Intelligent wounded person transfer assisting method and system in field battle environment and transfer stretcher vehicle

Abstract

The invention provides an intelligent wounded person transfer assisting method and system in a field operation environment and a transfer stretcher, a corresponding field operation twin space is constructed based on the field operation environment, and the field operation twin space at least comprises a field operation space image model and a road image model. Determining positioning information corresponding to the field operation space image model and the road image model; obtaining current positioning information and target positioning information of the transfer stretcher, sequentially determining a corresponding field operation space image model and a road image model based on the current positioning information and the target positioning information, and generating a corresponding intelligent transfer path; the transfer wheel stretcher responds to an automatic control signal of the control main body, and the transfer wheel stretcher is controlled to walk in an assisted mode based on the intelligent transfer path based on the intelligent transfer path and a detection signal of the transfer wheel stretcher; and the transfer stretcher is manually controlled in response to the manual control information of the control main body, and protection detection is performed based on the detection signal of the transfer stretcher.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a method and system for assisting the intelligent transfer of wounded persons in a field combat environment, and a transfer stretcher. Background Art

[0002] The transfer of the wounded has always been a key link in the rescue process and an important factor affecting the best time for rescue and treatment. Untimely transfer will seriously threaten the treatment and recovery of the wounded. Under modern warfare conditions, the factors causing injuries are numerous and complex, and the battlefield environment is changeable. It is difficult for medical service personnel to rescue the wounded on the front line during wartime and complete the transfer safely.

[0003] At present, due to the diversity of battlefield environments and the inability of personnel to quickly find the best path for transfer according to the environment they are in, the treatment of the wounded and sick will be seriously affected.

[0004] Therefore, how to automatically generate transfer routes according to actual conditions, improve the transfer efficiency of the wounded, and reduce life risks has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a method, system and stretcher for intelligently transporting wounded persons in a field environment, which can automatically generate a transport route according to actual conditions, thereby improving the transport efficiency of wounded persons and reducing life risks.

[0006] A first aspect of the present invention provides a method for assisting the intelligent transfer of wounded personnel in a field environment, comprising: Constructing a corresponding field twin space based on the field environment, wherein the field twin space includes at least a field space image model and a road image model, and determining positioning information corresponding to the field space image model and the road image model respectively; Acquire the current positioning information and target positioning information of the transport stretcher vehicle, determine the corresponding field space image model and road image model in sequence based on the current positioning information and the target positioning information, and generate a corresponding intelligent transport path; The transport stretcher trolley responds to the automatic control signal of the control body, controls the transport stretcher trolley to assist walking based on the intelligent transport path and the detection signal of the transport stretcher trolley based on the intelligent transport path; The transport stretcher trolley manually controls the transport stretcher trolley in response to the manual control information of the control body, and performs protection detection based on the detection signal of the transport stretcher trolley.

[0007] Optionally, in a possible implementation manner of the first aspect, the corresponding field twin space is constructed based on the field environment, the field twin space at least includes a field space image model and a road image model, and determining the positioning information corresponding to the field space image model and the road image model respectively includes: Based on the interaction between the modeling end and the field server, a two-dimensional top view corresponding to the field twin space is generated; Performing first coordinate processing on the two-dimensional upper view based on pixel points, extracting a pixel center point of the two-dimensional upper view, and receiving a first azimuth coordinate configured by a user for the pixel center point; Receiving a second azimuth coordinate configured by a user for a calibration pixel point other than a pixel center point in a two-dimensional upper view, and calculating an azimuth distance between the pixel center point and the calibration pixel point based on the first azimuth coordinate and the second azimuth coordinate; The thumbnail state of the two-dimensional top view is obtained in real time by the modeling end, and the standard field space image model and road image model are dynamically adjusted based on the thumbnail state. The relative position and positioning information of the field space image model and the road image model are determined in the two-dimensional top view based on the interaction of the modeling end to obtain the field twin space.

[0008] Optionally, in a possible implementation manner of the first aspect, the real-time acquisition of a thumbnail state of the two-dimensional upper view by the modeling end, the dynamic adjustment of the standard field space image model and the road image model based on the thumbnail state, and the determination of the relative position and positioning information of the field space image model and the road image model in the two-dimensional upper view based on the interaction of the modeling end to obtain the field twin space include: Acquire the thumbnail state of the two-dimensional upper view from the modeling end in real time, and acquire the pixel center point and the pixel point interval distance corresponding to the calibration pixel point after determining the change of the thumbnail state of the two-dimensional upper view; The unit pixel distance under different thumbnail states is calculated based on the azimuth distance and the pixel interval distance; Obtaining standard sizes of a standard field space image model and a road image model, and converting the standard sizes of the field space image model and the road image model based on the unit pixel distance to obtain dynamically adjusted pixel specification information; Based on the pixel point specification information, a dynamically adjusted field space image model and road image model are obtained. Based on the interaction of the modeling end, the relative position and positioning information of the field space image model and the road image model in the two-dimensional top view are determined in the two-dimensional top view to obtain the field twin space.

[0009] Optionally, in a possible implementation manner of the first aspect, obtaining the dynamically adjusted field space image model and road image model based on the pixel point specification information, and determining the relative position and positioning information of the field space image model and the road image model in the two-dimensional upper view in the two-dimensional upper view based on the interaction of the modeling end to obtain the field twin space includes: Acquire contour pixel points of a field space image model and a road image model, dynamically adjust the number of contour pixel points based on the pixel point specification information, and obtain a field space image model and a road image model after the pixel points are dynamically adjusted; The interaction at the modeling end adjusts the position and contour of the field space image model and the road image model to obtain the adjusted field space image model and the road image model; The positions of all contour pixel points of the field space image model and the road image model are obtained to obtain the contour positioning information of the field space image model and the road image model.

[0010] Optionally, in a possible implementation of the first aspect, the acquiring current positioning information and target positioning information of the transport stretcher vehicle, determining a corresponding field space image model and a road image model in sequence based on the current positioning information and the target positioning information, and generating a corresponding intelligent transport path includes: Acquire the current positioning information of the transport stretcher vehicle to be transported, and based on the current positioning information, sequentially traverse the contour positioning information of the field space image model and the road image model, and determine the corresponding field space image model and road image model as the first starting model; Obtaining the transfer destination of the transport stretcher vehicle to be transported to obtain target positioning information, traversing the contour positioning information of the field space image model and the road image model in sequence based on the target positioning information, and determining the corresponding field space image model and road image model as the first termination model; Determine an associated road image model based on the contour positioning information corresponding to the first starting model and the first ending model respectively, and obtain an intermediate path model based on the determined road image model; A corresponding intelligent transfer path is generated based on the first starting model, the intermediate path model and the first termination model.

[0011] Optionally, in a possible implementation manner of the first aspect, determining the associated road image model based on the contour positioning information corresponding to the first starting model and the first ending model respectively, and obtaining the intermediate path model based on the determined road image model includes: Acquire a first starting coordinate of a central pixel point corresponding to the first starting model and a first ending coordinate of a central pixel point of a first ending model; Determine a path-finding strategy based on the coordinate comparison strategy of the first starting coordinate and the first ending coordinate, and determine at least one associated road image model based on the path-finding strategy; If there is one associated road image model, then an intermediate path model is obtained based on the one road image model; If there are multiple associated road image models, the path number added to the intermediate path model is obtained, and the road image models are sequentially combined based on the path numbers to obtain the intermediate path model.

[0012] Optionally, in a possible implementation manner of the first aspect, the determining a path finding strategy based on the coordinate comparison strategy processing of the first starting coordinate and the first ending coordinate, and determining at least one associated road image model based on the path finding strategy include: Compare the abscissas of the first starting coordinate and the first ending coordinate to determine the path-finding strategy of the abscissa dimension and the simulated path-finding distance of the abscissa, and compare the ordinates of the first starting coordinate and the first ending coordinate to determine the path-finding strategy of the ordinate dimension and the simulated path-finding distance of the ordinate; If the simulated path-finding distance of the horizontal coordinate is greater than the simulated path-finding distance of the vertical coordinate, the horizontal coordinate direction is used as the main path-finding direction; if the simulated path-finding distance of the vertical coordinate is greater than the simulated path-finding distance of the horizontal coordinate, the vertical coordinate direction is used as the main path-finding direction; Taking the first starting model as the starting point, the road image models are traversed in sequence based on the path-finding strategy and the main path-finding direction, and road image models that meet the horizontal coordinate direction requirements and the vertical coordinate direction requirements are selected, and the process stops after the first termination model is determined. The determined road image models are used as associated road image models and are numbered according to the traversal order.

[0013] Optionally, in a possible implementation of the first aspect, the transport stretcher trolley controls the transport stretcher trolley to assist walking based on the intelligent transport path based on the intelligent transport path and the detection signal of the transport stretcher trolley in response to the automatic control signal of the control body, including: The transport stretcher vehicle is provided with an interactive screen and automatic control buttons, wherein the interactive screen is used to display an intelligent transport path; After determining that the automatic control button is triggered by the control subject, high-precision position information of the transport stretcher vehicle is obtained based on a first positioning module at the head and a second positioning module at the tail of the transport stretcher vehicle; Adjusting the posture of the transport stretcher trolley based on the high-precision posture information and acquiring the status information of the transport stretcher trolley, and generating the power-assisted walking speed of the transport stretcher trolley based on the status information; If it is determined that the distance between the transport stretcher trolley and other transport stretcher trolleys is less than or equal to the preset distance, the walking route of the corresponding transport stretcher trolley in the corresponding field space image model and road image model is determined based on the walking directions of multiple transport stretcher trolleys, and the transport stretcher trolley is controlled to walk based on the intelligent transfer path assistance.

[0014] Optionally, in a possible implementation of the first aspect, after determining that the automatic control button is triggered by the control subject, obtaining high-precision position information of the transport stretcher based on a first positioning module at the head and a second positioning module at the tail of the transport stretcher includes: Acquire first vehicle positioning information of a first positioning module at the head, and acquire second vehicle positioning information of a second positioning module at the tail, wherein the first positioning module and the second positioning module are high-precision positioning modules; Based on the first vehicle positioning information and the second vehicle positioning information, a corresponding vehicle orientation line is constructed, a vehicle angle value of the vehicle orientation line compared to a center line of a field space image model or a road image model is obtained, and high-precision position information of the transport stretcher vehicle is obtained based on the vehicle angle value, wherein the field space image model and the road image model have a preset center line; If the high-precision posture information is greater than or equal to the preset angle value, steering adjustment information for the transport stretcher vehicle is generated; if the high-precision posture information is less than the preset angle value, no steering adjustment information is generated.

[0015] Optionally, in a possible implementation manner of the first aspect, adjusting the posture of the transport stretcher trolley based on the high-precision posture information and acquiring status information of the transport stretcher trolley, and generating the power-assisted walking speed of the transport stretcher trolley based on the status information, includes: Acquiring status information of the transport stretcher vehicle, wherein the status information at least includes vibration information; If the vibration information is less than or equal to the preset vibration value, the working power of the motor of the transport stretcher trolley is increased and the first speed information of the transport stretcher trolley is acquired in real time; After the first speed information is greater than or equal to the first speed threshold, the working power of the motor is maintained to obtain the power-assisted walking speed of the transport stretcher; If the vibration information is greater than a preset vibration value, the working power of the motor is reduced until the vibration information is less than or equal to the preset vibration value or the first speed information is less than or equal to the second speed threshold, so as to obtain the assisted walking speed of the transport stretcher.

[0016] Optionally, in a possible implementation of the first aspect, if it is determined that the distance between the transport stretcher trolley and other transport stretcher trolleys is less than or equal to a preset distance, a walking route of the corresponding transport stretcher trolley in the corresponding field space image model and the road image model is determined based on the walking directions of the multiple transport stretcher trolleys, and the transport stretcher trolley is controlled to walk based on the intelligent transport path with assistance, including: Adjusting the angle of the transport stretcher trolley based on the steering adjustment information so that the vehicle angle value of the transport stretcher trolley is less than a preset angle value; Obtain the field space image model and the road image model where the transport stretcher vehicle is currently located, and obtain the model walking routes corresponding to the field space image model and the road image model, each field space image model and the road image model includes at least one model walking route; When it is determined that the distance between a transport stretcher trolley and other transport stretcher trolleys is less than or equal to a preset distance, a model walking route of each transport stretcher trolley is determined based on the walking directions of the multiple transport stretcher trolleys, and transport stretcher trolleys with different walking directions in each field space image model and road image model correspond to different model walking routes; Control the transport stretcher to move with assistance according to the model walking route of each model in the intelligent transport path.

[0017] A second aspect of the present invention provides an intelligent assistance system for the transfer of wounded personnel in a field environment, comprising: A construction module, used to construct a corresponding field twin space based on the field environment, wherein the field twin space includes at least a field space image model and a road image model, and determine the positioning information corresponding to the field space image model and the road image model respectively; A generation module, used to obtain the current positioning information and target positioning information of the transport stretcher vehicle, determine the corresponding field space image model and road image model in sequence based on the current positioning information and the target positioning information, and generate a corresponding intelligent transport path; A control module, for controlling the transport stretcher trolley to move with assistance based on the intelligent transport path in response to an automatic control signal of the control body and based on the intelligent transport path and a detection signal of the transport stretcher trolley; The detection module is used to manually control the transport stretcher trolley in response to the manual control information of the control body, and to perform protection detection based on the detection signal of the transport stretcher trolley.

[0018] The third aspect of the present invention provides a transport stretcher vehicle, which is equipped with the above-mentioned intelligent transport assistance method for wounded persons in a field environment, comprising: A transport stretcher trolley body, the transport stretcher trolley body comprising a transport stretcher trolley and a power-assisting system, the power-assisting system comprising a power-assisting motor connected to the wheels of the transport stretcher trolley; A camera assembly, which is installed at the front end of the transport stretcher, so that the user can obtain image information within a preset range in front of the transport stretcher; A positioning assembly, the positioning assembly comprising a first positioning module located at the head of the transport stretcher vehicle and a second positioning module located at the tail, the first positioning module and the second positioning module being high-precision positioning modules; A memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the method according to any one of claims 1 to 11 to control the action of the power assist motor; An interactive screen is installed on one side of the transport stretcher vehicle body, and is used to receive automatic control signals or manual control information from the control body and display an intelligent transport path.

[0019] The beneficial effects of the present invention are as follows: 1. The present invention can automatically generate a transfer path according to actual conditions, improve the transfer efficiency of the wounded, and reduce life risks. First, the present invention can obtain a field twin space corresponding to the field environment, and determine the positioning information corresponding to the field space image model and the road image model in the field twin space, so that the intelligent transfer path can be automatically generated according to the current positioning information of the transport stretcher and the target positioning information, thereby improving the transfer efficiency of the loading stretcher and ensuring the safe and rapid transfer of the wounded. In addition, the present invention can control the movement of the transport stretcher in different ways according to the automatic control information and the manual control signal, thereby realizing the rapid transfer of the transport stretcher.

[0020] 2. The present invention can obtain the azimuth distance according to the first azimuth coordinate corresponding to the pixel center point and the second azimuth coordinate corresponding to the calibration pixel point, so as to further obtain the positioning information of all pixel points on the corresponding line segment between the pixel center point and the calibration pixel point, thereby ensuring that when the two-dimensional upper view is subsequently zoomed in and out, the positioning information of different buildings and roads will not deviate, thereby improving the accuracy of the data and thus improving the accuracy of the subsequent planned path. Moreover, the present invention can obtain the accurate position information of the transport stretcher according to the contour positioning information of the field space image model and the road image model, thereby automatically planning an intelligent transport path and improving the transport efficiency.

[0021] 3. The present invention can determine the corresponding vehicle orientation line according to the first positioning information and the second positioning information of the transport stretcher trolley, so as to determine the vehicle angle value, thereby facilitating the automatic adjustment of the transport stretcher trolley, ensuring that the transport stretcher trolley travels in the correct direction, reducing the active control of the travel direction of the transport stretcher trolley by personnel, thereby saving the number of medical staff controlling the transport stretcher trolley and achieving efficient transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flowchart of a method for assisting the intelligent transfer of wounded personnel in a field environment provided by the present invention; Figure 2 A schematic diagram of a vehicle heading line provided by the present invention; Figure 3This is a structural schematic diagram of an intelligent wounded transport assistance system in a field environment provided by the present invention; Figure 4 The present invention is a schematic structural diagram of a stretcher trolley provided by the present invention.

[0023] In the figure, 1. the main body of the transport stretcher; 2. the power-assisting motor; 3. the camera assembly; 41. the first positioning module; 42. the second positioning module; 5. the interactive screen. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0025] like Figure 1 As shown, the present invention provides a flow chart of a method for intelligently transporting wounded persons in a field environment, and the method for intelligently transporting wounded persons in a field environment comprises: S1. Construct a corresponding field twin space based on the field environment, where the field twin space at least includes a field space image model and a road image model, and determine the positioning information corresponding to the field space image model and the road image model respectively.

[0026] It is understandable that in order to more clearly display the best driving path and assist the stretcher truck for transporting the wounded, the corresponding field twin space can be constructed according to the actual field environment, so that the corresponding transfer path can be automatically generated in the field twin space through positioning information, thereby improving the efficiency of transporting the wounded.

[0027] It is not difficult to understand that in a field space environment, different locations may have buildings or passable roads, etc. Therefore, in order to subsequently plan accurate intelligent paths for the transfer of the wounded, the relevant building information and road information can be displayed synchronously in the field twin space. At the same time, each field space image model and road image model has corresponding longitude and latitude position coordinates, and the positioning information corresponding to each field space image model and road image model can be determined according to the positioning system (Beidou positioning system).

[0028] Among them, the field twin space is a virtual information space corresponding to the field environment, including a field space image model and a road image model. The field space image model is an image display model corresponding to the architectural space existing in the field environment, and the road image model is an image display model representing the road. The positioning information is location information, which can be longitude and latitude coordinate information.

[0029] Through the above-mentioned implementation mode, the present invention can obtain a field twin space corresponding to the field environment, so that an intelligent transfer path can be obtained later, thereby making an intuitive display for personnel to view.

[0030] In some embodiments, the specific implementation of step S1 (constructing a corresponding field twin space based on the field environment, the field twin space at least including a field space image model and a road image model, and determining the positioning information corresponding to the field space image model and the road image model respectively) includes: S11, based on the interaction between the modeling end and the field server, generates a two-dimensional top view corresponding to the field twin space.

[0031] It should be noted that when medical staff transport the wounded, they usually click on the map to confirm the transport route, that is, the route can be determined through the overhead image of the field twin space. Therefore, the two-dimensional top view corresponding to the field twin space can be obtained through information interaction between the modeling end and the field server, so that the corresponding field space image model and road image model can be updated at the corresponding position in the future to obtain the field twin space. Among them, the modeling end can be held by the management personnel and used to build the field twin space.

[0032] It can be understood that the modeling end is an information terminal for constructing the twin space, such as a computer, etc. The field server is a server for information processing in the field area, and the two-dimensional top view is a two-dimensional image looking down on the field twin space.

[0033] S12, performing first coordinate processing on the two-dimensional upper view based on the pixels, extracting the pixel center point of the two-dimensional upper view, and receiving the first azimuth coordinates configured by the user for the pixel center point.

[0034] It can be understood that a coordinate system is constructed for the two-dimensional top view in the server to implement coordinate processing of the two-dimensional top view, thereby obtaining the coordinates of each pixel point in the two-dimensional top view, and then extracting the pixel center point of the two-dimensional top view. In order to prevent position deviation when subsequent users zoom in and out to view the image, the first azimuth coordinates configured by the user for the pixel center point can be received.

[0035] The pixel center point is the center position point of the pixel point in the two-dimensional upper view, and the first azimuth coordinate is the position coordinate of the pixel center point, which can be the longitude and latitude coordinates.

[0036] It is not difficult to understand that after the first azimuth coordinates are configured for the pixel center point, the position calibration function of the pixel point in the two-dimensional upper view can be implemented subsequently according to the first azimuth coordinates.

[0037] S13, receiving a second azimuth coordinate configured by the user for a calibration pixel point other than a pixel center point in the two-dimensional upper view, and calculating an azimuth distance between the pixel center point and the calibration pixel point based on the first azimuth coordinate and the second azimuth coordinate.

[0038] It can be understood that in order to improve the accuracy of the data, pixel points other than the pixel center points can be determined in the two-dimensional top view as calibration pixel points, and the second azimuth coordinates corresponding to the calibration pixel points can be obtained. The azimuth distance between the pixel center point and the calibration pixel point can be obtained through the first azimuth coordinates and the second azimuth coordinates, so as to facilitate the subsequent acquisition of the positioning information of all pixel points on the corresponding line segment between the pixel center point and the calibration pixel point, thereby ensuring that when the two-dimensional top view is subsequently zoomed in and out, the positioning information of different buildings and roads will not deviate, thereby improving the accuracy of subsequent planned paths.

[0039] Among them, the calibration pixel point is a pixel point other than the pixel center point in the two-dimensional upper view, and can be a pixel point selected arbitrarily by humans. The second azimuth coordinate is the actual longitude and latitude coordinates corresponding to the calibration pixel point, and the azimuth distance is the distance value between the pixel center point and the calibration pixel point.

[0040] S14, obtain the thumbnail state of the two-dimensional top view from the modeling end in real time, dynamically adjust the standard field space image model and road image model based on the thumbnail state, and determine the relative position and positioning information of the field space image model and the road image model in the two-dimensional top view based on the interaction of the modeling end to obtain the field twin space.

[0041] It can be understood that when the modeling end enlarges the two-dimensional top view, the position of the corresponding calibration pixel point will change. After the image specifications change, the number of corresponding pixels will also change, so that the thumbnail state of the two-dimensional top view can be obtained in real time, and then the standard field space image model and road image model can be dynamically adjusted to determine the relative position and positioning information of the field space image model and the road image model in the two-dimensional top view, so as to obtain the field twin space.

[0042] Among them, the thumbnail state is the specification state after being enlarged or reduced, and the relative position is the display position of the field space image model and the road image model in the field twin space.

[0043] It is not difficult to understand that when the two-dimensional upper view is scaled, the specifications of the corresponding twin space will also change dynamically.

[0044] In some embodiments, the specific implementation of step S14 (the real-time acquisition of the thumbnail state of the two-dimensional upper view by the modeling end, the dynamic adjustment of the standard field space image model and the road image model based on the thumbnail state, and the determination of the relative position and positioning information of the field space image model and the road image model in the two-dimensional upper view based on the interaction of the modeling end to obtain the field twin space) includes: S141, obtaining the thumbnail state of the two-dimensional upper view from the modeling end in real time, and obtaining the pixel center point and the pixel point interval distance corresponding to the calibration pixel point after determining the thumbnail state change of the two-dimensional upper view.

[0045] It is understandable that the server can obtain the thumbnail state of the two-dimensional top view by the modeling end in real time. For example, the standard two-dimensional top view is enlarged or reduced, so that the distance between the pixel center point and the calibration pixel point in the changed two-dimensional top view is different from the distance between the pixel center point and the calibration pixel point in the standard two-dimensional top view. Therefore, the pixel interval distance in the two-dimensional top view in the current thumbnail state can be obtained, so as to facilitate the subsequent determination of a more accurate relative position of the field space image model and the road image model.

[0046] The pixel point spacing distance is the spacing distance between the pixel center point and the calibration pixel point in the two-dimensional upper view after the thumbnail state changes.

[0047] S142, calculating the unit pixel distance under different thumbnail states based on the azimuth distance and the pixel spacing distance.

[0048] It can be understood that the unit pixel distance is the actual distance represented by two adjacent pixels. For example, the distance between two adjacent pixels in a two-dimensional upper view can represent the actual distance of 3 meters.

[0049] It is not difficult to understand that through the existing OpenCV image processing technology, the number of pixels on the line segment connecting the pixel center point and the calibration pixel point can be obtained. Then, the unit pixel distance in the corresponding thumbnail state can be obtained by dividing the azimuth distance by the corresponding number of pixels. Similarly, the pixel interval distance after the thumbnail state changes can be divided by the corresponding number of pixels to obtain the unit pixel distance in the changed thumbnail state.

[0050] It is worth mentioning that the actual distances represented by two adjacent pixels in the two-dimensional upper view under different thumbnail states are different. Therefore, the field space image model and the road image model can be dynamically adjusted according to different thumbnail states.

[0051] S143, obtaining standard sizes of the standard field space image model and the road image model, and converting the standard sizes of the field space image model and the road image model based on the unit pixel distance to obtain dynamically adjusted pixel specification information.

[0052] It can be understood that the standard size is the standard actual size corresponding to the image model. For example, the field space model corresponds to a storage room, and the standard dimensions of the room are 12m long and 6m wide. Therefore, the standard dimensions of the field space model are 12m long and 6m wide.

[0053] It is not difficult to understand that after obtaining the standard sizes of the standard field space image model and the road image model, the standard sizes can be converted per unit pixel distance to obtain the pixel specification information corresponding to each field space image model and the road image model.

[0054] Among them, the pixel specification information is the number of pixels required to display the image model. For example, when the standard size of the field space model is 12m long and 6m wide, and the current unit pixel distance is the distance between two adjacent pixels, representing an actual distance of 3 meters, the pixel specification information can be obtained as 4 pixels long and 2 pixels wide, thereby determining the size of the corresponding field space image model displayed in the two-dimensional upper view.

[0055] S144, based on the pixel point specification information, a dynamically adjusted field space image model and a road image model are obtained, and based on the interaction of the modeling end, the relative position and positioning information of the field space image model and the road image model in the two-dimensional top view are determined to obtain the field twin space.

[0056] It can be understood that the dynamically adjusted field space image model and road image model are updated at the positions corresponding to the field space image model and the road image model in the two-dimensional top view, thereby obtaining a field twin space.

[0057] In some embodiments, the specific implementation of step S144 (obtaining the dynamically adjusted field space image model and road image model based on the pixel point specification information, and determining the relative position and positioning information of the field space image model and the road image model in the two-dimensional upper view based on the interaction of the modeling end to obtain the field twin space) includes: S1441, obtaining contour pixel points of the field space image model and the road image model, dynamically adjusting the number of contour pixel points based on the pixel point specification information, and obtaining the field space image model and the road image model after the pixels are dynamically adjusted.

[0058] It can be understood that the contour pixels are the pixel points of the image contours of the field space image model and the road image model.

[0059] It is not difficult to understand that when the modeling end changes the zoom state corresponding to the two-dimensional top view, the size of the corresponding two-dimensional top view also changes accordingly. Therefore, the specifications of the field space image model and the road image model in the standard two-dimensional top view can be dynamically adjusted according to the pixel point specification information, so that the number of contour pixels can be dynamically adjusted according to the corresponding pixel point specification information, so that the field space image model and the road image model change with the change of the two-dimensional top view. For example, when the two-dimensional top view is enlarged, the field space image model and the road image model displayed in the two-dimensional top view also become larger, and when the two-dimensional top view is reduced, the field space image model and the road image model displayed in the two-dimensional top view also become smaller.

[0060] S1442, the modeling end interactively adjusts the position and contour of the battle space image model and the road image model to obtain the adjusted battle space image model and road image model.

[0061] It can be understood that the modeling end can adjust the position and outline of the field space image model and the road image model according to the zoom state, for example, by translating the corresponding image model or enlarging or reducing the outline of the corresponding image model, so as to obtain the adjusted field space image model and road image model, so as to facilitate the subsequent acquisition of the field twin space corresponding to the real-time zoom state, so that the field space image model and the road image model in the field twin space change with the change of the zoom state, thereby ensuring the accuracy of the corresponding positioning information.

[0062] S1443, obtaining the positions of all contour pixel points of the field space image model and the road image model, and obtaining contour positioning information of the field space image model and the road image model.

[0063] It can be understood that each pixel point has corresponding positioning information (longitude and latitude coordinate position information). Therefore, when the positions of the contour pixel points of the field space image model and the road image model in the two-dimensional upper view are obtained, the corresponding contour positioning information can be obtained.

[0064] The contour positioning information is the positioning information of the actual longitude and latitude position coordinates corresponding to the contour pixel points.

[0065] It is worth mentioning that in an actual field combat environment, the corresponding buildings may be objects occupying a large space or the roads may be long distances. Therefore, the corresponding field space image model and road image model may also occupy a larger display area in the field twin space. Therefore, in order to determine the precise position of the stretcher in the future, the contour of the corresponding image model can be segmented, and the contour positioning information corresponding to the segmented image model can be obtained, so that accurate position information can be obtained in the future, thereby automatically planning the intelligent transfer route and improving the transfer efficiency.

[0066] S2, obtaining the current positioning information and the target positioning information of the transport stretcher vehicle, determining the corresponding field space image model and the road image model in sequence based on the current positioning information and the target positioning information, and generating a corresponding intelligent transport path.

[0067] It should be noted that the use of a transport stretcher to transfer the wounded from a dangerous place to a safe target place requires the acquisition of the current position of the transport stretcher and the final end position of the transport, so as to automatically plan the intermediate driving path and generate the optimal path to ensure the safe and rapid transfer of the wounded.

[0068] It can be understood that the current positioning information is the current position information of the transport stretcher, the target positioning information is the position information of the target location of the transport, and the intelligent transport path is the driving path of the transport stretcher for transporting the wounded.

[0069] It is not difficult to understand that after determining the current positioning information and the target positioning information, the field space image model and the road image model in the field twin space can be traversed in turn to determine the image model of the contour position information that is consistent with the current positioning information and the target positioning information, thereby generating the best transfer route to improve the transfer efficiency of the wounded.

[0070] In some embodiments, the specific implementation of step S2 (obtaining the current positioning information and the target positioning information of the transport stretcher vehicle, determining the corresponding field space image model and the road image model in sequence based on the current positioning information and the target positioning information, and generating the corresponding intelligent transport path) includes: S21, obtaining the current positioning information of the transport stretcher vehicle to be transported, traversing the contour positioning information of the field space image model and the road image model in sequence based on the current positioning information, and determining the corresponding field space image model and road image model as the first starting model.

[0071] It can be understood that after obtaining the current positioning information of the transport stretcher required for transport, the contour positioning information of the field space image model and the road image model can be traversed in sequence, thereby determining the contour positioning information that is the same as the current positioning information, and then using the corresponding field space image model or road image model as the first starting model.

[0072] Among them, the first starting model is an image model whose contour positioning information is the same as the current positioning information. For example, when the current positioning information is obtained to be consistent with the contour positioning information corresponding to the field space image model 1, the field space image model 1 can be used as the first starting model.

[0073] S22, obtaining the transfer destination of the transport stretcher vehicle required for transfer to obtain target positioning information, and based on the target positioning information, sequentially traversing the contour positioning information of the field space image model and the road image model, and determining the corresponding field space image model and road image model as the first termination model.

[0074] It can be understood that after obtaining the target positioning information of the transfer destination of the transport stretcher vehicle required for transfer, the contour positioning information of the field space image model and the road image model can be traversed in sequence, thereby determining the contour positioning information that is the same as the target positioning information, and then using the corresponding field space image model or road image model as the first termination model.

[0075] Among them, the first termination model is an image model whose contour positioning information is the same as the target positioning information. For example, when the acquired target positioning information is consistent with the contour positioning information corresponding to the field space image model 3, the field space image model 3 can be used as the first termination model.

[0076] S23, determining an associated road image model based on the contour positioning information corresponding to the first starting model and the first ending model respectively, and obtaining an intermediate path model based on the determined road image model.

[0077] It is understandable that when the transport stretcher is transferred from one location to another, a corresponding road is usually selected for driving, so that a road image model connecting the first starting model and the first ending model can be determined, thereby obtaining an intermediate path model.

[0078] The intermediate path model is a road image model associated with the first starting model and the first ending model.

[0079] In some embodiments, the specific implementation of step S23 (determining the associated road image model based on the contour positioning information corresponding to the first starting model and the first ending model, and obtaining the intermediate path model based on the determined road image model) includes: S231, obtaining a first starting coordinate of a central pixel point corresponding to the first starting model and a first ending coordinate of a central pixel point of a first ending model.

[0080] It can be understood that the central pixel point is the pixel point at the center position of the image corresponding to the image model, the first starting coordinate is the position coordinate of the central pixel point corresponding to the first starting model, and the first ending coordinate is the position coordinate of the central pixel point of the first ending model.

[0081] Through the above implementation, the present invention can obtain the first starting coordinate and the first ending coordinate, so as to determine the associated road image model later, thereby automatically generating an intelligent transfer path to improve the transfer efficiency of the wounded.

[0082] S232: Determine a path-finding strategy based on the coordinate comparison strategy of the first starting coordinate and the first ending coordinate, and determine at least one associated road image model based on the path-finding strategy.

[0083] It can be understood that the coordinate comparison of the image model in the field twin space is performed according to the first starting coordinate and the first ending coordinate, so as to determine at least one associated road image model.

[0084] It is not difficult to understand that there can be multiple road image models associated with the first starting model and the first terminating model. For example, the first terminating model can be reached from the first starting model via road image model 1, or the first terminating model can be reached from the first starting model via road image model 2.

[0085] Through the above implementation, the present invention can determine the associated road image model to facilitate the subsequent generation of intelligent transportation routes.

[0086] In some embodiments, the specific implementation of step S232 (determining a path-finding strategy based on the coordinate comparison strategy of the first starting coordinate and the first ending coordinate, and determining at least one associated road image model based on the path-finding strategy) includes: S2321, compare the horizontal coordinates of the first starting coordinate and the first ending coordinate to determine the path-finding strategy of the horizontal coordinate dimension and the simulated path-finding distance of the horizontal coordinate, and compare the vertical coordinates of the first starting coordinate and the first ending coordinate to determine the path-finding strategy of the vertical coordinate dimension and the simulated path-finding distance of the vertical coordinate.

[0087] It should be noted that when reaching the first ending coordinate position from the first starting coordinate position, it is necessary to move horizontally and vertically. In order to quickly determine the corresponding walking path, horizontal travel or vertical travel is prioritized. The horizontal and vertical coordinates of the first starting coordinate and the first ending coordinate can be compared to obtain the path-finding strategy and path-finding distance of the corresponding dimension.

[0088] It can be understood that the routing strategy of the horizontal axis dimension is the routing strategy in the horizontal axis direction, and the routing strategy of the vertical axis dimension is the routing strategy in the vertical axis direction. The horizontal coordinate simulated routing distance is the horizontal distance determined after the horizontal coordinate comparison, that is, the horizontal coordinate simulated routing distance can be calculated by the difference between the corresponding horizontal coordinates of the first starting coordinate and the first ending coordinate, and the vertical coordinate simulated routing distance is the vertical distance determined after the vertical coordinate comparison, that is, the vertical coordinate simulated routing distance can be calculated by the difference between the corresponding vertical coordinates of the first starting coordinate and the first ending coordinate.

[0089] Through the above implementation, the present invention can obtain the simulated routing distance of the horizontal coordinate and the simulated routing distance of the vertical coordinate, so as to facilitate subsequent judgment and obtain the intelligent transportation path.

[0090] S2322: If the simulated path-finding distance of the horizontal coordinate is greater than the simulated path-finding distance of the vertical coordinate, the horizontal coordinate direction is used as the main path-finding direction; if the simulated path-finding distance of the vertical coordinate is greater than the simulated path-finding distance of the horizontal coordinate, the vertical coordinate direction is used as the main path-finding direction.

[0091] It should be noted that in order to enable the transport stretcher to determine the corresponding direction of movement according to certain rules and avoid vehicle collisions and conflicts when multiple transport stretcher vehicles are operating at the same time, the simulated path-finding distance of the horizontal coordinate and the simulated path-finding distance of the vertical coordinate can be compared to determine the driving path.

[0092] It can be understood that the main routing direction is the direction of the main traveling path, that is, when the simulated routing distance of the horizontal coordinate is greater than the simulated routing distance of the vertical coordinate, the main routing direction is the horizontal coordinate direction, wherein the horizontal coordinate direction is the horizontal direction; when the simulated routing distance of the vertical coordinate is greater than the simulated routing distance of the horizontal coordinate, the main routing direction is the vertical coordinate direction, wherein the vertical coordinate direction is the longitudinal direction.

[0093] S2323, starting from the first starting model, traversing the road image models in sequence based on the path-finding strategy and the main path-finding direction, selecting road image models that meet the horizontal coordinate direction requirements and the vertical coordinate direction requirements, and stopping after determining the first termination model, taking the determined road image model as the associated road image model and labeling it according to the traversal order.

[0094] It can be understood that the associated road image model is a road image model that satisfies the requirements by traversing the road image models in sequence.

[0095] It is not difficult to understand that in order to subsequently determine the travel path of the transport stretcher, multiple associated road image models can be numbered according to the traversal order, so as to facilitate the subsequent generation of an intelligent transport path based on the numbering for display.

[0096] S233: If there is one associated road image model, an intermediate path model is obtained based on the one road image model.

[0097] It can be understood that when there is one associated road image model, the determined one road image model can be used as an intermediate path model to facilitate the subsequent acquisition of an intelligent transfer path.

[0098] S234: If there are multiple associated road image models, the path number added to the intermediate path model is obtained, and the road image models are sequentially combined based on the path number to obtain the intermediate path model.

[0099] It can be understood that when there are multiple associated road image models, in order to be able to transfer and travel according to the actual path, so as to obtain the added path number, the associated road image models are sequentially combined according to the path number to obtain the intermediate path model.

[0100] The path number is a number used to indicate the path of the road image model, such as 1, 2, 3, etc.

[0101] Through the above implementation, the present invention can obtain a corresponding intermediate path model when there are multiple associated road image models, so as to obtain an intelligent transfer path later and improve the transfer efficiency of the transfer stretcher.

[0102] S24, generating a corresponding intelligent transfer path based on the first starting model, the intermediate path model and the first ending model.

[0103] It can be understood that the corresponding intelligent transfer path is generated through the first starting model, the intermediate path model and the first termination model, so as to assist personnel in improving the transfer efficiency of the wounded and reducing the life risk of the wounded.

[0104] S3, the transport stretcher trolley responds to the automatic control signal of the control body, controls the transport stretcher trolley to move with assistance based on the intelligent transport path and the detection signal of the transport stretcher trolley.

[0105] It can be understood that the control subject is the subject that controls the movement of the transport stretcher, for example, it can be a medical staff, the automatic control signal is a control signal that enables the transport stretcher to automatically adjust, and the detection signal is a signal for detecting the transport stretcher, such as the driving speed.

[0106] It is not difficult to understand that when the medical staff pushing the transport stretcher triggers the automatic control button, the transport stretcher will automatically adjust the speed and position of the transport stretcher through the detection signal, thereby assisting the personnel according to the intelligent transfer path, making the transport stretcher travel quickly and improving the transfer efficiency of the wounded.

[0107] In some embodiments, the specific implementation of step S3 (the transport stretcher trolley responds to the automatic control signal of the control body, controls the transport stretcher trolley to assist walking based on the intelligent transport path based on the intelligent transport path and the detection signal of the transport stretcher trolley) includes: S31, the transport stretcher vehicle is provided with an interactive screen and automatic control buttons, and the interactive screen is used to display an intelligent transport route.

[0108] It can be understood that the interactive screen is a display screen that displays path information, and the automatic control button is a button that controls the automatic adjustment of the transport stretcher.

[0109] S32, after determining that the automatic control button is triggered by the control subject, high-precision position information of the transport stretcher trolley is obtained based on the first positioning module at the head and the second positioning module at the tail of the transport stretcher trolley.

[0110] It is understandable that when the automatic control button is triggered by the medical staff transporting the wounded, the first positioning module at the head position and the second positioning module at the tail position on the transport stretcher will quickly generate corresponding high-precision position information to facilitate the subsequent judgment of the travel direction of the transport stretcher.

[0111] Among them, the first positioning module is a high-precision positioning system module located at the head position of the transport stretcher vehicle, and the second positioning module is a high-precision positioning system module located at the rear position of the transport stretcher vehicle.

[0112] It is worth mentioning that the Beidou high-precision positioning system can determine the positioning accuracy of the position information to the centimeter level, so that the current position of the transport stretcher can be accurately judged to facilitate subsequent automatic adjustments and improve the transport efficiency of the transport stretcher.

[0113] In some embodiments, the specific implementation of step S32 (obtaining high-precision position information of the transport stretcher based on the first positioning module at the head and the second positioning module at the tail of the transport stretcher after determining that the automatic control button is triggered by the control subject) includes: S321, obtaining first vehicle positioning information of a first positioning module at the head, and obtaining second vehicle positioning information of a second positioning module at the tail, wherein the first positioning module and the second positioning module are high-precision positioning modules.

[0114] It can be understood that the first vehicle positioning information is the positioning information of the head position of the transport stretcher obtained by the first positioning module, and the second vehicle positioning information is the positioning information of the tail position of the transport stretcher obtained by the second positioning module. The high-precision positioning module includes the first positioning module and the second positioning module.

[0115] Through the above implementation, the present invention can obtain the first vehicle positioning information and the second vehicle positioning information corresponding to the transport stretcher, so as to facilitate the subsequent acquisition of the corresponding high-precision posture information, and then to facilitate the automatic adjustment of the posture of the transport stretcher, to ensure that the transport stretcher does not deviate from the driving path during the transport process. In practical applications, the high-precision positioning module can be, for example, a Beidou positioning module, which has a high accuracy, or other positioning modules with high accuracy, which is not limited in this solution.

[0116] S322, constructing a corresponding vehicle orientation line based on the first vehicle positioning information and the second vehicle positioning information, obtaining a vehicle angle value of the vehicle orientation line compared to a center line of a field space image model or a road image model, and obtaining high-precision posture information of the transport stretcher vehicle based on the vehicle angle value, wherein the field space image model and the road image model have a preset center line.

[0117] It is understandable that the relative position of the head and the tail of the transport stretcher vehicle can be determined according to the first vehicle positioning information and the second vehicle positioning information. Figure 2 As shown, when it is determined that the second vehicle positioning information is on the left side of the first vehicle positioning information, the corresponding tail position of the transport stretcher trolley is on the left side of the head position, and the head position of the transport stretcher trolley is on the right side of the tail position, so that the direction of the transport stretcher trolley can be determined as the direction from the second vehicle positioning information to the first vehicle positioning information, and then the vehicle direction line can be constructed to facilitate the determination of the vehicle angle value, thereby facilitating the automatic adjustment of the transport stretcher trolley, ensuring that the transport stretcher trolley travels in the correct direction, reducing the active control of the transport stretcher trolley by personnel on the driving direction, thereby saving the number of medical staff controlling the transport stretcher trolley and achieving efficient transportation.

[0118] Among them, the vehicle orientation line is a straight line segment indicating the position orientation of the transport stretcher vehicle, and the vehicle angle value is the angle value of the angle between the vehicle orientation line and the center line of the field space image model or the road image model, for example, it can be 30° or 60°. It is not difficult to understand that the center line of the field space image model or the road image model is predetermined and can be artificially preset. Among them, when the field space image model or the road image model is irregular, the corresponding center line is also irregular, which will vary with different field space image models or road image models.

[0119] Furthermore, the high-precision posture information is high-precision posture information corresponding to the transport stretcher, for example, it may be an angle at which the transport stretcher deviates from the center line.

[0120] It is worth mentioning that when the vehicle heading line has an angle with the center line of the image model, the corresponding angle value can be directly obtained. When the vehicle heading line is not parallel to the center line, but because the corresponding field space image model or road image model has a larger width, and the vehicle heading line is the same length as the transport stretcher, the corresponding center line and the vehicle heading line may not intersect, the vehicle heading line can be extended until it intersects with the center line, and the corresponding angle value can be obtained.

[0121] Through the above implementation, the present invention can obtain corresponding high-precision posture information, so as to facilitate the subsequent judgment of the posture of the transport stretcher trolley, thereby automatically adjusting the posture of the transport stretcher trolley.

[0122] S323: If the high-precision position information is greater than or equal to the preset angle value, steering adjustment information for the transport stretcher vehicle is generated; if the high-precision position information is less than the preset angle value, no steering adjustment information is generated.

[0123] It can be understood that when it is determined that the angle value of the high-precision posture information is greater than or equal to the preset angle value, it can be explained that the current angle deviation of the transport stretcher is large, and the direction of the transport stretcher needs to be adjusted to prevent the transport stretcher from continuing to travel and causing path deviation, thereby affecting the transport efficiency. Therefore, steering adjustment information can be generated. For example, the steering adjustment information can be adjusted 30° to the right. When the angle value of the high-precision posture information is less than the preset angle, it can be explained that the deviation angle of the transport stretcher does not affect the normal direction of travel, and therefore, no adjustment is required.

[0124] The preset angle value is a pre-set angle value used to determine the degree of angle deviation of the transport stretcher trolley, and is a reference value for allowing angle deviation.

[0125] S33, adjusting the posture of the transport stretcher trolley based on the high-precision posture information and acquiring the status information of the transport stretcher trolley, and generating the power-assisted walking speed of the transport stretcher trolley based on the status information.

[0126] It can be understood that the posture of the transport stretcher trolley is adjusted according to the high-precision posture information, and the status information of the transport stretcher trolley is obtained at the same time, so as to determine the current driving speed of the transport stretcher trolley, thereby judging the walking speed at which the transport stretcher trolley needs to be assisted, so as to improve the transport efficiency of the transport stretcher trolley.

[0127] Among them, the status information is the current status information of the transport stretcher trolley, which may include vibration information generated by the operation of the motor on the transport stretcher trolley, and the resistance walking speed is the speed of assisting the transport stretcher trolley to walk, so as to increase the driving speed of the transport stretcher trolley, thereby improving the transport efficiency.

[0128] In some embodiments, the specific implementation of step S33 (adjusting the posture of the transport stretcher trolley based on the high-precision posture information and acquiring the status information of the transport stretcher trolley, and generating the power-assisted walking speed of the transport stretcher trolley based on the status information) includes: S331, obtaining status information of the transport stretcher vehicle, wherein the status information at least includes vibration information.

[0129] It should be noted that in order to reduce the number of medical staff assisting in transporting the wounded on the stretcher trolley, an electric motor can be installed on the stretcher trolley to provide driving power for the stretcher trolley and save manpower to push the stretcher trolley. Therefore, when the motor is assisting, the difference in work efficiency will affect the corresponding driving speed of the stretcher trolley, so that the status information of the stretcher trolley can be obtained to facilitate the subsequent determination of the corresponding driving speed.

[0130] It can be understood that the vibration information is the vibration frequency information generated when the motor on the transport stretcher is working.

[0131] S332: If the vibration information is less than or equal to the preset vibration value, the working power of the motor of the transport stretcher trolley is increased and the first speed information of the transport stretcher trolley is acquired in real time.

[0132] It can be understood that the preset vibration value is a preset reference vibration value, which can be preset manually, and the first speed information is the speed value of the transport stretcher at the current moment.

[0133] It is not difficult to understand that when the vibration information is less than or equal to the preset vibration value, it can be explained that the working efficiency of the current transport stretcher trolley's motor is lower than the working efficiency corresponding to the benchmark preset vibration value, and thus it is necessary to improve the working efficiency of the transport stretcher trolley's motor so as to increase the speed of the transport stretcher trolley, thereby improving the transport efficiency of the transport stretcher trolley.

[0134] Through the above implementation, the present invention can obtain the first speed information, so as to facilitate subsequent judgment of the first speed information, thereby determining the power-assisted walking speed of the transport stretcher vehicle.

[0135] S333, after the first speed information is greater than or equal to the first speed threshold, the working power of the motor is maintained to obtain the power-assisted walking speed of the transport stretcher vehicle.

[0136] It is understandable that when the first speed information is greater than or equal to the first speed threshold, the working efficiency of the motor may not be improved, thereby maintaining the current working efficiency of the motor and obtaining the current assisted walking speed of the transport stretcher.

[0137] Among them, the first speed threshold is a reference speed value for judging the walking speed of the transport stretcher trolley, which can be preset manually, and the power-assisted walking speed is a power-assisted speed for increasing the walking speed of the transport stretcher trolley.

[0138] S334, if the vibration information is greater than a preset vibration value, the working power of the motor is reduced until the vibration information is less than or equal to the preset vibration value or the first speed information is less than or equal to the second speed threshold, to obtain the assisted walking speed of the transport stretcher.

[0139] It should be noted that when the vibration information is greater than the preset vibration value, it may indicate that the current travel speed of the transport stretcher is too high. Therefore, the working efficiency of the motor can be reduced so that the vibration information is less than or equal to the preset vibration value or the first speed information is less than or equal to the second speed threshold, thereby ensuring that the travel speed of the transport stretcher does not exceed too high, preventing medical staff from being unable to control the travel speed, and thus avoiding accidental collisions.

[0140] It can be understood that the second speed threshold is a reference speed value for determining the traveling speed of the transport stretcher trolley, and can be preset manually.

[0141] S34, if it is determined that the distance between the transport stretcher trolley and other transport stretcher trolleys is less than or equal to the preset distance, the walking route of the corresponding transport stretcher trolley in the corresponding field space image model and road image model is determined based on the walking directions of multiple transport stretcher trolleys, and the transport stretcher trolley is controlled to walk based on the intelligent transport path assistance.

[0142] It should be noted that when medical staff assist in transporting the wounded with stretcher trolleys, one medical staff member can control the direction of travel of at most two transport stretcher trolleys. In order to avoid collisions between multiple transport stretcher trolleys during driving, the distance between the current transport stretcher trolley and other transport stretcher trolleys can be judged, thereby automatically controlling the transport stretcher trolley to move on the determined intelligent transport path.

[0143] It can be understood that the preset distance is a preset distance value.

[0144] It is not difficult to understand that each transport stretcher has a corresponding walking direction. In order to avoid walking conflicts and collisions among multiple transport stretcher vehicles, the walking routes of the corresponding transport stretcher vehicles in the corresponding field space image model and road image model can be determined according to the walking directions of the multiple transport stretcher vehicles, thereby automatically controlling the transport stretcher vehicle to perform assisted walking according to the intelligent transport path.

[0145] In some embodiments, the specific implementation of step S34 (if it is determined that the distance between the transport stretcher trolley and other transport stretcher trolleys is less than or equal to the preset distance, the walking route of the corresponding transport stretcher trolley in the corresponding field space image model and the road image model is determined based on the walking directions of multiple transport stretcher trolleys, and the transport stretcher trolley is controlled to walk based on the intelligent transport path assistance) includes: S341: Adjust the angle of the transport stretcher trolley based on the steering adjustment information so that the vehicle angle value of the transport stretcher trolley is less than a preset angle value.

[0146] It can be understood that when the steering adjustment information is generated, it can be explained that the angle of the transport stretcher trolley has a large deviation, and the angle of the transport stretcher trolley is adjusted according to the steering adjustment information. For example, the transport stretcher trolley is adjusted 30° to the right, thereby reducing the angle difference between the vehicle angle value and the preset angle value, and achieving the vehicle angle value of the transport stretcher trolley is less than the preset angle value, so that the transport stretcher trolley can move in the correct direction.

[0147] S342, obtaining the field space image model and the road image model where the transport stretcher vehicle is currently located, and obtaining the model walking routes corresponding to the field space image model and the road image model, each of the field space image model and the road image model includes at least one model walking route.

[0148] It should be noted that since the actual road corresponding to each path has a certain road width, multiple transport stretcher trucks can be allowed to travel in parallel. For example, the same road can accommodate a transport stretcher truck traveling to the right, and can also allow a transport stretcher truck traveling to the left to move normally. Therefore, in order to allow transport stretcher trucks in different directions to pass quickly and avoid collisions, the model walking route corresponding to the field space image model and the road image model where the transport stretcher is currently located can be obtained, so that the transport stretcher truck can move according to the corresponding model walking route, avoid accidental collisions, and improve transport efficiency.

[0149] It can be understood that the model walking route is a virtual route corresponding to the field space image model and the road image model. In order to determine the walking position of the transport stretcher, it can be manually set in advance according to the width of the field space image model and the road image model in the corresponding actual environment. Since the corresponding field space image model and the road image model are in the intelligent transport path, at least a single-row transport stretcher can be allowed to walk. Therefore, the corresponding field space image model and the road image model include at least one model walking route.

[0150] S343, when it is determined that the distance between a transport stretcher trolley and other transport stretcher trolleys is less than or equal to a preset distance, a model walking route of each transport stretcher trolley is determined based on the walking directions of multiple transport stretcher trolleys, and transport stretcher trolleys with different walking directions in each field space image model and road image model correspond to different model walking routes.

[0151] It can be understood that when it is determined that the distance between a transport stretcher trolley and other transport stretcher trolleys is less than or equal to a preset distance, in order to prevent a collision, the model walking route of each transport stretcher trolley can be determined according to the walking directions of multiple transport stretcher trolleys, so that the transport stretcher trolley can move according to the corresponding model walking route.

[0152] It is not difficult to understand that the transport stretcher vehicles with different walking directions in each field space image model and road image model correspond to different model walking routes.

[0153] S344, controlling the transport stretcher vehicle to move with assistance according to the model walking route of each model in the intelligent transport path.

[0154] It can be understood that after determining the model walking route corresponding to the transport stretcher trolley in the intelligent transfer path, the transport stretcher trolley can be controlled to walk according to the model walking route of each model in the intelligent transfer path, thereby preventing multiple transport stretcher trolleys from colliding while improving the transport efficiency of the transport stretcher trolley.

[0155] S4, the transport stretcher trolley manually controls the transport stretcher trolley in response to the manual control information of the control subject, and performs protection detection based on the detection signal of the transport stretcher trolley.

[0156] It can be understood that when the medical staff who controls the moving direction of the transport stretcher chooses manual control and there is no need for automatic control of the transport stretcher, the corresponding transport stretcher will respond to the manual control information of the control body to manually control the transport stretcher and perform protection detection through the detection signal of the transport stretcher.

[0157] The manual control information is information about a person manually controlling the transport stretcher. The detection signal can be to determine whether there is an obstacle through a camera, and if so, it is necessary to slow down or stop the movement for protection.

[0158] like Figure 3 As shown, the present invention provides a structural schematic diagram of an intelligent wounded transport assistance system in a field environment, and the intelligent wounded transport assistance system in a field environment includes: A construction module is used to construct a corresponding field twin space based on the field environment, wherein the field twin space includes at least a field space image model and a road image model, and determine the positioning information corresponding to the field space image model and the road image model respectively.

[0159] The generation module is used to obtain the current positioning information and target positioning information of the transport stretcher vehicle, determine the corresponding field space image model and road image model in turn based on the current positioning information and the target positioning information, and generate a corresponding intelligent transport path.

[0160] The control module is used for controlling the transport stretcher trolley to move with assistance based on the intelligent transport path in response to the automatic control signal of the control body and based on the intelligent transport path and the detection signal of the transport stretcher trolley.

[0161] The detection module is used to manually control the transport stretcher trolley in response to the manual control information of the control body, and to perform protection detection based on the detection signal of the transport stretcher trolley.

[0162] like Figure 4 As shown, the present invention also provides a transport stretcher vehicle, which is equipped with the above-mentioned intelligent transport assistance method for the wounded in a field environment, comprising: The transport stretcher trolley body 1 includes a transport stretcher trolley and a power-assisting system, wherein the power-assisting system includes a power-assisting motor 2 connected to the wheels of the transport stretcher trolley. The transport stretcher trolley body 1 is used to carry a patient. The power-assisting system controls the speed of the wheels through the power-assisting motor 2.

[0163] The camera assembly 3 is installed at the front end of the transport stretcher, and the user obtains image information within a preset range in front of the transport stretcher. It can be understood that the camera assembly 3 is used to collect the front image in real time for the processor to analyze and process.

[0164] The positioning assembly includes a first positioning module 41 located at the head of the transport stretcher vehicle and a second positioning module 42 located at the tail. The first positioning module 41 and the second positioning module 42 are high-precision positioning modules.

[0165] A memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the method in the above embodiment to control the action of the power assist motor.

[0166] An interactive screen 5 is installed on one side of the transport stretcher vehicle body, and is used to receive automatic control signals or manual control information from the control body and display an intelligent transport path.

[0167] The present invention also provides a storage medium, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the methods provided by the various embodiments described above.

[0168] Among them, the storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, the storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also exist in a communication device as discrete components. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0169] The present invention also provides a program product, which includes an execution instruction, which is stored in a storage medium. At least one processor of a device can read the execution instruction from the storage medium, and at least one processor executes the execution instruction so that the device implements the methods provided in the above various embodiments.

[0170] In the above-mentioned terminal or server embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0171] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, 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 invention.

Claims

1. A method for assisting the intelligent transfer of wounded personnel in a field environment, characterized in that: include: Constructing a corresponding field twin space based on the field environment, wherein the field twin space includes at least a field space image model and a road image model, and determining positioning information corresponding to the field space image model and the road image model respectively; Acquire the current positioning information and target positioning information of the transport stretcher vehicle, determine the corresponding field space image model and road image model in sequence based on the current positioning information and the target positioning information, and generate a corresponding intelligent transport path; The transport stretcher trolley responds to the automatic control signal of the control body, controls the transport stretcher trolley to assist walking based on the intelligent transport path and the detection signal of the transport stretcher trolley based on the intelligent transport path; The transport stretcher trolley manually controls the transport stretcher trolley in response to the manual control information of the control body, and performs protection detection based on the detection signal of the transport stretcher trolley.

2. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 1 is characterized in that: The corresponding field twin space is constructed based on the field environment, wherein the field twin space at least includes a field space image model and a road image model, and the positioning information corresponding to the field space image model and the road image model is determined, including: Based on the interaction between the modeling end and the field server, a two-dimensional top view corresponding to the field twin space is generated; Performing first coordinate processing on the two-dimensional upper view based on pixel points, extracting a pixel center point of the two-dimensional upper view, and receiving a first azimuth coordinate configured by a user for the pixel center point; Receiving a second azimuth coordinate configured by a user for a calibration pixel point other than a pixel center point in a two-dimensional upper view, and calculating an azimuth distance between the pixel center point and the calibration pixel point based on the first azimuth coordinate and the second azimuth coordinate; The thumbnail state of the two-dimensional top view is obtained in real time by the modeling end, and the standard field space image model and road image model are dynamically adjusted based on the thumbnail state. The relative position and positioning information of the field space image model and the road image model are determined in the two-dimensional top view based on the interaction of the modeling end to obtain the field twin space.

3. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 2 is characterized in that: The real-time acquisition of the thumbnail state of the two-dimensional upper view by the modeling end, the dynamic adjustment of the standard field space image model and the road image model based on the thumbnail state, and the determination of the relative position and positioning information of the field space image model and the road image model in the two-dimensional upper view based on the interaction of the modeling end to obtain the field twin space include: Acquire the thumbnail state of the two-dimensional upper view from the modeling end in real time, and acquire the pixel center point and the pixel point interval distance corresponding to the calibration pixel point after determining the change of the thumbnail state of the two-dimensional upper view; The unit pixel distance under different thumbnail states is calculated based on the azimuth distance and the pixel interval distance; Obtaining standard sizes of a standard field space image model and a road image model, and converting the standard sizes of the field space image model and the road image model based on the unit pixel distance to obtain dynamically adjusted pixel specification information; Based on the pixel point specification information, a dynamically adjusted field space image model and road image model are obtained. Based on the interaction of the modeling end, the relative position and positioning information of the field space image model and the road image model in the two-dimensional top view are determined in the two-dimensional top view to obtain the field twin space.

4. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 3 is characterized in that: The dynamically adjusted field space image model and road image model are obtained based on the pixel point specification information, and the relative position and positioning information of the field space image model and the road image model in the two-dimensional upper view are determined based on the interaction of the modeling end to obtain the field twin space, including: Acquire contour pixel points of a field space image model and a road image model, dynamically adjust the number of contour pixel points based on the pixel point specification information, and obtain a field space image model and a road image model after the pixel points are dynamically adjusted; The interaction at the modeling end adjusts the position and contour of the field space image model and the road image model to obtain the adjusted field space image model and the road image model; The positions of all contour pixel points of the field space image model and the road image model are obtained to obtain the contour positioning information of the field space image model and the road image model.

5. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 4 is characterized in that: The method of acquiring the current positioning information and the target positioning information of the transport stretcher vehicle, determining the corresponding field space image model and the road image model in sequence based on the current positioning information and the target positioning information, and generating the corresponding intelligent transport path includes: Acquire the current positioning information of the transport stretcher vehicle to be transported, and based on the current positioning information, sequentially traverse the contour positioning information of the field space image model and the road image model, and determine the corresponding field space image model and road image model as the first starting model; Obtaining the transfer destination of the transport stretcher vehicle to be transported to obtain target positioning information, traversing the contour positioning information of the field space image model and the road image model in sequence based on the target positioning information, and determining the corresponding field space image model and road image model as the first termination model; Determine an associated road image model based on the contour positioning information corresponding to the first starting model and the first ending model respectively, and obtain an intermediate path model based on the determined road image model; A corresponding intelligent transfer path is generated based on the first starting model, the intermediate path model and the first termination model.

6. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 5 is characterized in that: The method of determining the associated road image model based on the contour positioning information corresponding to the first starting model and the first ending model, and obtaining the intermediate path model based on the determined road image model includes: Acquire a first starting coordinate of a central pixel point corresponding to the first starting model and a first ending coordinate of a central pixel point of a first ending model; Determine a path-finding strategy based on the coordinate comparison strategy of the first starting coordinate and the first ending coordinate, and determine at least one associated road image model based on the path-finding strategy; If there is one associated road image model, then an intermediate path model is obtained based on the one road image model; If there are multiple associated road image models, the path number added to the intermediate path model is obtained, and the road image models are sequentially combined based on the path numbers to obtain the intermediate path model.

7. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 6, characterized in that: The process of determining a path-finding strategy based on the coordinate comparison strategy of the first starting coordinate and the first ending coordinate, and determining at least one associated road image model based on the path-finding strategy, comprises: Compare the abscissas of the first starting coordinate and the first ending coordinate to determine the path-finding strategy of the abscissa dimension and the simulated path-finding distance of the abscissa, and compare the ordinates of the first starting coordinate and the first ending coordinate to determine the path-finding strategy of the ordinate dimension and the simulated path-finding distance of the ordinate; If the simulated path-finding distance of the horizontal coordinate is greater than the simulated path-finding distance of the vertical coordinate, the horizontal coordinate direction is used as the main path-finding direction; if the simulated path-finding distance of the vertical coordinate is greater than the simulated path-finding distance of the horizontal coordinate, the vertical coordinate direction is used as the main path-finding direction; Taking the first starting model as the starting point, the road image models are traversed in sequence based on the path-finding strategy and the main path-finding direction, and road image models that meet the horizontal coordinate direction requirements and the vertical coordinate direction requirements are selected, and the process stops after the first termination model is determined. The determined road image models are used as associated road image models and are numbered according to the traversal order.

8. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 5 is characterized in that: The transport stretcher trolley responds to the automatic control signal of the control body, controls the transport stretcher trolley to assist walking based on the intelligent transport path based on the intelligent transport path and the detection signal of the transport stretcher trolley, including: The transport stretcher vehicle is provided with an interactive screen and automatic control buttons, wherein the interactive screen is used to display an intelligent transport path; After determining that the automatic control button is triggered by the control subject, high-precision position information of the transport stretcher vehicle is obtained based on a first positioning module at the head and a second positioning module at the tail of the transport stretcher vehicle; Adjusting the posture of the transport stretcher trolley based on the high-precision posture information and acquiring the status information of the transport stretcher trolley, and generating the power-assisted walking speed of the transport stretcher trolley based on the status information; If it is determined that the distance between the transport stretcher trolley and other transport stretcher trolleys is less than or equal to the preset distance, the walking route of the corresponding transport stretcher trolley in the corresponding field space image model and road image model is determined based on the walking directions of multiple transport stretcher trolleys, and the transport stretcher trolley is controlled to walk based on the intelligent transfer path assistance.

9. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 8, characterized in that: After determining that the automatic control button is triggered by the control subject, high-precision position information of the transport stretcher vehicle is obtained based on the first positioning module at the head and the second positioning module at the tail of the transport stretcher vehicle, including: Acquire first vehicle positioning information of a first positioning module at the head, and acquire second vehicle positioning information of a second positioning module at the tail, wherein the first positioning module and the second positioning module are high-precision positioning modules; Based on the first vehicle positioning information and the second vehicle positioning information, a corresponding vehicle orientation line is constructed, a vehicle angle value of the vehicle orientation line compared to a center line of a field space image model or a road image model is obtained, and high-precision position information of the transport stretcher vehicle is obtained based on the vehicle angle value, wherein the field space image model and the road image model have a preset center line; If the high-precision posture information is greater than or equal to the preset angle value, steering adjustment information for the transport stretcher vehicle is generated; if the high-precision posture information is less than the preset angle value, no steering adjustment information is generated.

10. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 8, characterized in that: The method of adjusting the posture of the transport stretcher trolley based on the high-precision posture information and acquiring the status information of the transport stretcher trolley, and generating the power-assisted walking speed of the transport stretcher trolley based on the status information, comprises: Acquiring status information of the transport stretcher vehicle, wherein the status information at least includes vibration information; If the vibration information is less than or equal to the preset vibration value, the working power of the motor of the transport stretcher trolley is increased and the first speed information of the transport stretcher trolley is acquired in real time; After the first speed information is greater than or equal to the first speed threshold, the working power of the motor is maintained to obtain the power-assisted walking speed of the transport stretcher; If the vibration information is greater than a preset vibration value, the working power of the motor is reduced until the vibration information is less than or equal to the preset vibration value or the first speed information is less than or equal to the second speed threshold, so as to obtain the assisted walking speed of the transport stretcher.

11. The method for assisting the intelligent transfer of wounded personnel in a field environment according to claim 9, characterized in that: If it is determined that the distance between the transport stretcher trolley and other transport stretcher trolleys is less than or equal to the preset distance, the walking route of the corresponding transport stretcher trolley in the corresponding field space image model and the road image model is determined based on the walking directions of the multiple transport stretcher trolleys, and the transport stretcher trolley is controlled to walk based on the intelligent transport path, including: Adjusting the angle of the transport stretcher trolley based on the steering adjustment information so that the vehicle angle value of the transport stretcher trolley is less than a preset angle value; Obtain the field space image model and the road image model where the transport stretcher vehicle is currently located, and obtain the model walking routes corresponding to the field space image model and the road image model, each field space image model and the road image model includes at least one model walking route; When it is determined that the distance between a transport stretcher trolley and other transport stretcher trolleys is less than or equal to a preset distance, a model walking route of each transport stretcher trolley is determined based on the walking directions of the multiple transport stretcher trolleys, and transport stretcher trolleys with different walking directions in each field space image model and road image model correspond to different model walking routes; Control the transport stretcher to move with assistance according to the model walking route of each model in the intelligent transport path.

12. The intelligent assistance system for the transfer of wounded personnel in a field environment is characterized by: A construction module, used to construct a corresponding field twin space based on the field environment, wherein the field twin space includes at least a field space image model and a road image model, and determine the positioning information corresponding to the field space image model and the road image model respectively; A generation module, used to obtain the current positioning information and target positioning information of the transport stretcher vehicle, determine the corresponding field space image model and road image model in sequence based on the current positioning information and the target positioning information, and generate a corresponding intelligent transport path; A control module, for controlling the transport stretcher trolley to move with assistance based on the intelligent transport path in response to an automatic control signal of the control body and based on the intelligent transport path and a detection signal of the transport stretcher trolley; The detection module is used to manually control the transport stretcher trolley in response to the manual control information of the control body, and to perform protection detection based on the detection signal of the transport stretcher trolley.

13. A transport stretcher vehicle equipped with the intelligent assistance method for transporting the wounded in a field environment as claimed in any one of claims 1 to 11, characterized in that: include: A transport stretcher trolley body, the transport stretcher trolley body comprising a transport stretcher trolley and a power-assisting system, the power-assisting system comprising a power-assisting motor connected to the wheels of the transport stretcher trolley; A camera assembly, which is installed at the front end of the transport stretcher, so that the user can obtain image information within a preset range in front of the transport stretcher; A positioning assembly, the positioning assembly comprising a first positioning module located at the head of the transport stretcher vehicle and a second positioning module located at the tail, the first positioning module and the second positioning module being high-precision positioning modules; A memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the method according to any one of claims 1 to 11 to control the action of the power assist motor; An interactive screen is installed on one side of the transport stretcher vehicle body, and is used to receive automatic control signals or manual control information from the control body and display an intelligent transport path.

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