Method and system for assisting emergency responders in retrieving a path

Abstract

A method for assisting an emergency responder in retrieving a path comprises receiving motion data from a first motion sensor, the first motion sensor recording motion of a first emergency responder of at least one emergency responder exploring an emergency scene; compiling trajectory data based on the motion data of the first motion sensor, wherein the trajectory data is indicative of a first trajectory of the first emergency responder through the emergency scene; calculating path data based on the trajectory data, wherein the path data is indicative of a path coinciding with at least a portion of the trajectory; and providing the path data to an actuator, the actuator being arranged for guiding an emergency responder of the at least one emergency responder along the path.

Description

Technical Field

[0001] This invention relates to methods for assisting emergency responders in retrieving routes. It also relates to systems for assisting emergency responders in retrieving routes. More specifically, it relates to assisting firefighters in retracing their safe routes from an emergency scenario. Background Technology

[0002] Emergency responders (such as firefighters) may have to enter an object (such as a building or house) when it is on fire. The smoke from the fire may obscure or even make visual navigation inside the object impossible. Emergency responders are trained on how to navigate in such situations. However, impaired visual perception still significantly reduces the effectiveness of emergency responders. And even without impaired visual perception, emergency responders can get lost in buildings (such as complex structures) when navigating them.

[0003] Systems that assist navigation within buildings typically use some type of wireless network to determine the location of the person being assisted in their navigation. Such systems are known, for example, from WO2019206894 A1. Emergency responders often work in emergency situations where wireless networks may be de-energized, making wireless network-based navigation in emergency scenarios highly unreliable. Summary of the Invention

[0004] The object of this invention is to overcome one or more of the disadvantages mentioned above. According to a first aspect of the invention, a method for assisting emergency responders in retrieving routes includes:

[0005] - Receive motion data from a first motion sensor, which records the motion of at least one emergency responder among those exploring an emergency scenario;

[0006] - Based on the motion data from the first motion sensor, compile trajectory data, where the trajectory data represents the first trajectory of the first emergency responder through the emergency scenario;

[0007] - Based on trajectory data, calculate and / or determine path data, wherein the path data represents a path that coincides with at least a portion and / or segment of the trajectory; and

[0008] - Provide path data to the actuator, which is deployed to guide at least one emergency responder along the path.

[0009] Emergency responders, or first responders, are typically those who respond to an emergency. An example of an emergency can be a fire in an object, such as a building, house, or apartment. Another example of an emergency can be an accident in an industrial area involving fire, explosion, hazardous substances, toxic pollution, or a combination thereof. Smoke, fumes, gases, vapors, fog, etc., can impede, limit, or obstruct the use of a responder's line of sight.

[0010] In these emergency situations, the situation can rapidly deteriorate to the point where emergency responders must leave the emergency scenario for their own safety. Emergency responders have already traversed a path when entering, exploring, and / or inspecting the emergency scenario. Because this path has already been traversed, it is verified upon entry in the sense that it can be traversed. This path can be used as a verification path for exiting the emergency scenario. Therefore, the method or system according to the invention has the effect of allowing emergency responders to evacuate the emergency scenario along a verified path.

[0011] If the emergency is escalating in different ways, emergency responders may require the support of another emergency responder, for example, when carrying an unconscious victim. Therefore, other emergency responders may need to reach the first emergency responder as quickly as possible. Emergency responders have already traversed a trajectory while entering, exploring, and / or inspecting the emergency scenario. Because this trajectory has already been traversed, it is validated upon entry in the sense that it can be traversed (e.g., a safe traversal). This trajectory can be used as a validation path through the emergency scenario. The method or system according to the invention has the effect of allowing other emergency responders to reach the first emergency responder using the validated path.

[0012] Motion sensors can include gyroscopes, compasses, or any other devices that measure direction and distance of travel. The motion sensor can be placed anywhere on the first responder. However, there is an advantage to placing the motion sensor on or near the responder's boots or shoes. This allows the moment when the foot is firmly planted on the ground to be used for recalibration of the motion sensor to prevent offset or drift. To compensate for this, another motion sensor can be used on the same responder, preferably placed at another location on the first responder, such as on another boot or shoe. Attached to the same responder, the motion correlation between motion sensors can be utilized to improve overall accuracy. Motion sensors can also be supplemented by GPS sensors to calibrate the motion sensor to an absolute position. GPS signals are often of poor quality or absent inside objects such as buildings and are therefore not reliable sensors for the entire trajectory. However, sensors that provide an absolute reference, such as GPS sensors, can be used to align motion data from multiple responders. Furthermore, motion sensors can be supplemented by barometric pressure sensors for measuring altitude or elevation. External air pressure can be used to obtain initial readings, but internal air pressure sensors (e.g., under windy conditions due to a fire) may be unreliable. On the other hand, if the air pressure inside an object is not disturbed, for example, by an emergency, an air pressure sensor can supplement the detection of level or altitude inside the object. Motion sensors can also be supplemented by compass sensors that measure the Earth's magnetic field. Typically, externally, compass sensors provide good heading indication. Internally, compass sensor readings can be interfered with by materials that interfere with the Earth's magnetic field (e.g., iron). These materials may be used in the object's structure. GPS sensors, air pressure sensors, and / or compass sensors can also be used to align motion data from multiple emergency responders. GPS sensors, air pressure sensors, and / or compass sensors can also be used to supplement motion sensors to make trajectory data more accurate.

[0013] Motion data comes from motion sensors. Motion data typically includes the direction and distance traveled by the motion sensor from one reference point to another. If the motion sensor is located near the emergency responder's boots or shoes, the motion data typically includes the distance and direction between consecutive positions of the boots or shoes on the ground.

[0014] In embodiments of the present invention, calculating and / or determining path data includes:

[0015] - Identify crossings in trajectory data to identify parallel trajectories between crossings;

[0016] - Select one of the parallel trajectories for the path data. The parallel trajectories between intersections can be referred to as parallel trajectory segments or trajectory portions. A trajectory segment or trajectory portion can also be a smaller or larger part of the trajectory. This advantageously allows for the selection of trajectory segments based on path data with specific characteristics. Characteristics to consider for selection can be the length of the trajectory segment, the number of curves in the trajectory segment, the duration of the traveled trajectory segment, the straightness of the trajectory segment, and / or its proximity to other trajectory segments.

[0017] In an embodiment of the present invention,

[0018] The computational path data includes: calculating the length of each parallel trajectory among the intersecting parallel trajectories, and / or calculating the travel time of each parallel trajectory; and

[0019] One of the parallel trajectories is selected based on its length and / or travel time. This embodiment advantageously allows for the selection of the shortest path or the path with the shortest travel time. Furthermore, combinations of the length of a trajectory segment and the travel time of that segment can be considered.

[0020] In embodiments of the invention, the actuator is a tactile actuator, preferably comprising a plurality of tactile actuators, preferably arranged around the waist of the responder, configured to provide directional sensation to the emergency responder for guidance. In a further embodiment, the tactile actuator is part of a navigation belt typically worn around the waist. In a further embodiment, the tactile actuator may be arranged around the legs or arms. In another embodiment, the tactile actuator may be arranged in a shoe or glove. In yet another embodiment, the tactile actuator may be arranged around the head, such as inside a helmet or hat worn by the emergency responder. These embodiments offer the advantages of quiet operation, direct sensation, and / or freedom from noise obstruction. A particular advantage is that these embodiments provide the aforementioned advantages when one or more of the emergency responder's senses are impaired by their protective devices, such as hearing and / or vision.

[0021] In embodiments of the invention, the embodiment includes: receiving motion data from a second motion sensor that records the motion of a second emergency responder among at least one emergency responders exploring an emergency scenario; and wherein compiling trajectory data is also based on the motion data from the second motion sensor. When both the first and second emergency responders are exploring the same emergency scenario, data from the two motion sensors can advantageously be used to enrich the trajectory data. Typically, when two emergency responders are exploring an emergency scenario, they will only step or walk slightly differently from each other. This is particularly relevant for firefighters, as they often explore emergency scenarios, such as buildings on fire, in pairs. Because the motion data from the two motion sensors do not completely overlap, this provides a greater understanding of the emergency scenario, especially if a subsequent emergency responder may or is most likely to traverse the building along a different trajectory. In a further advantageous embodiment, the second emergency responder exploring the scenario is guided along a path based on trajectory data from the first emergency responder, while the trajectory data is enriched with motion data from a second motion sensor carried by the responder themselves. This enrichment can be done in real time, such that the calculation and / or determination of path data is performed on the real-time enriched trajectory data.

[0022] In embodiments of the invention, the emergency responder is the first emergency responder. In this case, the emergency responder typically has the advantage of retracing their own path to leave the emergency scene or at least get closer to leaving the emergency scene.

[0023] In embodiments of the invention, the emergency responder is a second or third emergency responder. In this case, the emergency responder can be on the route through the emergency scene to support the first emergency responder. This method advantageously provides a path to find the first emergency responder. This can be particularly advantageous because the first emergency responder may be in trouble and require additional equipment or assistance to leave the emergency scene.

[0024] In embodiments of the present invention, the compiled trajectory data includes:

[0025] - Obtain the position and / or orientation of a first motion sensor on the body of a first emergency responder and / or a device carried by the first emergency responder, wherein preferably, obtaining the position and / or orientation of the first motion sensor includes retrieving a predefined position and / or orientation of the first motion sensor, or wherein preferably, obtaining the position and / or orientation of the first motion sensor includes inferring the position and / or orientation of the first motion sensor from motion data;

[0026] - Obtain the track width; and

[0027] Trajectory data is constructed based on motion data, trajectory width, and the position and / or orientation of the first motion sensor. The first emergency responder has a specific body width. Therefore, the trajectory data can be enriched by the width of the first emergency responder. This enriched trajectory data will show more areas traversed by the first emergency responder; that is, a wider trajectory is traversed and / or covered, not a single line. With more areas traversed, it becomes advantageously more likely to find intersections for path optimization calculations and / or determination. Shortcuts can be found more easily. Furthermore, if multiple emergency responders enrich the trajectory data by combining their motion data with attention to trajectory width, it is advantageous to increase the traversed area even further, giving a greater probability of finding intersections for path optimization calculations and / or determination.

[0028] Motion sensors are typically mounted on shoes, but can also be placed anywhere on the body or on any device carried by the first responder. This method can be able to infer which shoe the motion sensor is mounted on. Alternatively, this information can be provided to the method, for example, as a predefined value or just before use. If the motion sensor is placed outside the body's central axis, such as on a shoe, the first responder's trajectory data will extend further to one side compared to the other side. Motion data can indicate the location of the motion sensor on the body. For example, if the motion data shows clear moments of no movement, the motion sensor may be mounted on a shoe or calf that is normally firmly placed on the ground. As another example, when inferring or predefining that the motion sensor is mounted on a shoe or calf, the radii of the curves to the left and right can indicate whether the motion sensor is mounted on the left shoe or left calf or the right shoe or right calf.

[0029] In embodiments of the invention, the receiving of motion data and the provision of path data overlap at least partially in time. This allows, for example, a second emergency responder to traverse the path while the first emergency responder continues to enrich the trajectory data as he traverses the emergency scenario. In this way, the second emergency responder can “catch up” with the first emergency responder. In an alternative scenario, the first emergency responder can backtrack or partially backtrack his steps or route along the path calculated according to the invention.

[0030] In embodiments of the present invention, the calculated path data includes:

[0031] - Load the building information model; and

[0032] - Optimize path data based on a building information model. The building information model can be any available building. When such a building information model is available, it can be advantageously used by this method to optimize path data. Optimization may include identifying individual rooms. Optimization may include identifying walls that separate spaces. Optimization may include identifying shortcuts by recognizing that a path relative to the trajectory can be placed closer to a wall. This allows, for example, cutting corners when a trajectory segment takes a wider path at a corner. Optimization may include identifying paths that can pass through openings, such as doors, while the trajectory does not pass through those openings. This allows the trajectory to straighten between two waypoints, such as the entrance and exit points of a room.

[0033] In a further embodiment of the invention, optimizing path data includes identifying intersections based on a building information model. Optimization may include identifying shortcuts by recognizing different trajectory segments that do not intersect but are still marked as intersections based on the proximity of the trajectory segments and the building information model. Optimization may also include recognizing trajectory segments that cannot be marked as intersections due to separation based on building information (such as walls). In this way, the identification of intersections is advantageously corrected or optimized.

[0034] In a further embodiment of the invention, optimizing path data includes identifying intersections, which involves identifying alternative parallel trajectories based on a building information model (BIM). Alternative parallel trajectories may be based solely on the BIM, without any alternative parallel trajectories being traversed by at least one emergency responder. The combination of identifying additional intersections and / or removing locations marked as intersections allows for advantageous optimization of path data computation and / or identification of parallel trajectories. Having more parallel trajectories and / or better-verified parallel trajectories increases the certainty of the correctness of the path data derived from the trajectory data.

[0035] In embodiments of the invention, knowledge of the position and / or orientation of the motion sensors, track width, and the availability of building information models is combined. This can be advantageously combined for situations where the emergency responder is a first responder or a second responder. When based solely on track data, the combination of track width and building information allows for the identification or rejection of potential intersections. This combination advantageously allows for the establishment of the presence of intersections in the track data with greater certainty, thereby increasing the reliability of the method.

[0036] In embodiments of the invention, trajectory data represents the total displacement of a first emergency responder, and path data is arranged to guide the emergency responder along a path providing net displacement. The trajectory data includes all footsteps, small and large, forward, backward, and lateral. This typically allows (preferably in combination with trajectory width knowledge and usage) the trajectory data to cover a larger area of ​​the emergency scenario. This greater coverage provides more options for finding intersections in the trajectory data to advantageously optimize the calculation of the path data. The path data typically filters out these small and large footsteps, forward, backward, and lateral footsteps to provide the emergency responder with a direct route, preferably a smooth path.

[0037] In embodiments of the invention, trajectory data represents the displacement of a first emergency responder. Motion data typically includes the direction and distance traveled by a motion sensor from one reference point to another. Compiling trajectory data may include aggregating the motion data into trajectory data representing the trajectory traveled by the first emergency responder. The trajectory data advantageously represents the displacement of the first emergency responder. The trajectory data advantageously may include a further detailed description of the trajectory traveled by the first emergency responder or a trajectory width representing the displacement of the first emergency responder.

[0038] In embodiments of the present invention, the embodiments include:

[0039] - Receive tags that mark specific locations; and

[0040] The compiled trajectory data is also based on received tags, preferably indicating at least a portion and / or segment of a path and / or trajectory being blocked, points that need to be inserted into the path and / or trajectory, and / or relevant points for the path and / or trajectory. Tags may be provided by a first emergency responder. The first emergency responder may indicate blockages on the trajectory and / or may indicate locations that definitely need to be traversed by the emergency responder. The first emergency responder may indicate the location where something will be retrieved by the emergency responder (such as a distressed person or material). Alternatively, tags may be provided by the emergency responder. Tags may indicate path blockages. Tags may confirm the retrieval of a distressed person or material. Tags may be provided with simple buttons or a more refined interface provided to the first emergency responder or the emergency responder. In a further embodiment of the invention, tags advantageously represent locations to be avoided and / or locations that need to be inserted into the path data and / or all other kinds of information about buildings, areas, and / or paths relevant to the actual situation and / or emergency scenario, to assist the emergency responder in retrieving the path.

[0041] According to another aspect of the invention, a system includes a microprocessor arranged and advantageously loaded with software for performing any of the methods described or at least steps of such methods.

[0042] According to another aspect of the present invention, a system for assisting emergency responders in retrieving routes includes:

[0043] - A first motion sensor unit, configured to record the motion of a first emergency responder among at least one emergency responders exploring an emergency scenario;

[0044] - A processing unit configured for:

[0045] Receive motion data from the first motion sensor;

[0046] Based on the motion data from the first motion sensor, trajectory data is compiled, where the trajectory data represents the first trajectory of the first emergency responder through the emergency scenario;

[0047] Based on trajectory data, path data is calculated, where the path data represents a path that overlaps with at least a portion of the trajectory; and

[0048] Provide path data; and

[0049] - An actuator is arranged to receive path data and guide at least one emergency responder along the path. The technical effects of the system are based on the technical effects described for the method. The system for assisting emergency responders can be advantageously combined with features of other embodiments, systems, and methods described.

[0050] In embodiments of the invention, path data includes waypoints. Waypoints are preferably located in strategic locations, such as room entrances and exits, path intersections, and / or locations where the path takes a curve and / or curves.

[0051] According to another aspect of the present invention, a method for assisting a second emergency responder among at least one emergency responders in retrieving a path includes:

[0052] - To place the actuator onto the body of the second emergency responder; and

[0053] - Providing path data representing the path to the actuator for guiding emergency responders along the path, wherein the path data is obtained according to any of the described methods. The technical effects of the method are based on the described technical effects. The method for assisting emergency responders can be advantageously combined with features of the other described embodiments.

[0054] In embodiments of the invention, the second emergency responder advantageously follows a path to the location of the first emergency responder. This provides a simple, reliable, and safe method for the second emergency responder to find or reach the location of the first emergency responder.

[0055] According to another aspect of the present invention, a method for assisting a first emergency responder among at least one emergency responder in retrieving a path includes:

[0056] - Place the first motion sensor on the body of the first emergency responder;

[0057] - Receive motion data from a first motion sensor that records the movement of the first emergency responder exploring the emergency scenario;

[0058] - Based on motion data, compile trajectory data, where the trajectory data represents the first trajectory of the first emergency responder through the emergency scenario;

[0059] - Based on trajectory data, calculate and / or determine path data, wherein the path data represents a path that overlaps with at least a portion and / or part of the trajectory;

[0060] - To place the actuator onto the body of at least one of the emergency responders; and

[0061] - Provide path data to the actuator for guiding emergency responders along the path. The technical effects of this method are based on the described technical effects. The method for assisting first emergency responders can be advantageously combined with features of other described embodiments.

[0062] In embodiments of the invention, the emergency responder is the first emergency responder, and the guide allows the emergency responder to evacuate along a path. This provides a simple, reliable, and safe method for the first emergency responder to locate or leave an emergency scenario.

[0063] According to another aspect of the present invention, a computer program product includes a computer-readable medium having computer-readable code therein, the computer-readable code being configured to cause the computer or processor, when run by a suitable computer or processor, to perform the method of any embodiment. The technical effects of this computer program product are based on the technical effects described with respect to the method.

[0064] According to another aspect of the invention, a computer-readable medium includes motion data, trajectory data, and / or path data suitable for use in any method or system in any embodiment. The technical effects of this computer-readable medium are based on the technical effects described for the method. The technical effects of the method are based on the described technical effects. The method for assisting first emergency responders can be advantageously combined with features of the other described embodiments. Attached Figure Description

[0065] The invention will be apparent and further illustrated by referring to the embodiments described by way of example in the following description and by referring to the accompanying drawings, wherein:

[0066] Figure 1a , 1b 1c schematically shows a first top view of the three floors traversed by the first emergency responder;

[0067] Figure 2a , 2b 2c schematically shows a second top view of the three floors traversed by the first emergency responder;

[0068] Figure 3a , 3b 3c schematically shows a third top view of the three floors traversed by the first emergency responder;

[0069] Figure 4a , 4b 4c schematically shows a fourth top view of the three floors traversed by the first emergency responders;

[0070] Figure 5 The diagram schematically shows the fifth top view of the first floor as traversed by the first emergency responder;

[0071] Figure 6a , 6b 6c schematically shows the sixth top view of the first floor traversed by the first emergency responder;

[0072] Figure 7 The location of the motion sensor on the first emergency responder is schematically shown;

[0073] Figure 8a , 8b 8c schematically illustrates the first trajectory width of the first emergency responder;

[0074] Figure 9a , 9b This schematically illustrates cross-detection based on proximity in trajectory data;

[0075] Figure 10a , 10b 10c schematically shows the seventh top view of the first floor traversed by the first emergency responder, with varying conditions;

[0076] Figure 11a , 11b 11c schematically shows the eighth top view of the third floor traversed by the first emergency responder using building information;

[0077] Figure 12 This illustration schematically demonstrates methods used to help emergency responders retrieve routes;

[0078] Figure 13 The diagram schematically illustrates a system used to help emergency responders retrieve routes; and

[0079] Figure 14 Embodiments of computer program products, computer-readable media, and / or non-transitory computer-readable storage media according to the present invention are illustrated schematically.

[0080] The accompanying drawings are schematic only and are not drawn to scale. In the drawings, elements corresponding to those already described may have the same reference numerals.

[0081] List of reference numerals

[0082]

[0083] Detailed Implementation

[0084] The following figures illustrate various embodiments. Embodiments may be combined to achieve enhanced or improved technical effects. These combined embodiments may be explicitly mentioned throughout the text, implied in the text, or implicitly mentioned.

[0085] Figure 1a , 1b Figure 1c schematically shows a first top view of the three floors traversed by a first emergency responder. The building layout is shown for informational purposes only, and this method does not require knowledge of the building layout. Figure 1a , 1b 1c shows the floor layout of the first, second, and third floors of building 10, respectively. The building includes room 11, corridor 12, door 13, staircase 14, and cabinet 15. Not all rooms, doors, staircases, and cabinets are labeled, but they are clearly visible in the diagram.

[0086] Figure 1a The beginning 120 of the first trajectory 110 is shown. The first trajectory represents the beginning of the first trajectory. Figure 1c The trajectory shown is the path traversed or walked by the first emergency responder 111. The trajectory ends at the location of the first emergency responder. The trajectory is represented by trajectory data within the method. The trajectory can be compiled directly from the trajectory of the motion sensor. The trajectory can also be compiled indirectly from the trajectory of the motion sensor (e.g., through filtering). Figure 1a The transition of the first trajectory from the first layer to the second layer is further illustrated 121.

[0087] Figure 1b This shows that the first emergency responders have, for example, extensively checked, traversed, or explored all areas of the second layer. Track 110 illustrates this extensive check. Figure 1b The transition 121 from the first layer to the second layer and the transition 122 from the second layer to the third layer are further illustrated.

[0088] Figure 1c The trajectory 110 of the first emergency responder on the third level is shown. The first emergency responder 111 ends at the end of the trajectory.

[0089] Typically, the first emergency responder has motion sensors deployed to record their movements. Motion data from the motion sensors is used to compile trajectory data. The trajectory data represents the initial trajectory traversed by the first emergency responder. The first emergency responder can be a firefighter, police officer, paramedic, or any other person moving, exploring, or traversing the emergency scenario. The emergency scenario can be any scenario involving fire, riot, injury, accident, or any other scenario requiring the immediate attention of a professional to provide assistance in that situation or scenario. The emergency scenario can be indoors, such as in a building, or outdoors, such as in a dense forest or densely populated residential area. Emergency scenarios are typically stressful situations or circumstances that require the emergency responder to focus primarily on the task at hand rather than on navigating the scenario. Emergency scenarios may impair the emergency responder's perception, such as visual and / or auditory perception, making navigation more difficult or even impossible. Emergency scenarios can be complex and / or sophisticated, such that an emergency responder may become lost without assistance such as through the methods or systems according to the invention.

[0090] Figure 2a , 2b Figure 2c schematically illustrates a second top view of the three floors traversed by the first emergency responder. Figure 2 shows the same building layout as Figure 1. Furthermore, Figure 2 also shows the first trajectory and the first emergency responder.

[0091] Figure 2 further illustrates path 140 calculated based on the trajectory. The path is marked with a cross because it at least partially overlaps with the trajectory. Typically, the path is a portion of the trajectory that allows emergency responders to preferably traverse the emergency scenario safely and / or quickly. The path can be the shortest route from the start of the trajectory to the location of the first emergency responder.

[0092] Trajectory data may include the intersection of a first trajectory with itself. If, for example, a second emergency responder (not shown) is traversing the emergency scenario, the intersection between the first and second trajectories may also be considered when calculating and / or determining the path. Based on these intersections, parallel segments of the trajectories can be identified. Based on these multiple parallel trajectory segments, path data can be calculated and represented by the path shown.

[0093] Figure 3a , 3b 3C and Figure 4a , 4bFigure 4c schematically illustrates a second top view of the three floors traversed by the first emergency responder. Figures 3 and 4 show the same building layout as Figure 1, and this building layout is not necessary for the method to be applied or operated. Furthermore, Figures 3 and 4 also show path 140 marked with a cross and the first emergency responder.

[0094] In Figure 3, the emergency responder using the path can be a first responder. In this case, the first responder wants to leave the emergency scene via the start of the path in a simple, direct, safe, reliable, proven, fast, concise, and generally intuitive way. The direction of the path is marked by arrows on the path in Figure 3.

[0095] In Figure 4, emergency responders can be second and / or third emergency responders, or any number of emergency responders who want to reach the location of the first emergency responder 111 (located at the end of the track 123) from the start 120 of the track. The direction of the path is marked by arrows on the path in Figure 4, which are opposite to the direction of the path in Figure 3. In this case, emergency responders can assist the first emergency responder in any way, such as by bringing additional equipment to the first emergency responder's location. The path helps emergency responders find the first emergency responder in a simple, direct, safe, reliable, proven, fast, concise, and generally intuitive way.

[0096] Figure 5 A fifth top view schematically illustrates the first layer traversed by a first emergency responder. Trajectory data is compiled from motion data from a first motion sensor deployed to the first emergency responder and motion data from a second motion sensor deployed to a second emergency responder. Thus, the trajectory data represents a first trajectory and a second trajectory. The first trajectory 110 is marked with a line without any additional markings. The second trajectory 130 is marked with a line having dots as additional markings. Path data is calculated based on the trajectory data. The path data is visualized using lines with crosshairs. The assignment of labels to the first and second trajectories is arbitrary. The path data may partially overlap with the first trajectory and / or partially overlap with the second trajectory to provide optimal routes to emergency responders.

[0097] Figure 6a , 6b 6c schematically shows the sixth top view of the first floor traversed by the first emergency responder.

[0098] Figure 6a , 6b Figure 6c shows the same building layout as Figure 1. Figure 6 shows the first trajectory 110. In addition, Figure 6 also shows the path 140 marked with a cross. Figure 6a The first trajectory without a path is shown.

[0099] Figure 6b A first trajectory 110 is shown, which has a path 140 calculated based on trajectory data. The first trajectory is used to calculate the path, and the path literally follows the path without deviating from the first trajectory.

[0100] Figure 6c A first trajectory 110 is shown, having a path 140 calculated based on trajectory data. Although the first trajectory is used to calculate the path, additional information can be used to calculate the path. This additional information could be building information showing that a path through a corridor of a building on the first floor can follow a straight line. This additional information could be trajectory width information. This additional information can be received from other sensors. This additional information can come from an algorithm that analyzes motion data and / or trajectory data when calculating the path data. This algorithm could be an artificial intelligence algorithm, such as identifying patterns in the motion data and / or trajectory data.

[0101] Figure 7 The positions of motion sensors 151 and 151' on the first emergency responder 111 are schematically shown. Motion sensor 151 can be attached to the emergency responder's shoe. This provides the advantage that the motion sensor has a moment of stillness when the shoe is placed on the ground. Typically, gyroscope sensors have a tendency to drift. This moment of stillness advantageously allows for recalibration of the gyroscope sensor to prevent drift from significantly affecting the accuracy of the motion sensor. Alternatively, motion sensor 151' can be attached to the first emergency responder's hip, shoulder, head, helmet, SCBA, or body.

[0102] Figure 8a , 8b Figure 8c schematically illustrates the first trajectory width W of the first emergency responder 111. Figure 8 shows the first trajectory 110 with trajectory width W, wherein the trajectory is traversed in the direction T. Figure 8a The track width W of the first track 110 is shown. The track width typically extends to both sides of the motion sensor 151. Since the motion sensor can be positioned on the shoe of the first emergency responder, the track width can extend asymmetrically around the motion sensor, wherein the first track width W is divided into a first track width extension W1 extending to the left of the first emergency responder and a second track width extension W2 extending to the right of the first emergency responder.

[0103] Figure 8b c and c respectively show the first segment 126 and the second segment 127 of the first trajectory. Figure 8bIn the diagram, the first and second trajectory segments are separated by a distance D and are so close to each other that, considering the trajectory width, it can be assumed that the first and second trajectory segments overlap and thus represent an intersection of the first trajectory. This intersection information can be used when calculating and / or determining the path. The distance between the first and second trajectory segments can be less than twice the first trajectory width extension W2. The distance between the first and second trajectory segments can be less than twice the first trajectory width extension W2 minus an additional margin, which may be a safety margin.

[0104] exist Figure 8c The first and second track segments are separated by a distance D', and are so far apart that, considering the track width, it can be assumed that the first and second track segments do not overlap, and therefore do not represent an intersection of the first track. This could be, for example, when the first emergency responder is moving along the walls on both sides, which typically occurs, for example, when firefighters are investigating an area. Since walls are generally impenetrable objects for emergency responders following the path, the path should follow the first track around the wall and should not indicate shortcuts through the wall.

[0105] Figure 9a , 9b This schematically illustrates cross-detection based on proximity in trajectory data. Figure 9a , 9b The first trajectory 110 is shown as a continuous line. Figure 9b The first path 140 and the second path 141 are further illustrated. The first path is marked with a cross, and the second path with a triangle. Furthermore, in Figure 9b The distances d1, d2, d3, and d4 between several first trajectory segments are shown in the figure.

[0106] For the first path, it is assumed that the distance d4 is small enough that the first trajectory segment at that location can be considered an intersection. This intersection can be assumed based on trajectory width information. The intersection can also be assumed based on building information and / or by analyzing motion data and / or trajectory data using algorithms to provide room entrance and exit information. Furthermore, room entrance and exit information can be based on the orientation used in the motion data and / or trajectory data. Therefore, the first path skips the gap shown as distance d4.

[0107] For the second path, it is assumed that distances d3 and d4 are too large to be considered intersections, while distances d1 and d2 can be considered intersections. Therefore, the second path does not skip the gaps shown as distances d3 and d4, but instead skips the gaps shown as distances d1 and d2. This use of proximity and the assumption of intersections of segments of the first trajectory can be based on the width of the first trajectory. This use of proximity and the assumption of intersections of segments of the trajectory can be based on segments of the first trajectory and segments of the second trajectory. This use of proximity can be based on pattern recognition in trajectory data and / or motion data.

[0108] Figure 10a , 10b Figure 10c schematically shows a seventh top view of the first floor traversed by the first emergency responder, with varying conditions. Figure 10a , 10b 10c shows the same as Figure 1a The layout of the first floor of the same building. Figure 10 shows the first trajectory 110 and the second trajectory 130 from the second emergency responder. Furthermore, Figure 10b , 10c The path 140, marked with a cross, is also shown. When the emergency responder is the first responder, or in other words, when the first responder wants to leave the emergency scene, the emergency responder follows the path shown. Figure 10b The first path is shown. The first path leads emergency responders to a barrier in the corridor. This barrier is an area that emergency responders cannot cross. This barrier can be fire, a dangerous opening in the floor, some kind of debris, or anything else that prevents emergency responders from passing through the location.

[0109] Emergency responders can indicate the blockade to the method, which uses this input to calculate and / or determine an alternative path or a second path 141. The blocked first path segment is generally not used again for any subsequent calculations of paths for other emergency responders. The second path is marked with a triangle and as shown... Figure 10c As shown. The second path begins at the location of the emergency responders facing the lockdown. Figure 10c The second route is shown using the first trajectory to allow emergency responders to safely traverse the corridor and around the cordon.

[0110] Figure 11a , 11b Figure 11c schematically shows the eighth top view of the third floor traversed by the first emergency responder using building information. Figure 11a It shows the relationship with Figure 1c The layout of the third floor 22 of the same building 10. Figure 11 shows the first trajectory 110 from the first emergency responder 111. In this case, the emergency responder is the first emergency responder.

[0111] Figure 11a The diagram shows the first trajectory through the double doors, where the first emergency responder has entered room 11 through one of the double doors and exited the room through the other double door.

[0112] When calculating routes now, it must be determined whether emergency responders using those routes must follow Route 140 and, as... Figure 11b The room can be traversed as shown, or a shortcut can be taken by following the second path 141. To determine whether the second path is possible, it is necessary to determine whether there is, for example, a wall 31 at the location of the two doors, or whether there are only two doors and no obstacles between these first trajectory segments at the two doors. This can be determined based on building information, motion data, or a combination thereof.

[0113] Figure 12 A method 200 for assisting emergency responders in retrieving a path is schematically illustrated. The method begins by receiving motion data 210 from a first motion sensor. The reception of motion data can continue while other steps of the method are performed in parallel. The method continues by compiling 220 trajectory data based on the motion data. The compilation of trajectory data can continue while other steps of the method are performed in parallel. The method then continues by calculating and / or determining 230 path data based on the trajectory data. The calculation and / or determination of path data can continue while other steps of the method are performed in parallel. The method then continues by providing 240 path data to an actuator for guiding emergency responders. The provision of path data can continue while other steps of the method are performed in parallel.

[0114] Figure 13 A system 300 for assisting emergency responders in retrieving routes is schematically illustrated. The system includes a first motion sensor unit 310, a processing unit 320, and an actuator 330. The first motion unit includes motion sensors 151 and 151'. The first motion sensor unit is configured to record the motion of a first emergency responder among at least one emergency responder exploring an emergency scenario. The motion unit may additionally include a communication module for communicating with the processing unit. The motion unit provides motion data to the processing unit at least once. The processing unit is configured to:

[0115] Receive motion data from the first motion sensor;

[0116] Based on the motion data from the first motion sensor, trajectory data is compiled, where the trajectory data represents the first trajectory of the first emergency responder through the emergency scenario;

[0117] Based on trajectory data, path data is calculated, where the path data represents a path that overlaps with at least a portion of the trajectory; and

[0118] Provide path data.

[0119] The process provides path data to the actuator. Therefore, the actuator is positioned to receive the path data and guide at least one emergency responder along the path.

[0120] Communication between the first motion sensor unit, the processing unit, and the actuators can be wired or wireless. The actuators can be deployed on the same emergency responder or on another emergency responder. The processing unit can be deployed with multiple motion sensors for controlling and / or servicing different emergency responders. The processing unit can be centralized or distributed. The processing unit can be distributed in the sense that motion data is processed locally on the first motion sensor unit into tracking data for transferring less data between parts of the distributed processing unit. The distributed processing unit can communicate wirelessly between its parts. The processing unit may include an interface for a supervisor (such as a fire chief) to obtain an overview of the emergency scenario and the different locations of emergency responders. The processing unit may include a database for storing motion data, trajectory data, and / or path data.

[0121] Figure 14 An embodiment of a computer program product 1000 including computer-readable code 1020, a computer-readable medium 1010, and / or a non-transitory computer-readable storage medium according to the present invention is illustrated schematically.

[0122] Examples, embodiments, or optional features, whether or not indicated as non-limiting, should not be construed as limiting the claimed invention.

[0123] It should be noted that the accompanying drawings are illustrative only and are not drawn to scale. In the drawings, elements corresponding to those already described may have the same reference numerals.

[0124] It will be understood that the invention also applies to computer programs (particularly, computer programs on or in a vehicle suitable for practicing the invention). The program can be in the form of source code, intermediate source code, and object code, such as in a partially compiled form, or in any other form suitable for use in embodiments of the method according to the invention. It will also be understood that such a program can have many different architectural designs. For example, program code implementing the functionality of the method or system according to the invention can be subdivided into one or more subroutines. Many different ways of distributing functionality within these subroutines will be apparent to those skilled in the art. Subroutines can be stored together in an executable file to form a self-contained program. Such an executable file may include computer-executable instructions, such as processor instructions and / or interpreter instructions (e.g., Java interpreter instructions). Alternatively, one or more or all of the subroutines may be stored in at least one external library file and, for example, statically or dynamically linked to the main program at runtime. The main program contains at least one call to at least one subroutine. Subroutines may also include function calls to each other. Embodiments relating to computer program products include computer-executable instructions corresponding to each processing stage of at least one of the methods set forth herein. These instructions may be subdivided into subroutines and / or stored in one or more files that can be statically or dynamically linked. Another embodiment relating to a computer program product includes computer-executable instructions for each device corresponding to at least one of the systems and / or products set forth herein. These instructions may be subdivided into subroutines and / or stored in one or more files that can be statically or dynamically linked.

[0125] The carrier of a computer program can be any entity or device capable of carrying the program. For example, the carrier may include a data storage device, such as a ROM, like a CD-ROM or semiconductor ROM, or a magnetic recording medium, such as a hard disk. Furthermore, the carrier can be a transmissible medium, such as an electrical or optical signal, which can be transmitted via cable or optical fiber, or by radio or other means. When the program is embodied in such a signal, the carrier can be constituted by such a cable or other device or apparatus. Alternatively, the carrier can be an integrated circuit in which the program is embedded, the integrated circuit being adapted to perform the relevant method or to be used in the performance of the relevant method.

[0126] The term "substantially," such as "substantially all launches" or "substantially comprise," used herein will be understood by those skilled in the art. The term "substantially" may also include embodiments having connotations such as "completely," "entirely," "all," etc. Therefore, the adjective "substantially" may also be removed in embodiments. Where applicable, the term "substantially" may also refer to 90% or higher, such as 95% or higher, particularly 99% or higher, even more particularly 99.5% or higher, including 100%. The term "comprising" also includes embodiments in which the term "comprising" means "consisting of."

[0127] The term "functionally" will be understood by those skilled in the art and will be clear to them. The terms "substantially" and "functionally" may also include embodiments with connotations such as "completely," "entirely," "all," etc. Therefore, in embodiments, the adjective "functionally" may also be removed. When used, for example, in "functionally in parallel," those skilled in the art will understand that the adjective "functionally" includes the term "substantially" as explained above. "Functionally" will be specifically understood to include configurations that allow these features to function as if the adjective "functionally" were not present. The term "functionally" is intended to cover variations of the feature it refers to, and which variations allow the feature to be combined with other features involved in the invention in its functional use, combinations of features capable of operation or function. For example, if an antenna is functionally coupled or functionally connected to a communication device, the received electromagnetic signals received by the antenna can be used by the communication device. The word "functionally," as used, for example, in "functionally in parallel," is used to cover exactly parallel, and also covers embodiments covered by the term "substantially" as explained above. For example, "functionally parallel" refers to embodiments that function as if these parts were in parallel. This covers embodiments in which a person skilled in the art would understand that they operate as if they were in parallel within their intended area of ​​use.

[0128] Furthermore, the terms first, second, third, etc., in the specification and claims are used to distinguish similar elements and are not necessarily used to describe things in sequence or chronological order. It should be understood that the terms thus used are interchangeable where appropriate, and the embodiments of the invention described herein can operate in orders other than those described or shown herein.

[0129] The devices or apparatus described herein are those used during operation. As will be apparent to those skilled in the art, the invention is not limited to the method of operation or the device in operation.

[0130] It should be noted that the embodiments mentioned above are illustrative rather than limiting of the invention, and those skilled in the art will be able to devise many alternative embodiments without departing from the scope of the claims. Any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The use of the verb "comprising" and its variations does not exclude the presence of elements or steps other than those recited in the claims. The quantifier "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by hardware comprising several different elements and by a computer suitable for programming. In device or apparatus claims enumerating several means, several of these means can be implemented by the same hardware. The mere fact that specific measures are recited in dissimilar dependent claims does not indicate that combinations of these measures cannot be advantageously used.

[0131] The present invention is also applicable to apparatus or devices including one or more of the characteristics described in the specification and / or shown in the drawings. The present invention also relates to methods or processes including one or more of the characteristics described in the specification and / or shown in the drawings.

[0132] The aspects discussed in this patent can be combined to provide additional advantages. Furthermore, some of the features can form the basis for one or more divisional applications.

Claims

1. A method (200) for assisting emergency responders in retrieving routes, comprising: - Receive (210) motion data from a first motion sensor (151, 151'), the first motion sensor (151, 151') recording the motion of a first emergency responder (111) among at least one emergency responder exploring an emergency scenario; - Based on the motion data from the first motion sensor, compile (220) trajectory data, wherein the trajectory data represents the first trajectory (110) of the first emergency responder through the emergency scenario; - Based on the trajectory data, calculate (230) path data, wherein the path data represents paths (140, 141) that overlap with at least a portion of the first trajectory; and - Provide the path data to the actuator (240), the actuator being arranged to guide the at least one emergency responder along the path; The calculation of the path data includes: - Identify intersections in the trajectory data to identify parallel trajectories between intersections; and - Select one of the parallel trajectories for use in the path data; The compilation of the trajectory data includes: - Obtain the position and / or orientation of the first motion sensor on the body of the first emergency responder and / or the device carried by the first emergency responder; - Obtain the track width; and - The trajectory data is established based on the motion data, the trajectory width, and the position and / or orientation of the first motion sensor.

2. The method according to claim 1, wherein, The selection is based on one or more of the following: the length of the trajectory segment, the number of curves in the trajectory segment, the time taken to travel the trajectory segment, the straightness of the trajectory segment, and / or the proximity of other trajectory segments to the trajectory segment.

3. The method according to claim 1, in, Calculating the path data includes: calculating the length of each parallel trajectory among the intersecting parallel trajectories, and / or calculating the travel time of each parallel trajectory; and The selection of one of the parallel trajectories is based on the length of the parallel trajectory and / or the travel time.

4. The method according to claim 1, wherein, The actuator is a tactile actuator, wherein the tactile actuator includes a plurality of tactile actuators arranged around the waist of the emergency responder, and is configured to provide the emergency responder with directional sensations for guiding the emergency responder.

5. The method according to claim 1, comprising: Motion data is received from a second motion sensor, which records the motion of a second emergency responder (112) among at least one emergency responder exploring an emergency scenario; Furthermore, the compiled trajectory data is also based on the motion data from the second motion sensor.

6. The method according to any one of claims 1 to 5, in, The emergency responder is the first emergency responder (111); wherein the actuator is disposed on the body of the first emergency responder.

7. The method according to any one of claims 1 to 5, wherein, The emergency responder is a second emergency responder (112), wherein the actuator is disposed on the body of the second emergency responder, or the emergency responder is a third emergency responder, wherein the actuator is disposed on the body of the third emergency responder.

8. The method according to any one of claims 1 to 5, wherein, Obtaining the position and / or orientation of the first motion sensor includes: retrieving a predefined position and / or orientation of the first motion sensor, or wherein obtaining the position and / or orientation of the first motion sensor includes: inferring the position and / or orientation of the first motion sensor from the motion data.

9. The method according to any one of claims 1 to 5, wherein, The calculation of the path data includes: - Load the building information model; and - Based on the building information model, the path data is optimized, and the optimization of the path data includes: based on the building information model, identifying intersections, wherein identifying intersections includes: - Based on the building information model, alternative parallel trajectories are identified.

10. The method according to any one of claims 1 to 5, in, The trajectory data represents the total displacement of the first emergency responder. The total displacement includes data on all steps taken by the first emergency responder, both small and large, forward, backward, and lateral; The path data is configured to guide emergency responders along paths that provide a smooth route; and The path data does not include data on all steps taken by the first emergency responder, including small and large, forward, backward, and lateral steps.

11. The method according to any one of claims 1 to 5, comprising: - Receive tags that mark specific locations; as well as The compiled trajectory data is also based on received tags, which indicate at least a portion of the path and / or trajectory being blocked, points that need to be inserted into the path and / or trajectory, and / or related points for the path and / or trajectory.

12. The method according to claim 11, wherein, The label indicates the location to be avoided and / or the location to be inserted into the path data.

13. A system comprising a microprocessor arranged and loaded with software for performing the method according to any one of claims 1 to 12.

14. A method for assisting a second emergency responder among at least one emergency responders in retrieving a path, comprising: - The actuator is placed on the body of the second emergency responder; as well as - Provide the actuator with path data representing a path for guiding the second emergency responder along the path, wherein the path data is obtained by the method according to any one of claims 1 to 12.

15. A method for assisting a first emergency responder among at least one emergency responder in retrieving a path, comprising: - Place the first motion sensor onto the body of the first emergency responder; - Receive motion data from the first motion sensor, which records the motion of the first emergency responder exploring the emergency scenario; - The actuator is placed on the body of the first emergency responder; as well as - Provide the path data to the actuator for guiding the first emergency responder along the path; wherein the path data is obtained by the method according to any one of claims 1 to 12.

16. A computer program product (1000) comprising a computer-readable medium (1010) having computer-readable code (1020) therein, the computer-readable code being configured to cause, when executed by a suitable computer or processor, the computer or processor to perform the method according to any one of claims 1 to 12 or claim 14 or claim 15.

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