Intelligent operation control method of battlefield automatic emergency equipment

Abstract

The invention provides an intelligent operation control method of battlefield automatic first-aid equipment, which comprises the following steps: S1, a battlefield information system acquires real-time bombardment data of a battlefield, and judges whether the real-time bombardment data is a dense firepower stage, a scattered firepower stage and a firepower-free stage or not; s2, if the stage is a dense fire stage, determining a dense fire area, a safe area and a boundary area of the dense fire area and the safe area, determining a shortest path of a boundary area connected domain from the current site to the destination, when the dense fire area stops fire, enabling the AGV body to run from the current site to the destination along the shortest path of the boundary area connected domain, and if the AGV body reaches the destination, stopping fire stopping; otherwise, returning to the step S1; if the firepower stage is a scattered firepower stage, stopping operation, and returning to the step S1; and S3, running for a certain time in the shortest straight path from the current place to the destination in a firepower-free stage, exiting if the destination is reached, and otherwise, returning to the step S1. According to the method, dynamic scheduling and flexible route planning are adopted to avoid bombardment of enemies, and the risk of being hit is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of battlefield first-aid equipment, and particularly relates to an intelligent operation control method for an automatic battlefield first-aid equipment. Background Art

[0002] The modern battlefield environment is highly complex, and factors such as explosion shock waves, flying shrapnel, rugged terrain, and electromagnetic interference pose severe challenges to the first aid of the wounded. Compared with manual transfer of the wounded, using an unmanned rescue stretcher to transfer the first-aid wounded can avoid the harm to the transfer personnel caused by the battlefield environment. For example, the electric stretcher bed disclosed in CN201910272062.0 and the unmanned rescue transport vehicle disclosed in CN202410758280.6 are used.

[0003] Although unmanned rescue equipment has been initially applied in battlefield rescue, its technical limitations result in limited actual effectiveness, which is mainly reflected in: 1) Existing unmanned rescue stretchers rely on preset path navigation and lack the ability to perceive the dynamic battlefield environment in real time, unable to avoid the artillery shooting area, and there is a situation of secondary injury to the wounded by gunfire. 2) The unmanned rescue stretcher lacks protection designs against shell fragments and shock waves. When the unmanned rescue stretcher encounters an explosion, it is prone to structural fracture, resulting in damage and secondary injury to the wounded; at the same time, the open stretcher structure exposes the wounded's body directly to battlefield threats and cannot resist combined injuries such as heat pressure and fragments. Summary of the Invention

[0004] To solve the technical problems existing in the prior art, the present invention provides an intelligent operation control method for an automatic battlefield first-aid equipment. By obtaining real-time artillery shooting data of the battlefield through a battlefield information system, dynamic scheduling and flexible route planning are adopted to avoid enemy artillery fire, and it can automatically change the route or stay in a safe area when the artillery fire approaches, reducing the risk of being hit and reducing the secondary injury to the wounded by gunfire.

[0005] In an embodiment of the present invention, for the intelligent operation control method of an automatic battlefield first-aid equipment, the first-aid equipment includes an AGV vehicle body capable of running on the ground, and a protective armored cabin for the wounded to lie on is provided on the AGV vehicle body; the intelligent operation control method includes the following steps:

[0006] S1, the battlefield information system obtains real-time artillery shooting data of the battlefield and judges whether it is a stage of intensive firepower, scattered firepower, and no firepower;

[0007] S2. If it is the intensive fire stage, determine the intensive fire area, the safe area and the boundary area between the two, determine the shortest path of the boundary area connectivity domain from the current location to the destination. Within a certain period of time after the intensive fire area stops firing, the AGV vehicle body runs along the shortest path of the boundary area connectivity domain from the current location to the destination. If it reaches the destination, exit. Otherwise, return to step S1. If it is the scattered fire stage, stop running and return to step S1. If it is the no-fire stage, run along the straight-line shortest path from the current location to the destination for a certain period of time. If it reaches the destination, exit. Otherwise, return to step S1.

[0008] Compared with the prior art, the technical effects achieved by the preferred technical solution of the present invention include:

[0009] 1. The present invention obtains real-time shelling data of the battlefield through the battlefield information system, divides the battle situation into three stages: the intensive fire stage, the scattered fire stage and the no-fire stage, and sets different operation methods for the three stages respectively. It adopts dynamic scheduling and flexible route planning to avoid the enemy's shelling, reduce the risk of being hit, and reduce the secondary injury to the wounded by the artillery fire; and try not to be scanned by the enemy's radar, select the safe shortest path, and transfer the wounded out as soon as possible.

[0010] 2. The first aid equipment in the present invention is provided with a protective armor cabin, which can not only prevent explosion shock waves and shrapnel, but also resist composite injuries such as heat pressure and fragments, reducing the secondary injury to the wounded; the first aid equipment is also provided with a vital sign monitor, a cardiopulmonary resuscitation device, a defibrillator, a first aid kit and a temperature regulation unit to perform first aid on the wounded and improve the survival probability of the wounded.

[0011] 3. The first aid equipment in the present invention is also provided with a transfer handling robotic arm, which can automatically carry the wounded into the protective armor cabin without manually transferring the wounded into the protective armor cabin, reducing the number of personnel transferring the wounded on the battlefield and reducing casualties. Description of the Drawings

[0012] Figure 1 is the structural schematic diagram of the battlefield automatic first aid equipment in the embodiment Figure 1 , the protective armor cabin is in the closed state.

[0013] Figure 2 is the structural schematic diagram of the battlefield automatic first aid equipment in the embodiment Figure 1 , the protective armor cabin is in the open state.

[0014] The reference numerals in the drawings of the specification include: AGV vehicle body 1, protective armor cabin 2, oxygen supply device 3, electric door body 4, inlet and outlet 5, transfer handling robotic arm 6, vital sign monitor 7, cardiopulmonary resuscitation device 8, defibrillator 9, first aid kit 10, temperature regulation unit 11. Detailed Embodiments

[0015] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0016] This embodiment provides an intelligent operation control method for a battlefield automatic first aid device. As Figure 1 shown, in a preferred embodiment, the first aid device includes an AGV vehicle body 1 capable of running on the ground. The AGV vehicle body 1 can adopt the existing technology and has a navigation system, an obstacle avoidance system, a vision system, etc. A protective armor cabin 2 on which the wounded can lie is provided on the AGV vehicle body 1. The protective armor cabin 2 is made of armor capable of preventing shell bombardment. Armors are also provided around the AGV vehicle body 1, so that the first aid device can not only prevent explosion shock waves and shrapnel, but also resist composite damages such as heat pressure and fragments, reducing secondary injuries to the wounded.

[0017] The intelligent operation control method for the battlefield automatic first aid device includes the following steps:

[0018] S1. The battlefield information system obtains real-time shelling data (including shelling locations and times) of the battlefield, and determines whether it is a stage of intensive fire, scattered fire, or no fire. The control system of the first aid device is communicatively connected to the battlefield information system of the battlefield command center, and the operation of the AGV vehicle body is controlled according to the battlefield fire situation accordingly.

[0019] S2. If it is the stage of intensive fire, determine the intensive fire area, the safe area, and the boundary area between the two, determine the shortest path of the boundary area connectivity domain from the current location to the destination, and within a certain time after the intensive fire area stops firing, the AGV vehicle body 1 runs along the shortest path of the boundary area connectivity domain from the current location to the direction of the destination. If it reaches the destination, exit; otherwise, return to step S1. Generally, there will be radar scanning targets on the battlefield. The infrared rays generated by intensive fire are sufficient to cover the operation of the AGV vehicle body and are not easily recognized. It should run towards the destination as soon as possible to transfer the wounded out as soon as possible.

[0020] If it is the stage of scattered fire, stop running and return to step S1. The infrared rays generated by scattered fire are not sufficient to cover the operation of the AGV vehicle body and are easily recognized. Stop running and return to step S1.

[0021] If it is the stage of no fire, run along the straight shortest path from the current location to the destination for a certain time. If it reaches the destination, exit; otherwise, return to step S1.

[0022] Specifically, in the present invention, the method for the battlefield information system to obtain real-time shelling data of the battlefield and determine whether it is in the intensive fire stage, scattered fire stage, or no-fire stage is as follows:

[0023] Obtain the time of shelling as t i , and determine that the location of each shelling within a unit time (periodically determine whether it is in the intensive fire stage, scattered fire stage, or no-fire stage, and each period is a unit time) is (x i , y i ), where i is the serial number of the shelling and n is the total number of shellings;

[0024] The fire density function is: where σ is the bandwidth parameter of the Gaussian kernel function for smoothing data;

[0025] The maximum value ρ max (x, y) of the fire density function. If ρ max (x, y) > ρ th , it is the intensive fire stage, and ρ th is the fire intensity threshold (set according to experience); if 0 < ρ max (x, y) ≤ ρ th , it is the scattered fire stage; if ρ max (x, y) = 0, it is the no-fire stage.

[0026] In the above technical solution, by establishing the fire density function, obtaining the maximum value ρ max (x, y) of the fire density function, and comparing the maximum value ρ max (x, y) of the fire density function with the fire intensity threshold ρ th , to determine whether it is in the intensive fire stage, scattered fire stage, or no-fire stage.

[0027] In the present invention, the method for determining the intensive fire area, safe area, and the boundary area between the two is as follows: According to the fire density function, set the fire intensity threshold ρ th , and screen out all areas with a density greater than this fire intensity threshold ρ th as the intensive fire area; set the safety threshold ρ safe (set according to experience), and all areas with a density less than or equal to this safety threshold ρ safe are the safe areas; the transitional area between the intensive fire area and the safe area is the boundary area.

[0028] In the present invention, the method for determining the shortest path of the boundary area connectivity domain from the current location to the destination is as follows:

[0029] S41, Initialize the time T = 0, and determine whether the current location is in the intensive fire area, safe area, or boundary area;

[0030] If in the boundary area, use the current location as the starting point; if in the intensive fire area or the safe area, determine the shortest distance from the current location to the boundary area and move along the shortest distance route to the boundary area as the starting point;

[0031] S42, Initialize all nodes (one node represents a position in the boundary area) as unvisited, set the distance of the starting point to 0, and the distance of other nodes to infinity;

[0032] S43, Select the node with the minimum distance among the currently unvisited nodes as the "current node";

[0033] S44, Update the distances of its neighbors through the current node, and the update method is:

[0034] d(ν)=min(d(ν),d(u)+w(u,ν))

[0035] where u is the current node, ν is the neighbor node, and w(u,ν) is the distance from node u to node ν;

[0036] S45, Mark the current node as visited, determine whether the end point is reached. If the end point is reached, exit. Otherwise, determine whether the time T reaches the unit time. If it reaches, return to step S41.

[0037] As Figure 1 shown, in the present invention, an openable and closable ventilation hole (not shown in the figure) is provided in the area of the protective armor cabin 2 close to the head of the wounded. Specifically, an explosion-proof electric valve can be provided at the ventilation hole; an oxygen supply device 3 is provided in the protective armor cabin 2, and the oxygen supply device 3 can be an oxygen cylinder, and oxygen is released into the protective armor cabin 2 to provide an oxygen environment. When the first aid device is on the battlefield, the ventilation hole is closed to prevent shrapnel from entering the protective armor cabin 2 and at the same time reduce the entry of polluted air on the battlefield. The oxygen supply device 3 is opened to supply oxygen into the protective armor cabin 2 to supply oxygen to the wounded; when the first aid device operates in a safe area outside the battlefield, the ventilation hole is opened and the oxygen supply device 3 is closed, and the outside air enters the protective armor cabin 2 through the ventilation hole to supply oxygen to the wounded, reducing the oxygen consumption of the oxygen supply device 3. Preferably, an oxygen concentration sensor is further provided in the protective armor cabin 2, and the signal output end of the oxygen concentration sensor is connected to the enable end of the oxygen supply device 3. When the oxygen concentration in the protective armor cabin 2 drops to the low threshold, the oxygen supply device 3 is opened to release a certain amount of oxygen into the protective armor cabin 2.

[0038] As Figure 1 and Figure 2As shown, in another embodiment, the protective armor compartment 2 has an inlet / outlet 5, and an electric door body 4 that can open and close and is used to close the inlet / outlet 5 is installed on the protective armor compartment 2. The electric door body 4 is also made of armor. By opening the electric door body 4, the wounded can enter and exit the protective armor compartment 2 through the inlet / outlet 5. For example, the cross-section of the protective armor compartment is a semi-circular shape protruding upward, the inlet / outlet 5 extends along the length direction of one side (such as the right side) of the protective armor compartment 2, and the electric door body 4 is an arc-shaped sliding door that can close the inlet / outlet 5. The electric door body 4 can slide to the left side of the protective armor compartment 2 and overlap with it to open the inlet / outlet 5, facilitating the wounded to enter and exit the protective armor compartment 2.

[0039] Further preferably, the first aid device is also provided with two transfer and handling robotic arms 6 distributed along the length direction of the protective armor compartment 2 that can automatically carry the wounded into the protective armor compartment 2. Thus, there is no need to manually transfer the wounded into the protective armor compartment 2, reducing the number of transfer personnel and casualties. Specifically, the transfer and handling robotic arms 6 are hidden in the AGV vehicle body 1 and can extend and retract from the inlet / outlet 5 through the bottom of the protective armor compartment 2. For example, at the positions corresponding to the two transfer and handling robotic arms 6 at the bottom of the protective armor compartment 2, two strip-shaped holes extending along the width direction of the protective armor compartment 2 are opened, and the transfer and handling robotic arms 6 can extend or retract through the strip-shaped holes. Specifically, the transfer and handling robotic arms 6 can adopt bendable multi-joint robotic arms or folding robotic arms in the prior art, such as the robotic arms disclosed in CN201510607815.0, CN202111425451.6, CN201880060049.2, CN200980117563.6 or CN201910283030.0.

[0040] In the normal state, the transfer and handling robotic arms 6 are folded into the AGV vehicle body 1. When it is necessary to transfer the wounded, the electric door body 4 is opened, the two transfer and handling robotic arms 6 are deployed, the transfer and handling robotic arms 6 extend from the bottom of the protective armor compartment 2 through the strip-shaped holes to the protective armor compartment 2, and then extend from the inlet / outlet 5 to the outside of the protective armor compartment 2. The two transfer and handling robotic arms 6 horizontally hold and lift the battlefield wounded and carry the wounded into the protective armor compartment 2, and then retract from the strip-shaped holes at the bottom of the protective armor compartment 2 into the AGV vehicle body 1. Preferably, the end of the transfer and handling robotic arms 6 is a structure similar to a human hand, which is conducive to picking up the wounded.

[0041] In the present invention, a vision sensor and a vital sign sensor can be set on the first aid device. By detecting the posture and vital sign state of the person, it is judged whether the person is a wounded. For example, if the person is lying or sitting, there is blood on the body, and the vital sign is that of a living body, then it is judged as a wounded (the specific method of setting the vision sensor and the vital sign sensor, and the method of judging as a wounded according to the collected information can adopt the existing machine learning technology). The two transfer and handling robotic arms 6 automatically transfer the wounded into the AGV vehicle body 1.

[0042] As Figure 1 shown, in another embodiment, a vital sign monitor 7, a cardiopulmonary resuscitation device 8 and a defibrillator 9 are provided in the protective armor cabin 2. The vital sign monitor 7 is used to monitor the vital signs of the wounded (such as respiration, heart rate, body temperature, blood pressure, etc.) and transmit the information to the control system. The control system controls the cardiopulmonary resuscitation device 8 and the defibrillator 9 to work for first aid according to the respiration and heart rate of the wounded. For example, defibrillation and cardiopulmonary resuscitation are given in case of cardiac arrest. A vision system (such as several cameras) is provided in the protective armor cabin 2. The monitoring probe of the vital sign monitor 7 is carried by a robotic arm and moved to a monitoring point of the wounded for fixation. The cardiopulmonary resuscitation device 8 and the defibrillator 9 are suspended at the top of the protective armor cabin 2. The cardiopulmonary resuscitation device 8 can move along the length and width directions of the protective armor cabin 2 to adjust its position and can automatically perform cardiopulmonary resuscitation on the wounded; the defibrillator 9 can also move along the length and width directions of the protective armor cabin 2 to adjust its position and can automatically defibrillate the wounded.

[0043] Further preferably, a temperature regulation unit 11 is also provided in the protective armor cabin 2. For example, the temperature regulation unit 11 is a semiconductor chip embedded in the bottom of the protective armor cabin 2 that can refrigerate and heat. Refrigeration and heating by semiconductor chips are prior art and will not be elaborated here. When the vital sign monitor 7 monitors that the body temperature of the wounded is abnormal, the control system controls the temperature regulation unit 11 to work to raise / lower the body temperature of the wounded. For example, if the body temperature of the wounded is high, it will automatically cool down, and if the body temperature of the wounded is low, it will automatically warm up.

[0044] Even more preferably, a first aid kit 10 for storing first aid items is provided on the first aid equipment. Specifically, the first aid kit 10 can be provided in the protective armor cabin 2, or an explosion-proof drawer can be provided on the side of the AGV vehicle body 1 as the first aid kit 10. The first aid kit 10 can store first aid items such as disinfection, hemostasis, pain relief, and fracture fixation. After the first aid equipment reaches the destination, medical staff can use the first aid items in the first aid kit 10 to quickly first aid the wounded.

[0045] It should be noted that the first aid equipment of the present invention can be made in different size specifications according to time conditions. In a small-sized protective armor cabin 2, one wounded can lie down, and in a large-sized protective armor cabin 2, multiple wounded can lie down. When there are multiple wounded in one place, multiple wounded can be rescued and transported away at the same time. When multiple wounded can lie down in the protective armor cabin 2, the vital sign monitor 7 has multiple groups of monitoring probes, and each patient uses a group of monitoring probes separately.

[0046] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. An intelligent operation control method for battlefield automatic emergency rescue equipment, characterized in that: The first aid equipment includes an AGV body capable of running on the ground, and the AGV body is provided with a protective armored cabin in which the injured can lie down; The intelligent operation control method comprises the following steps: S1, the battlefield information system obtains real-time artillery fire data of the battlefield and determines whether it is a dense firepower stage, a scattered firepower stage or a no firepower stage; S2, if it is the dense firepower stage, then determine the dense firepower area and the safety area and the boundary area between the two, and determine the shortest path of the connected domain of the boundary area from the current location to the destination. Within a certain period of time after the dense firepower area ceases fire, the AGV body runs along the shortest path of the connected domain of the boundary area from the current location to the destination. If it reaches the destination, it exits, otherwise it returns to step S1; If it is the scattered firepower stage, stop running and return to step S1; If it is the no-fire stage, the straight-line shortest path from the current location to the destination runs for a certain period of time. If the destination is reached, exit; otherwise, return to step S1.

2. The intelligent operation control method of battlefield automatic first aid equipment according to claim 1 is characterized in that: The battlefield information system obtains real-time artillery data on the battlefield and determines whether it is in the intensive firepower stage, scattered firepower stage, or no firepower stage in the following way: Get the bombardment time as t i , determine the location of each artillery attack within a unit time (periodically determine whether it is a dense firepower stage, a scattered firepower stage or a no firepower stage, each cycle is a unit time) as (x i ,y i ), i is the bombardment sequence number, n is the total number of bombardments; The firepower density function is: Among them, σ is the bandwidth parameter of the Gaussian kernel function, which is used to smooth the data; The maximum value of the firepower density function ρ max (x,y), If max (x,y)>ρ th , then it is the intensive firepower stage, ρ th is the fire intensity threshold; If 0<ρ max (x,y)≤ρ th , then it is the scattered firepower stage; If max (x,y)=0, it is the no-fire stage.

3. The intelligent operation control method of battlefield automatic first aid equipment according to claim 2 is characterized in that: The method for determining the dense fire area and the safe area and the boundary area between the two is: According to the firepower density function, set the firepower density threshold ρ th , filter out all areas with density greater than this firepower density threshold as dense firepower areas; Set the safety threshold ρ safe , all areas with density less than or equal to this safety threshold are safe areas; The transition area between the intensive fire zone and the safe zone is the border zone.

4. The intelligent operation control method of battlefield automatic first aid equipment according to claim 3 is characterized in that: The method to determine the shortest path from the current location to the destination boundary area connected domain is: S41, initialization time T=0, determine whether the current location is in a dense fire area, a safe area or a border area; If it is in the border area, the current location is used as the starting point; if it is in the dense fire area or the safe area, the shortest distance from the current location to the border area is determined and the shortest distance route is moved to the border area as the starting point; S42, initialize all nodes as unvisited, set the distance of the starting point to 0, and the distances of other nodes to infinity; S43, select the node with the smallest distance among the currently unvisited nodes as the "current node"; S44, updates the distance of its neighbors through the current node, and the updating method is: d(ν)=min(d(ν),d(u)+w(u,ν)) Among them, u is the current node, ν is the neighbor node, and w(u,ν) is the distance from node u to node ν; S45, mark the current node as visited, determine whether the end point has been reached, if so, exit, otherwise determine whether the time T has reached the unit time, if so, return to step S41.

5. The intelligent operation control method of battlefield automatic first aid equipment according to claim 1, characterized in that: The protective armor cabin is provided with an openable and closable ventilation hole in the area near the head of the wounded, and an oxygen supply device is provided in the protective armor cabin. When the ventilation hole is closed, oxygen is supplied to the wounded through the oxygen supply device. When the ventilation hole is opened, outside air enters the protective armor cabin through the ventilation hole to supply oxygen to the wounded.

6. The intelligent operation control method of battlefield automatic first aid equipment according to claim 1, characterized in that: The protective armored cabin has an entrance and an exit, and is equipped with an electric door body that can be opened and closed for closing the entrance and exit. By opening the electric door body, the wounded can enter and exit the protective armored cabin through the entrance and exit.

7. The intelligent operation control method of battlefield automatic first aid equipment according to claim 6, characterized in that: The first aid equipment is also provided with two transfer and transport robotic arms distributed along the length direction of the protective armored cabin, which can automatically transport the wounded into the protective armored cabin. The transfer and transport robotic arms are hidden in the AGV body and can extend and retract from the entrance and exit through the bottom of the protective armored cabin.

8. The intelligent operation control method of battlefield automatic first aid equipment according to claim 1, characterized in that: The protective armored cabin is equipped with a vital sign monitor, a cardiopulmonary resuscitation device and an electric defibrillator. The vital sign monitor is used to monitor the vital signs of the injured and transmit the information to the control system. The control system controls the cardiopulmonary resuscitation device and the electric defibrillator to perform first aid according to the breathing and heart rate of the injured.

9. The intelligent operation control method of battlefield automatic first aid equipment according to claim 8, characterized in that: The protective armored cabin is also provided with a temperature regulating unit. When the vital signs monitor detects that the body temperature of the injured person is abnormal, the control system controls the temperature regulating unit to increase / lower the body temperature of the injured person.

10. The intelligent operation control method of battlefield automatic first aid equipment according to claim 1, characterized in that: The first aid equipment is provided with a first aid box for storing first aid items.

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