartment door is provided on the rear side of the load-bearing compartment, opening and closing door panels are provided at the bottom of both sides of the storage compartment, a push-pull compartment is provided in the middle of both sides of the storage compartment, and locking mechanisms are provided on the opening and closing door panels and the push-pull compartment.

[0008] Specifically, the drone body is equipped with a Beidou / GPS dual-mode navigation module, a laser radar obstacle avoidance sensor and a communication module, and the positioning camera is integrated with an AI image recognition unit.

[0009] Specifically, a charging base is provided inside the cabin, and the charging base is electrically connected to a charging module at the bottom of the drone.

[0010] Specifically, the driving motor adopts a brushless waterproof motor, the wings adopt foldable carbon fiber composite material blades, which form a coplanar storage structure with the arms after folding, and the surface of the fuselage is coated with an electromagnetic shielding coating.

[0011] Specifically, the electric cylinder adopts a titanium alloy piston rod and a ceramic coated cylinder body combined structure, and a sealed silicone guide strip is embedded in the edge of the sliding door panel.

[0012] Specifically, a solar panel is laid on the top of the vehicle body, and an energy storage battery pack is arranged inside the vehicle body.

[0013] A method for using a cruise ambulance positioned in the air by a drone, characterized in that it comprises the following steps:

[0014] S1. After arriving at the emergency area, start the electric cylinder to open the sliding door panel, and the drone will be separated from the charging base;

[0015] S2. The drone is lifted off to a preset altitude and performs a cruise scan of the target area in a serpentine path;

[0016] S3, the front camera and positioning camera transmit images in real time, and the AI ​​image recognition unit analyzes the images and marks the location and injury level of the injured;

[0017] S4. The UAV synchronizes with the vehicle navigation system to guide the ambulance to move to the target point;

[0018] S5. The drone continues to track the location of the injured person until the ambulance arrives, lands on the charging base and automatically locks for charging.

[0019] Specifically, in step S2, multiple drones cruise synchronously in different areas; in step S3, the drones are in cluster communication mode, calling surrounding ambulances and assigning rescue priorities.

[0020] Compared with the prior art, the advantages and positive effects of the present invention are:

[0021] 1. The present invention uses a dual camera mounted on a vehicle-mounted drone to achieve real-time aerial environmental monitoring, rapid casualty location and path planning functions, effectively improving the emergency response efficiency and treatment success rate in complex terrain and traffic congestion scenarios;

[0022] 2. The present invention solves the problems of low integration between existing drones and ambulances, insufficient path planning accuracy, and insufficient ability of ambulances to store precision medical equipment and first-aid supplies. It enables the drone to respond quickly and accurately locate, and at the same time has good medical supply storage capacity, providing reliable technical support for emergency rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of a cruise ambulance with aerial positioning of a drone in one embodiment;

[0025] Figure 2 It is a schematic structural diagram of a cruise ambulance with aerial positioning of a drone at different angles in one embodiment;

[0026] Figure 3 It is a partial structural diagram of a cruise ambulance with aerial positioning of a drone in one embodiment;

[0027] In the above figures, 1, vehicle body; 2, wheels; 3, cockpit; 4, door; 5, carrying compartment; 6, compartment door; 7, storage compartment; 8, opening and closing door panel; 9, push-pull compartment; 10, cabin; 11, push-pull door panel; 12, electric cylinder; 13, drone; 14, fuselage; 15, arm; 16, drive motor; 17, wing; 18, front camera; 19, fixing bracket; 20, positioning camera; 21, coupling shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to better understand the above-mentioned objects, features, and advantages of the present invention, the following further describes the present invention with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0029] In the following description, many specific details are set forth to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed in the following specification.

[0030] Embodiment 1, as Figures 1-3As shown in the figure, a cruise ambulance for aerial positioning of an unmanned aerial vehicle includes a vehicle body 1. On both sides of the front and rear ends of the vehicle body 1, there are wheels 2. The vehicle body 1 serves as an overall bearing platform, and the wheels 2 are adapted to the passing requirements of complex terrains. At the top of the front end of the vehicle body 1, there is a cockpit 3, which is the part for the driver to control. At the top of the rear end of the vehicle body 1, there is a loading bin 5, which is used to store stretchers and first-aid equipment, and the patient is transported in the loading bin 5.

[0031] At the top of the middle section of the vehicle body 1, there is a storage bin 7, which stores medical devices and medical supplies in layers. At the top of the storage bin 7, there is a machine cabin 10. At the top of the machine cabin 10, there is a push-pull door panel 11. At the top of the loading bin 5, there is an electric cylinder 12 connected to the side wall of the push-pull door panel 11, and the electric cylinder 12 drives the push-pull door panel 11 to open and close quickly. An unmanned aerial vehicle 13 is placed in the machine cabin 10. The unmanned aerial vehicle 13 realizes aerial reconnaissance and path planning, and the unmanned aerial vehicle 13 is stored through the machine cabin 10.

[0032] The unmanned aerial vehicle 13 includes a fuselage 14. The fuselage 14 serves as the core carrier of the unmanned aerial vehicle 13, integrating a camera, a positioning module, communication equipment, a battery system, etc., and undertaking the tasks of data collection and transmission. Around the fuselage 14, there are machine arms 15. The machine arms 15 are connected to the fuselage 14 to carry driving motors 16, providing mechanical support and optimizing the aerodynamic layout, and at the same time hiding the cable routing. At the end of the machine arm 15, there is a driving motor 16, and the driving motor 16 drives the wing 17 to rotate, providing lift and flight control power. At the top of the driving motor 16, there is a wing 17. The wing 17 generates lift through rotation, and cooperates with the driving motor 16 to adjust to realize flight attitude control. The wing tip sweep angle is 12°, reducing the eddy current resistance and extending the endurance time.

[0033] At the front end of the fuselage 14, there is a front camera 18. The front camera 18 is at the front end of the fuselage 14 for wide-angle environmental reconnaissance and real-time video transmission back, assisting the rescue team to quickly evaluate the on-site situation. It uses a 120° ultra-wide-angle lens, is equipped with a starlight-level sensor, has a minimum illumination of 0.001 Lux, and supports clear imaging in night or thick smoke environments; it has a built-in 6-axis gyroscope + electronic anti-shake algorithm to reduce the picture jitter during flight. At the bottom of the fuselage 14, there is a fixing frame 19. The fixing frame 19 serves as the installation base of the positioning camera 20, providing mechanical support and angle adjustment functions. The inner walls on both sides of the fixing frame 19 are connected to the positioning camera 20 through a coupling shaft 21. The positioning camera 20 is connected to the fixing frame 19 through the coupling shaft 21 to realize multi-angle adjustment, and is used for accurate positioning of the wounded and terrain inspection. The outside of the coupling shaft 21 is connected to a servo motor, and the servo motor drives the coupling shaft 21 to rotate with a pitch angle of ±45°.

[0034] Next, specifically describe the specific designs of the above key components:

[0035] On both sides of the cockpit 3, there are doors 4. The doors 4 are designed to facilitate the driver's getting on and off. At the rear of the cargo compartment 5, there is a cargo door 6. The cargo door 6 is a rear-mounted double-opening structure. The width of the cargo door 6 is extended to 1.5 meters, which is adapted to the standard stretcher size. A silicone sealing strip is embedded at the edge of the cargo door 6 to prevent rain and dust from entering. At the bottom of both sides of the storage compartment 7, there are opening and closing doors 8. In the middle of both sides of the storage compartment 7, there are sliding compartments 9. The opening and closing doors 8 and the sliding compartments 9 provide a fast access channel.

[0036] Locking mechanisms are provided on the opening and closing doors 8 and the sliding compartments 9 to prevent accidental opening during transportation. The locking mechanism adopts an electromagnetic lock + mechanical bolt design, and the anti-vibration level reaches the IEC 60068-2-6 standard, which is centrally controlled by the cockpit 3.

[0037] The drive motor 16 adopts a brushless waterproof motor. The wing 17 adopts foldable carbon fiber composite blades. After folding, it forms a coplanar storage structure with the arm 15. The surface of the fuselage 14 is coated with an electromagnetic shielding coating. After the carbon fiber wing 17 is folded, it is coplanar with the arm 15 to reduce the thickness, which is adapted to the narrow cabin 10. The brushless waterproof motor has an IP68 protection level and supports flight in rainy days. The electromagnetic shielding coating reduces the attenuation of communication signals and improves the signal-to-noise ratio.

[0038] The electric cylinder 12 adopts a combined structure of a titanium alloy piston rod and a ceramic-coated cylinder block, with strong tolerance and can withstand extreme temperatures from -40°C to 80°C. A sealed silicone diversion strip is embedded at the edge of the sliding door panel 11 to prevent rain and sand from entering the cabin 10 after the sliding door panel 11 is closed.

[0039] Embodiment 2. An unmanned aerial vehicle (UAV) - positioned cruise ambulance as shown in Embodiment 1 further includes

[0040] The fuselage 14 of the UAV 13 is internally provided with a Beidou / GPS dual-mode navigation module, a lidar obstacle avoidance sensor, and a communication module. The positioning camera 20 integrates an AI image recognition unit.

[0041] The Beidou / GPS dual-mode navigation module provides high-precision positioning and navigation services. Combining the Beidou and GPS dual-satellite systems, it realizes dual-mode positioning, ensuring that the UAV 13 can still stably obtain position information in complex environments such as canyons and mountains. The dual modes complement each other, avoiding positioning failures caused by the occlusion or interference of a single satellite signal. It has RTK technology, which improves the accuracy of path planning, especially in search and rescue missions, it can accurately mark the target position.

[0042] The lidar obstacle avoidance sensor emits laser pulses and receives reflected signals to construct a three-dimensional environmental map in real time, identify obstacles such as trees, buildings, wires, and terrain undulations, plan an obstacle avoidance path, and is not affected by environmental factors such as light, rain, and fog. It can work reliably at night or in bad weather. Adjust the flight trajectory in real time to ensure safe cruising in complex areas such as ruins and dense forests.

[0043] The communication module enables data interaction between the drone 13, the control terminal, the cloud platform, and the emergency command center, transmits real-time images, positioning information, and control instructions to ensure that rescue personnel can immediately grasp the on-site situation. The communication module is a 5G communication. Preferably, a satellite communication module is installed to maintain communication even in areas without ground network coverage.

[0044] The AI image recognition unit uses AI algorithms to automatically identify the signs of the wounded, such as limb movements, body temperature heat sources, danger signs, and geographical features, etc. after collecting ground images using visible light / infrared cameras, effectively locate the wounded, analyze the posture and blood loss of the wounded in combination with the images, and automatically mark the urgency level, such as red / yellow signs, to optimize the rescue priority.

[0045] A charging base is provided inside the cabin 10, and the charging base is electrically connected to the charging module at the bottom of the drone 13. After the drone 13 lands, it automatically aligns the charging contacts to complete power replenishment.

[0046] A solar panel is laid on the top of the vehicle body 1, and a storage battery pack is arranged inside the vehicle body 1. The solar panel converts light energy into electrical energy to supply power to the storage battery pack. The storage battery pack stores solar energy or externally charged electrical energy to ensure continuous power supply. Using the solar panel, the endurance time of field missions is extended, and power is preferentially supplied to the on-vehicle first aid equipment and the drone 13 to avoid interruption of critical tasks. The storage battery pack can be independently powered for several hours to provide support for temporary medical points or communication relays.

[0047] Embodiment 3, a method for using a cruising ambulance with drone aerial positioning, includes the following steps:

[0048] S1. After arriving at the first aid area, start the electric cylinder 12 to open the push-pull door panel 11, and the drone 13 is detached from the charging base;

[0049] S2. The drone 13 ascends to a preset height and performs a cruising scan of the target area in a snake-shaped path;

[0050] According to the area and terrain complexity of the target area, divide it into grid-shaped sub-areas and allocate them to the drone 13 to execute tasks synchronously. The drone 13 generates a snake-shaped cruising path covering the entire area based on the Beidou / GPS dual-mode navigation module and preset waypoints, with a horizontal spacing ≤ 50 meters to ensure blind-free scanning.

[0051] When the drone 13 detects obstacles such as high-voltage lines and trees through its lidar obstacle avoidance sensor, it automatically switches to the "detour-return" mode to maintain path continuity.

[0052] S3. The front camera 18 and the positioning camera 20 transmit images in real time, and the AI image recognition unit analyzes the images and marks the location and injury level of the injured.

[0053] The front camera 18 is a wide-angle lens, and the positioning camera 20 is a zoom + infrared thermal imaging lens. The front camera 18 and the positioning camera 20 collect ground images synchronously and transmit them to the in-vehicle AI image recognition unit through the 5G communication module.

[0054] The AI model analyzes human postures based on the OpenPose algorithm, including falling to the ground and waving for help, etc., detects abnormal body temperature in combination with infrared data, and performs image color threshold segmentation according to indicators such as blood loss and motor ability. The injury level is divided into three levels:

[0055] Level 1 is red, and the patient's vital signs are critical and need to be rescued first.

[0056] Level 2 is yellow, and the patient's movement is restricted but conscious.

[0057] Level 3 is green, and the patient has minor injuries and can move independently.

[0058] Integrating the clinical indicators in the "Trauma First Aid Guide", when the blood loss > 500ml, it is automatically upgraded to level 1, which meets the medical specifications.

[0059] S4. The drone 13 synchronously links with the in-vehicle navigation to guide the ambulance to move towards the target point.

[0060] After the in-vehicle navigation system receives the target point coordinates marked by the drone 13, it combines real-time traffic data, such as the Amap API interface and the in-vehicle GPS data, to plan the optimal driving route.

[0061] The ambulance turns on the warning lights and the loudspeaker. The warning lights and the loudspeaker are standard configurations of existing ambulances and will not be elaborated in this invention. The ambulance travels quickly along the planned route. The drone 13 guides the ambulance at a low altitude of 20 - 50 meters.

[0062] S5. The drone 13 continuously tracks the location of the injured until the ambulance arrives, then lands on the charging base and automatically locks for charging.

[0063] When the ambulance is within 1 kilometer of the target point, the drone 13 switches to the hover mode and continuously tracks the location of the injured through the positioning camera 20.

[0064] In step S2, multiple drones 13 perform cruise synchronously in sub-regions; the area is divided into multiple sub-regions by using the Voronoi diagram algorithm, and the area of each sub-region matches the endurance of the drone 13. For example, a single drone covers 2 square kilometers, and different search weights are assigned to the sub-regions, and more drones 13 are assigned to the regions with higher weights.

[0065] The master drone receives all partition data, and distributes task coordinates and path planning parameters to the slave drones through the TDMA communication protocol. The slave drones automatically match the target sub-region based on their own ID numbers and download the corresponding serpentine path waypoint sequences.

[0066] Each drone 13 uploads the original image of the scanned data and the obstacle map to the vehicle-mounted server in real time, and at the same time stores them distributedly within the formation through the blockchain sharding technology to ensure that the data is not lost in case of a single machine failure. The vehicle-mounted control terminal displays the heat map of the coverage progress of all drones 13 and supports manual intervention to adjust the partition boundary.

[0067] In step S3, the drones 13 are in a cluster communication mode, calling the surrounding ambulances and assigning rescue priorities.

[0068] The master drone acts as a relay node and maintains a connection with the emergency command center through the communication base station. The slave drones interact with the master drone through the LoRa protocol. If the master drone fails, the slave drones automatically switch to an Ad-hoc network, elect a new master node and reconstruct the communication link to ensure the autonomous operation of the formation.

[0069] Priority scoring formula:

[0070] Priority = α * (injury level) + β * (1 / distance) + γ * (environmental hazard coefficient)

[0071] The weight parameters α = 0.6, β = 0.3, γ = 0.1 are fixed values obtained by summarizing rescue data;

[0072] The injury levels are assigned 3, 2, and 1 respectively according to the first, second, and third levels. The distance unit is km, and the environmental hazard coefficient is determined in real time by AI analyzing risks such as collapses, fires, and gas diffusion in the images, with a range of 0-1.

[0073] The master drone broadcasts the list of wounded, including coordinates, priority scores, and the best paths, to the ambulances within 10 kilometers around through 5G / satellite.

[0074] The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machines, parts, and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0075] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention in other forms. Any person skilled in the art may use the technical content disclosed above to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as they do not depart from the technical solution content of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A cruise ambulance with aerial positioning by unmanned aerial vehicle, characterized in that: It includes a vehicle body, wherein wheels are arranged on both sides of the front and rear ends of the vehicle body, a cockpit is arranged on the top of the front end of the vehicle body, a load-bearing bin is arranged on the top of the rear end of the vehicle body, a storage bin is arranged on the top of the middle section of the vehicle body, a cabin is arranged on the top of the storage bin, a sliding door panel is arranged on the top of the cabin, an electric cylinder is arranged on the top of the load-bearing bin to connect the side walls of the sliding door panel, a drone is placed in the cabin, and the drone includes a fuselage, arms are arranged radially around the fuselage, a driving motor connected to the wing is arranged at the end of the arm, a front camera is arranged at the front end of the fuselage, a fixing frame is arranged at the bottom of the fuselage, the inner walls on both sides of the fixing frame are connected to the positioning camera through a connecting shaft, and the outer side of the connecting shaft is connected to the servo motor.

2. The UAV air-positioned cruise ambulance according to claim 1, characterized in that: Doors are arranged on both sides of the cockpit, a compartment door is arranged on the rear side of the load-bearing compartment, opening and closing door panels are arranged on the bottom of both sides of the storage compartment, a push-pull compartment is arranged in the middle of both sides of the storage compartment, and locking mechanisms are arranged on the opening and closing door panels and the push-pull compartment.

3. The UAV air-positioned cruise ambulance according to claim 1, characterized in that: The drone body is equipped with a Beidou / GPS dual-mode navigation module, a laser radar obstacle avoidance sensor and a communication module, and the positioning camera is integrated with an AI image recognition unit.

4. The UAV air-positioned cruise ambulance according to claim 1, characterized in that: A charging base is arranged inside the cabin, and the charging base is electrically connected to a charging module at the bottom of the drone.

5. The UAV air-positioned cruise ambulance according to claim 1, characterized in that: The drive motor adopts a brushless waterproof motor, the wings adopt foldable carbon fiber composite material blades, which form a coplanar storage structure with the arms after folding, and the surface of the fuselage is coated with an electromagnetic shielding coating.

6. The UAV air-positioned cruise ambulance according to claim 1, characterized in that: The electric cylinder adopts a titanium alloy piston rod and a ceramic coating cylinder body combined structure, and a sealed silicone guide strip is embedded in the edge of the sliding door panel.

7. The UAV air-positioned cruise ambulance according to claim 1, characterized in that: The top of the vehicle body is paved with solar panels, and the vehicle body is provided with energy storage battery packs.

8. The method for using a cruise ambulance with aerial positioning by a drone according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. After arriving at the emergency area, start the electric cylinder to open the sliding door panel, and the drone will be separated from the charging base; S2. The drone is lifted off to a preset altitude and performs a cruise scan of the target area in a serpentine path; S3, the front camera and positioning camera transmit images in real time, and the AI ​​image recognition unit analyzes the images and marks the location and injury level of the injured; S4. The UAV synchronizes with the vehicle navigation system to guide the ambulance to move to the target point; S5. The drone continues to track the location of the injured person until the ambulance arrives, lands on the charging base and automatically locks for charging.

9. The method for using a cruise ambulance with aerial positioning by a drone according to claim 8, characterized in that: In step S2, multiple drones cruise synchronously in different areas; in step S3, the drones are in cluster communication mode, calling surrounding ambulances and assigning rescue priorities.

Images