Search and rescue method, device and electronic equipment based on digital terrain model

Abstract

This application discloses a search and rescue method, apparatus, storage medium, and electronic device based on a digital terrain model. The method aims to provide a collaborative rescue operation method that is easy to operate and has good visualization effects. By utilizing the digital terrain model as a map information source for search and rescue personnel performing search and rescue operations, the method provides model and data support for collaborative operations. Furthermore, by using thermal images captured by an aircraft, in conjunction with the digital terrain model and adaptive contrast enhancement technology, the method provides effective decision-making information to search and rescue personnel, thereby improving the timeliness of search and rescue operations.

Description

Technical Field

[0001] The present application relates to the technical field of digital terrain models, and in particular to a search and rescue method, device, storage medium and electronic equipment based on a digital terrain model. Background Art

[0002] With the development of high technology, forest resource management and forest fire prevention management have made revolutionary leaps in the development and application of GPS (Global Positioning System) positioning technology and GIS (Geographic Information System), thereby accelerating the shift of forest resource management from extensive to intensive.

[0003] However, existing terminal control platforms primarily use GPS maps as a visual interface, but GPS maps cannot accurately support rescue personnel in locating missing persons, which increases the time required for rescue operations. Furthermore, rescue personnel typically rely on visual assessments at the scene, such as in a forest, making it difficult to quickly locate missing persons. In actual search and rescue operations, rescue personnel first rely on their personal experience to analyze the entire forest and then develop a search and rescue plan. However, the inability to obtain real-time on-site information prevents rescue personnel from effectively gaining a comprehensive understanding of the forest's current temperature, wind speed, and the conditions of the missing person.

[0004] Therefore, it is necessary to propose solutions to the existing technical problems. Summary of the Invention

[0005] The purpose of this application is to provide a search and rescue method, device, storage medium, and electronic device based on a digital terrain model. The purpose is to provide a method for collaborative rescue operations that is easy to operate and has good visualization effects. By using the digital terrain model as a map information source for search and rescue personnel when performing search and rescue operations, model and data-level support is provided for collaborative operations. Furthermore, by using thermal images captured by an aircraft, in conjunction with the digital terrain model and adaptive contrast enhancement technology, effective decision-making information is provided to search and rescue personnel, thereby improving the timeliness of search and rescue operations.

[0006] According to one aspect of the present application, an embodiment of the present application provides a search and rescue method based on a digital terrain model, which includes: obtaining video information of a first area and identifying a target object based on the video information; when the target object is identified, determining the shooting device that photographed the target object; generating a search and rescue cruise route based on a second area monitored by the shooting device that photographed the target object, wherein the first area covers the second area; performing a thermal imaging scan on the second area according to the search and rescue cruise route, and obtaining a thermal imaging scan result; based on the thermal imaging scan result, determining the target object for a second time and obtaining the target position of the target object; and based on the target position of the target object, generating an optimal travel route and generating a corresponding search and rescue information signal, thereby performing search and rescue.

[0007] Optionally, the step of obtaining video information of the first area and identifying the target object based on the video information includes: receiving a search and rescue operation instruction; calling all shooting devices to obtain video information of the first area according to the search and rescue operation instruction; and identifying the target object based on the video information.

[0008] Optionally, before the step of generating a search and rescue cruise route based on the second area monitored by the shooting device that photographed the target object, it includes: providing a digital terrain model; and determining a rescue level based on on-site information of the second area and target object information in the digital terrain model.

[0009] Optionally, the step of generating a search and rescue cruise route based on the second area monitored by the photographing device that photographed the target object includes: generating a search and rescue cruise route in the provided digital terrain model based on the second area monitored by the photographing device that photographed the target object.

[0010] Optionally, the step of performing a thermal imaging scan on the second area according to the search and rescue cruise route and obtaining a thermal imaging scan result includes: performing a thermal imaging scan on the second area to obtain temperature values ​​of multiple designated positions in the second area; comparing the temperature value of each designated position with the average temperature value of the second area; and when it is determined that the temperature difference between the temperature value of a designated position among the multiple designated positions and the average temperature value is greater than a preset temperature threshold, determining the designated position among the multiple designated positions as the target position and using it as the thermal imaging scan result.

[0011] Optionally, when it is determined that the temperature difference between the temperature value of a designated position among multiple designated positions and the average temperature value is greater than a preset temperature threshold, the step of determining that the designated position among the multiple designated positions is the target position includes: determining whether the temperature difference between the temperature value of the designated position and the average temperature value matches the temperature range of the preset object; when it is determined that the temperature difference between the temperature value of the designated position and the average temperature value matches the temperature range of the preset object, determining that there is a target object at the target position.

[0012] Optionally, after the step of determining that there is a target object at the target position, the method includes: performing a secondary determination of the target object based on the target object information; after the target object is determined for the second time, locking and tracking the target object to obtain the target position, image information and current environment information of the target object.

[0013] Optionally, after the step of obtaining the target position, image information and current environmental information of the target object, the method includes: synchronizing the obtained target position, image information and current environmental information of the target object to a digital terrain model; determining the target object for a third time based on the target position, image information and current environmental information provided by the synchronized digital terrain model; and after determining the target object for the third time, generating an optimal route according to the target position of the target object, generating a corresponding search and rescue information signal, and performing search and rescue accordingly.

[0014] Optionally, the step of generating an optimal route based on the target position of the target object and generating a corresponding search and rescue information signal, and performing search and rescue based on this, includes: generating an optimal route based on the target position of the target object and the obstacle information provided by the digital terrain model; and generating a corresponding search and rescue information signal based on the optimal route.

[0015] Optionally, after the step of generating an optimal travel route based on the target position of the target object and generating a corresponding search and rescue information signal and conducting search and rescue accordingly, the method includes: recording search and rescue operation information after completing the search and rescue; and updating the data information of the digital terrain model based on the recorded search and rescue operation information to train the digital terrain model.

[0016] According to another aspect of the present application, an embodiment of the present application provides a search and rescue device based on a digital terrain model, which includes: an object recognition module for acquiring video information of a first area and identifying a target object based on the video information; a device determination module for determining a shooting device that photographed the target object when the target object is identified; a route generation module for generating a search and rescue cruise route based on a second area monitored by the shooting device that photographed the target object, wherein the first area covers the second area; a thermal imaging scanning module for performing a thermal imaging scan on the second area according to the search and rescue cruise route and obtaining a thermal imaging scanning result; a secondary determination module for secondary determining the target object and obtaining the target position of the target object based on the thermal imaging scanning result; and a search and rescue signal generation module for generating an optimal travel route based on the target position of the target object, and generating a corresponding search and rescue information signal, thereby performing search and rescue.

[0017] According to another aspect of the present application, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is suitable for loading by a processor to execute the steps in the digital terrain model-based search and rescue method described in any embodiment of the present application.

[0018] According to another aspect of the present application, an embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor executes the steps of the digital terrain model-based search and rescue method described in any embodiment of the present application by calling the computer program stored in the memory.

[0019] The present application provides a search and rescue method, apparatus, storage medium, and electronic device based on a digital terrain model. These methods aim to provide a collaborative rescue operation method with convenient control and excellent visualization. By utilizing the digital terrain model as a map information source for rescue personnel performing search and rescue operations, they provide model and data-level support for collaborative operations. Furthermore, by utilizing thermal images captured by an aircraft, combined with the digital terrain model and adaptive contrast enhancement technology, effective decision-making information is provided to rescue personnel, thereby improving the timeliness of search and rescue operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings will make the technical solutions and other beneficial effects of the present application apparent.

[0021] Figure 1 A flowchart of the steps of a search and rescue method based on a digital terrain model provided in an embodiment of the present application.

[0022] Figure 2 for Figure 1 FIG. 1 is a schematic diagram of the preceding steps of step S110 .

[0023] Figure 3 for Figure 1 FIG. 1 is a schematic diagram of the preceding steps of step S130 .

[0024] Figure 4 for Figure 1 A schematic diagram of the sub-steps of step S140 is shown.

[0025] Figure 5 for Figure 4 Schematic diagram of the sub-steps of sub-step S143.

[0026] Figure 6 for Figure 5 Schematic diagram of the subsequent steps of sub-step S1432.

[0027] Figure 7 for Figure 6 Schematic diagram of the subsequent steps of sub-step S1434.

[0028] Figure 8 for Figure 1 A schematic diagram of the sub-steps of step S160 is shown.

[0029] Figure 9 for Figure 8 Schematic diagram of the subsequent steps of step S160.

[0030] Figure 10 A schematic diagram of the architecture of a search and rescue device based on a digital terrain model provided in an embodiment of the present application.

[0031] Figure 11 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0033] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the specified features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0034] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0035] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0036] Figure 1 A flowchart of the steps of a search and rescue method based on a digital terrain model provided in an embodiment of the present application.

[0037] See Figure 1 As shown, an embodiment of the present application provides a search and rescue method based on a digital terrain model, which includes: step S110, obtaining video information of a first area, and identifying a target object based on the video information; step S120, when the target object is identified, determining the shooting device that photographed the target object; step S130, generating a search and rescue cruise route based on a second area monitored by the shooting device that photographed the target object, wherein the first area covers the second area; step S140, performing a thermal imaging scan on the second area according to the search and rescue cruise route, and obtaining a thermal imaging scan result; step S150, determining the target object for a second time and obtaining the target position of the target object based on the thermal imaging scan result; step S160, generating an optimal travel route based on the target position of the target object, and generating a corresponding search and rescue information signal, thereby performing search and rescue.

[0038] This application presents a rescue method based on a digital terrain model. It aims to provide a collaborative rescue operation method with convenient control and excellent visualization. By utilizing the digital terrain model as a map information source for search and rescue personnel during search and rescue operations, it provides model and data support for collaborative operations. Furthermore, by utilizing thermal images captured by an aircraft, combined with the digital terrain model and adaptive contrast enhancement technology, it provides search and rescue personnel with effective decision-making information, thereby improving the timeliness of search and rescue operations.

[0039] The rescue method based on the digital terrain model described in this application will be further described in detail below.

[0040] Step S110: Acquire video information of the first area, and identify a target object based on the video information.

[0041] Among them, the first area refers to a specific area monitored by the shooting device. The specific area can be a forest farm, but is not limited to this, such as an island, a mountain, etc. In this article, the forest farm will be described as an example. In this embodiment, there are multiple shooting devices, so multiple video information can be obtained. In general, for example, the first shooting device is responsible for monitoring area A to obtain the first video information of area A. The second shooting device is responsible for monitoring area B to obtain the second video information of area B. The third shooting device is responsible for monitoring area C to obtain the third video information of area C. The fourth shooting device is responsible for monitoring area D to obtain the fourth video information of area D, and so on. Area A, area B, area C, area D and other multiple areas constitute a specific area.

[0042] After obtaining multiple video information, the target object can be identified based on the video information. In this embodiment, the target object is a missing person in a forest farm. Of course, in other embodiments, the target object can also be a specific object in a specific area. The specific object is not limited to a person, and can also be a specific animal, a specific vehicle (the vehicle is driven by a driver), etc.

[0043] In this embodiment, automatic person recognition technology can be used to determine whether the target subject is a missing person. Target subject information includes facial information, physical features, height, gender, etc. This target subject information can be obtained from a missing person database or provided by the missing person's family or friends. Based on this target subject information and using automatic person recognition technology, it can be determined whether the target subject in the video information is a missing person.

[0044] See Figure 2 As shown, in some optional embodiments, the steps of obtaining video information of the first area and identifying the target object based on the video information include: step S101, receiving a search and rescue operation instruction; step S102, calling all shooting devices to obtain video information of the first area according to the search and rescue operation instruction; step S103, identifying the target object based on the video information.

[0045] In the following, the case of a lost person in a forest farm will be described as an example. After a lost person incident occurs in a forest farm, in order to quickly find the lost person and smoothly carry out related search and rescue work, the search and rescue method based on the digital terrain model described in this application can be executed. Rescuers can issue a search and rescue operation instruction on a terminal (for example, a terminal with a related search and rescue application installed), and the corresponding server can receive the search and rescue operation instruction. Then, the server can call all shooting devices according to the search and rescue operation instruction to obtain video information of the monitored first area (for example, a forest farm). Then, the target object is identified based on the obtained video information.

[0046] Step S120: When the target object is identified, determining the photographing device that photographed the target object.

[0047] Through person recognition technology, it is possible to identify whether the target subject in the video information is a missing person, and at the same time, determine the camera that captured the target subject. In other words, it is possible to determine whether one or more of the multiple cameras captured the target subject. For example, the missing person may appear in the video information captured by the second camera, or the missing person may appear in the video information captured by the second and third cameras, or even the missing person may appear in the video information captured by the third and fourth cameras.

[0048] Step S130 : generating a search and rescue cruise route according to a second area monitored by the photographing device that photographs the target object, wherein the first area covers the second area.

[0049] The second area refers to the area where the target object has appeared. If the first area refers to the entire forest farm, the second area refers to a small part of the forest farm, or even a smaller area of ​​the forest farm.

[0050] See Figure 3 As shown, in some embodiments, before step S130, the following steps are included: step S121, providing a digital terrain model; step S122, determining a rescue level according to on-site information of a second area and target object information in the digital terrain model.

[0051] In step S121, the server can provide a digital terrain model. The digital terrain model (DTM) is the most important spatial information data in the geographic information system's geographic database and the core data system for terrain analysis. Relying on this data, a more accurate digital twin space can be constructed. In this article, the digital terrain model is a model designed for the forest farm field. Compared with the GPS (Global Positioning System) map, the digital terrain model has more accurate and comprehensive information. It includes various terrain parameters such as slope, aspect, roughness, etc., and combined with the absolute positioning technology of GPS, it can provide search and rescue personnel with high-precision map information with a high degree of similarity to the real environment. At the same time, the digital terrain model enriches the temperature, wind force, target objects, etc. of the scene in the form of a model inside the digital terrain model, which can accurately reflect the actual working environment of the forest farm on the map. In addition, the digital terrain model described in this application also supports the modeling of search and rescue personnel and search and rescue equipment (specifically, the search and rescue equipment is an aircraft, such as a small drone, hereinafter referred to as a drone) inside it. In this way, the digital terrain model simultaneously integrates equipment information (BOT), including the location of search and rescue personnel, the number of personnel, and the progress of the search and rescue operation, as well as the location information of the search and rescue equipment within the digital terrain model (Anchor / BOT Location). Therefore, when the digital terrain model serves as a map information source for search and rescue personnel to carry out search and rescue operations, the terrain information, equipment location, and equipment attribute information provided at the planning level of search and rescue operations can provide reliable model and data support for collaborative operations.

[0052] In step S122, a rescue level is determined based on the on-site information of the second area in the digital terrain model and the target object information. The on-site information includes the temperature and wind speed at the site. The target object information includes the age and physical characteristics of the missing person. The corresponding rescue level is determined based on preset judgment factors (such as the presence of casualties, the severity of the disaster, the difficulty of search and rescue, and whether a lower rescue level cannot control the disaster).

[0053] Furthermore, in some embodiments, upon arrival at the scene, search and rescue command personnel determine the search and rescue strategy or whether to increase the rescue level based on on-site reconnaissance and the development of the situation. For example, if the temperature at the scene is determined to be too low, search and rescue personnel may be required to bring warm clothing. For another example, strong winds at the scene may affect the degree of body temperature loss of the missing person, while high wind speeds may accelerate the loss of body temperature. Therefore, wind force and speed may also be considered as reference factors in determining the rescue level.

[0054] Step S130 : generating a search and rescue cruise route according to a second area monitored by the photographing device that photographs the target object, wherein the first area covers the second area.

[0055] In some embodiments, in step S130, a corresponding search and rescue cruise route is generated in the provided digital terrain model according to the missing person appearing in the second area monitored by the corresponding camera.

[0056] Step S140: Perform a thermal imaging scan on the second area according to the search and rescue cruise route, and obtain a thermal imaging scan result.

[0057] See Figure 4 As shown, in some embodiments, step S140 may include: step S141, performing a thermal imaging scan on the second area to obtain temperature values ​​of multiple designated positions in the second area; step S142, comparing the temperature value of each designated position with the average temperature value of the second area; step S143, when it is determined that the temperature difference between the temperature value of a designated position among the multiple designated positions and the average temperature value is greater than a preset temperature threshold, determining the designated position among the multiple designated positions as the target position, and using it as the thermal imaging scan result.

[0058] In this embodiment, the drone arrives at the search and rescue target point according to the search and rescue cruise route to perform high-altitude search and rescue operations. During the high-altitude search and rescue operations, thermal imaging scanning technology can be used to search the second area.

[0059] After performing a thermal imaging scan on the second area, the temperature values ​​of multiple designated positions in the second area can be obtained. Then, the temperature value of each designated position is compared with the average temperature value of the second area through adaptive contrast enhancement (ACE). The average temperature value of the second area here refers to the normal temperature value obtained during the normal operation of the drone. In other words, it is the normal temperature value of the area where the lost person appears. When it is determined that the temperature difference between the temperature value of one or more designated positions in the multiple designated positions and the average temperature value is greater than the preset temperature threshold, the designated position can be determined as the target position as the thermal imaging scan result.

[0060] If the difference between the temperature value at the designated location and the average temperature value is large, the designated location can be determined to be the target location. It should be noted that the designated location can be the location in the world coordinate system obtained when the drone is positioned.

[0061] See Figure 5As shown, in step S143, it can also include: step S1431, judging whether the temperature difference between the temperature value of the specified position and the average temperature value matches the temperature range of the preset object; step S1432, when it is judged that the temperature difference between the temperature value of the specified position and the average temperature value matches the temperature range of the preset object, determining that there is a target object at the target position.

[0062] When it is determined that the temperature difference between the temperature value of the designated location and the average temperature value is greater than a preset temperature threshold, it is generally determined that the target object may be present at the designated location. Since there is a certain difference between the temperature range of human body temperature and the temperature range of animal body temperature or some heat-generating objects, it is possible to further determine whether the temperature value of the designated location (where the target object may be present) matches the temperature range of a preset object (such as human body temperature). When it is determined that the temperature value of the designated location matches the temperature range of the preset object, it can be determined that someone is at the designated location, which can further improve the search and rescue efficiency.

[0063] See Figure 6 As shown, further, after the step (S1432) of determining that a target object exists at the target position, it can include: step S1433, performing a secondary determination of the target object based on the target object information; step S1434, after the target object is determined for the second time, locking and tracking the target object to obtain the target position, image information and current environmental information of the target object.

[0064] Specifically, the drone can compare the target object's information (such as physical features, gender, and height) with the image information obtained by the drone to achieve the purpose of secondary determination. This can determine the correct target object and improve the completion rate and accuracy of the search and rescue operations of the search and rescue personnel. After the target object is secondary determined, the drone can lock and track the position of the target object. At this time, the drone can track the target object from high altitude to low altitude, and photograph the target object from multiple angles, and transmit the target object's target position, image information, and current environmental information obtained in real time to the server.

[0065] See Figure 7As shown, in some embodiments, after the step of obtaining the target position, image information and current environmental information of the target object (i.e., step S1434), the following steps may be included: step S1435, synchronizing the obtained target position, image information and current environmental information of the target object to a digital terrain model; step S1436, determining the target object for the third time based on the target position, image information and current environmental information provided by the synchronized digital terrain model; step S1437, after determining the target object for the third time, executing the step of generating an optimal route according to the target position of the target object, generating a corresponding search and rescue information signal, and performing search and rescue accordingly.

[0066] Specifically, the digital terrain model in the server receives the target position, image information and current environmental information of the target object transmitted back by the drone, and performs synchronization operations to update the data information of the digital terrain model. In this way, not only can the real-time information of the forest farm be obtained (for example, including high and low temperature areas of the forest farm, visible light images, etc.), but it can also be simulated based on the image information and target position of the target object. In this way, search and rescue personnel can match the data information displayed by the digital terrain model (such as the location information of the target object and the high-definition pictures taken by the drone) with the obtained target object information (such as the gender, physical characteristics, and height of the target object). By executing the above steps, the accuracy of the search and rescue operation can be further improved. After the target object is determined for the third time, the steps of generating the optimal route according to the target position of the target object and generating the corresponding search and rescue information signal can be executed to carry out the search and rescue accordingly.

[0067] Step S160: Generate an optimal route based on the target location of the target object and generate a corresponding search and rescue information signal, and perform search and rescue accordingly.

[0068] See Figure 8 As shown, in some embodiments, step S160 may include: step S161, generating an optimal route according to the target position of the target object and the obstacle information provided by the digital terrain model; step S162, generating a corresponding search and rescue information signal according to the optimal route.

[0069] In other words, the digital terrain model can simulate an optimal route based on the target location, on-site information, and obstacle information. Specifically, the optimal route can be obtained using the Dijkstra algorithm or the Floyd algorithm. Based on this optimal route, a corresponding search and rescue information signal is generated to notify the rescue personnel closest to the target object to initiate the search and rescue operation. Upon receiving the search and rescue information signal, the rescue personnel can quickly proceed to the target location to conduct a search and rescue operation.

[0070] See Figure 9 As shown, in some embodiments, after step S160, the following may be included: step S171, after completing the search and rescue, recording the search and rescue operation information; step S172, updating the data information of the digital terrain model according to the recorded search and rescue operation information to train the digital terrain model.

[0071] Specifically, after completing a search and rescue operation, the rescue personnel transmit information about the search and rescue operation back to the server. This information may include target object information (e.g., the missing person's gender, age, physical characteristics, and physical condition), rescue information (e.g., the rescue time, the rescue personnel's physical and psychological condition after completion), and location information. After receiving this information, the server updates the data of the digital terrain model (i.e., the rescue personnel model and the target object model) to train the digital terrain model. This comparison of the estimated data before the search and rescue operation with the actual data after the search and rescue operation is completed improves the self-correction capabilities of the digital terrain model.

[0072] Based on the same inventive concept, an embodiment of the present application provides a search and rescue device based on a digital terrain model.

[0073] See Figure 10 As shown, the search and rescue device based on the digital terrain model includes: an object recognition module 11, a device determination module 12, a route generation module 13, a thermal imaging scanning module 14, a secondary determination module 15 and a search and rescue signal generation module 16.

[0074] Specifically, the object recognition module 11 is configured to obtain video information of a first area and recognize a target object according to the video information.

[0075] The device determination module 12 is configured to determine the photographing device that photographed the target object when the target object is identified.

[0076] The route generating module 13 is configured to generate a search and rescue cruise route according to a second area monitored by the photographing device that photographs the target object, wherein the first area covers the second area.

[0077] The thermal imaging scanning module 14 is used to perform a thermal imaging scan on the second area according to the search and rescue cruise route and obtain a thermal imaging scan result.

[0078] The secondary determination module 15 is configured to secondary determine the target object and obtain a target position of the target object based on the thermal imaging scan result.

[0079] The search and rescue signal generating module 16 is used to generate an optimal route according to the target position of the target object and generate a corresponding search and rescue information signal, thereby performing search and rescue.

[0080] The design of these modules aims to provide a collaborative rescue operation method with convenient control and excellent visualization. By utilizing the digital terrain model as a map information source for search and rescue personnel, it provides model and data support for collaborative operations. Furthermore, by using thermal images captured by the aircraft, combined with the digital terrain model and adaptive contrast enhancement technology, it provides search and rescue personnel with effective decision-making information, thereby improving the timeliness of search and rescue operations.

[0081] In some embodiments, the object recognition module may include a command receiving unit, a video acquisition unit, and an object recognition unit. The command receiving unit is configured to receive a search and rescue operation command. The video acquisition unit, based on the search and rescue operation command, calls upon all cameras to obtain video information of the first area. The object recognition unit is configured to identify a target object based on the video information.

[0082] In some embodiments, the device further comprises a model providing unit and a level determining unit. The model providing unit may be connected to the device determining module 12 to provide a digital terrain model. The level determining unit may be connected to the route generating module 13 to determine a rescue level based on the on-site information of the second area and the target object information in the digital terrain model.

[0083] In some embodiments, the thermal imaging scanning module 14 may include: a temperature acquisition unit, a temperature comparison unit, and a position determination unit. The temperature acquisition unit is configured to perform a thermal imaging scan of the second area to obtain temperature values ​​for multiple designated locations within the second area. The temperature comparison unit is configured to compare the temperature value of each designated location with the average temperature value of the second area. The position determination unit is configured to determine that a designated location among the multiple designated locations is a target location and use it as the thermal imaging scan result when it is determined that the temperature difference between the temperature value of a designated location among the multiple designated locations and the average temperature value is greater than a preset temperature threshold.

[0084] Furthermore, the location determination unit may include a temperature matching subunit and an object determination subunit. The temperature matching subunit is configured to determine whether a temperature difference between a temperature value at a designated location and the average temperature value matches a preset temperature range for an object. The object determination subunit is configured to determine that a target object is present at the target location when it is determined that the temperature difference between the temperature value at the designated location and the average temperature value matches a preset temperature range for an object.

[0085] Furthermore, the position determination unit further includes a secondary determination subunit and an information acquisition subunit. The secondary determination subunit is configured to perform a secondary determination of the target object based on the target object information. The information acquisition subunit is configured to, after secondary determination of the target object, lock onto and track the target object to obtain the target position, image information, and current environment information of the target object.

[0086] Furthermore, the position determination unit further includes an information synchronization subunit and a third determination subunit. The information synchronization subunit is configured to synchronize the acquired target position, image information, and current environmental information of the target object with the digital terrain model. The third determination subunit is configured to perform a third determination of the target object based on the target position, image information, and current environmental information provided by the synchronized digital terrain model.

[0087] In some embodiments, the apparatus further includes an information recording unit and an information updating unit. The information recording unit may be connected to the search and rescue signal generating module 16 and configured to record search and rescue operation information after the search and rescue operation is completed. The information updating unit is configured to update the data information of the digital terrain model based on the recorded search and rescue operation information to train the digital terrain model.

[0088] It should be noted that the above modules, units, or sub-units can be combined in any manner to form optional embodiments of the present application, and will not be described in detail here. In addition, the examples and application scenarios implemented by the above modules, units, or sub-units and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. The above modules, sub-modules, units, or sub-units, as part of the digital terrain model-based search and rescue device, can be implemented via software or hardware.

[0089] In addition, an embodiment of the present invention further provides a computer-readable storage medium storing a plurality of computer programs, which can be loaded by a processor to execute the steps of any one of the digital terrain model-based search and rescue methods provided in the embodiments of the present invention. For example, the computer program can execute the following steps:

[0090] Acquiring video information of a first area, and identifying a target object based on the video information;

[0091] When the target object is identified, determining a photographing device that photographed the target object;

[0092] generating a search and rescue patrol route according to a second area monitored by a photographing device that photographs the target object, wherein the first area covers the second area;

[0093] Performing a thermal imaging scan on the second area according to the search and rescue cruise route, and obtaining a thermal imaging scan result;

[0094] secondarily determining the target object and obtaining a target position of the target object based on the thermal imaging scan result; and

[0095] According to the target position of the target object, an optimal route is generated, and a corresponding search and rescue information signal is generated, and search and rescue is carried out accordingly.

[0096] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0097] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0098] See Figure 11 As shown, an embodiment of the present application further provides an electronic device 2000, which may be a terminal device or a server. The electronic device 2000 may include a processor 210 having one or more processing cores, a memory 220 having one or more computer-readable storage media, and a computer program stored in the memory 220 and executable on the processor 210. The processor 210 is electrically connected to the memory 220. Those skilled in the art will appreciate that the structure of the electronic device 2000 shown in the figure does not limit the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0099] The processor 210 is the control center of the electronic device 2000. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or loading software programs and / or modules stored in the memory 220, and calling data stored in the memory 220, it executes various functions of the electronic device 2000 and processes data, thereby monitoring the electronic device 2000 as a whole.

[0100] In the embodiment of the present application, the processor 210 in the electronic device 2000 loads instructions corresponding to one or more application processes into the memory 220 according to the following steps, and the processor 210 runs the application stored in the memory 220 to implement various functions:

[0101] Acquiring video information of a first area, and identifying a target object based on the video information;

[0102] When the target object is identified, determining a photographing device that photographed the target object;

[0103] generating a search and rescue patrol route according to a second area monitored by a photographing device that photographs the target object, wherein the first area covers the second area;

[0104] Performing a thermal imaging scan on the second area according to the search and rescue cruise route, and obtaining a thermal imaging scan result;

[0105] secondarily determining the target object and obtaining a target position of the target object based on the thermal imaging scan result; and

[0106] According to the target position of the target object, an optimal route is generated, and a corresponding search and rescue information signal is generated, and search and rescue is carried out accordingly.

[0107] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0108] The above is a detailed introduction to the search and rescue method, device, storage medium and electronic device based on the digital terrain model provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application; ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A search and rescue method based on a digital terrain model, characterized in that: include: Acquiring video information of a first area, and identifying a target object based on the video information; When the target object is identified, determining a photographing device that photographed the target object; generating a search and rescue patrol route based on a second area monitored by a photographing device that photographed the target object, wherein the first area covers the second area, and the second area refers to an area where the target object appeared; Perform a thermal imaging scan on the second area according to the search and rescue cruise route, and obtain thermal imaging scan results, specifically including: Performing a thermal imaging scan on the second area to obtain temperature values ​​of a plurality of designated locations in the second area; comparing the temperature value of each designated location with the average temperature value of the second region; and When it is determined that the temperature difference between the temperature value of a designated position among the multiple designated positions and the average temperature value is greater than a preset temperature threshold, determining the designated position among the multiple designated positions as a target position and using it as a thermal imaging scan result; Wherein, when it is determined that the temperature difference between the temperature value of a designated location among the multiple designated locations and the average temperature value is greater than a preset temperature threshold, the step of determining the designated location among the multiple designated locations as the target location includes: Determining whether a temperature difference between a temperature value at a specified location and the average temperature value matches a temperature range of a preset object; When it is determined that the temperature difference between the temperature value at the designated location and the average temperature value matches the temperature range of the preset object, it is determined that the target object exists at the target location; Secondarily determining the target object and obtaining the target position of the target object based on the thermal imaging scan result specifically includes: After the step of determining that a target object exists at the target location, performing a secondary determination on the target object based on the target object information; Performing information comparison based on target object information and the obtained image information to achieve the purpose of secondary determination, wherein the target object information includes physical characteristics, gender and height; and According to the target position of the target object, an optimal route is generated, and a corresponding search and rescue information signal is generated, and search and rescue is carried out accordingly.

2. The search and rescue method according to claim 1, characterized in that: The step of acquiring video information of the first area and identifying the target object based on the video information includes: Receive search and rescue operation instructions; According to the search and rescue operation instruction, calling all shooting devices to obtain video information of the first area; and A target object is identified according to the video information.

3. The search and rescue method according to claim 1, characterized in that: Before the step of generating a search and rescue cruise route based on the second area monitored by the photographing device that photographed the target object, the method includes: Provide digital terrain models; A rescue level is determined according to the on-site information of the second area and the target object information in the digital terrain model.

4. The search and rescue method according to claim 3, characterized in that: The step of generating a search and rescue cruise route according to the second area monitored by the photographing device that photographed the target object includes: In the provided digital terrain model, a search and rescue patrol route is generated based on a second area monitored by a photographing device that photographs the target object.

5. The search and rescue method according to claim 1, characterized in that: After the target object is determined for the second time, the target object is locked and tracked to obtain the target position, image information and current environment information of the target object.

6. The search and rescue method according to claim 5, characterized in that: After the step of obtaining the target position, image information and current environment information of the target object, the method further includes: Synchronize the obtained target position, image information and current environment information of the target object to a digital terrain model; performing a third determination of the target object based on the target position, image information, and current environment information provided by the synchronized digital terrain model; After the target object is determined for the third time, the steps of generating an optimal route according to the target position of the target object and generating a corresponding search and rescue information signal are executed, and searching and rescuing is performed accordingly.

7. The search and rescue method according to claim 1, characterized in that: The step of generating an optimal route according to the target position of the target object and generating a corresponding search and rescue information signal, and performing search and rescue accordingly, includes: generating an optimal route based on the target position of the target object and obstacle information provided by the digital terrain model; According to the optimal travel route, a corresponding search and rescue information signal is generated.

8. The search and rescue method according to claim 1, wherein: After the steps of generating an optimal route according to the target position of the target object and generating a corresponding search and rescue information signal and performing search and rescue accordingly, the method includes: After completing the search and rescue, record the search and rescue operation information; According to the recorded search and rescue operation information, data information of the digital terrain model is updated to train the digital terrain model.

9. A search and rescue device based on a digital terrain model, characterized in that: include: an object recognition module, configured to obtain video information of the first area and identify a target object based on the video information; a device determination module, configured to determine a photographing device that photographed the target object when the target object is identified; a route generation module, configured to generate a search and rescue patrol route based on a second area monitored by a photographing device that photographed the target object, wherein the first area covers the second area, and the second area refers to an area where the target object appeared; The thermal imaging scanning module is used to perform a thermal imaging scan on the second area according to the search and rescue cruise route and obtain a thermal imaging scan result, specifically including: Performing a thermal imaging scan on the second area to obtain temperature values ​​of a plurality of designated locations in the second area; comparing the temperature value of each designated location with the average temperature value of the second region; and When it is determined that the temperature difference between the temperature value of a designated position among the multiple designated positions and the average temperature value is greater than a preset temperature threshold, determining the designated position among the multiple designated positions as a target position and using it as a thermal imaging scan result; Wherein, when it is determined that the temperature difference between the temperature value of a designated location among the multiple designated locations and the average temperature value is greater than a preset temperature threshold, the step of determining the designated location among the multiple designated locations as the target location includes: Determining whether a temperature difference between a temperature value at a specified location and the average temperature value matches a temperature range of a preset object; When it is determined that the temperature difference between the temperature value at the designated location and the average temperature value matches the temperature range of the preset object, it is determined that the target object exists at the target location; A secondary determination module is used to secondary determine the target object and obtain the target position of the target object based on the thermal imaging scan result, specifically including: After the step of determining that a target object exists at the target location, performing a secondary determination on the target object based on the target object information; Performing information comparison based on target object information and the obtained image information to achieve the purpose of secondary determination, wherein the target object information includes physical characteristics, gender and height; and The search and rescue signal generation module is used to generate an optimal route according to the target position of the target object and generate a corresponding search and rescue information signal, thereby performing search and rescue.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the steps of the search and rescue method based on a digital terrain model according to any one of claims 1 to 8.

11. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and the processor executes the steps of the search and rescue method based on a digital terrain model according to any one of claims 1 to 8 by calling the computer program stored in the memory.

Images