Rescue cutting method and cutting equipment

Abstract

The invention provides a rescue cutting method and cutting equipment, and relates to the technical field of cutting rescue. By acquiring the temperature of the current rescue cutting environment and calculating the temperature difference between the temperature and the human body temperature, the influence of the environment on infrared detection can be reflected in real time. The sensitivity threshold value of the infrared sensor is adjusted based on the temperature difference, so that the sensor can keep the optimal detection performance under different environmental conditions, and false alarm and missing alarm are reduced. The dynamic adjustment mechanism effectively solves the problem of low detection precision of the infrared sensor caused by environment temperature change in the prior art. In addition, the infrared sensor is controlled to carry out detection on the cutting path based on the adjusted sensitivity threshold value, and the position of the trapped person can be recognized more accurately. Once a trapped person is detected, the cutting path can be immediately adjusted to avoid the trapped person, so that the safety of cutting operation is ensured. The intelligent path adjustment not only improves the cutting efficiency, but also reduces the risk of secondary injury to trapped people to the greatest extent.

Description

Technical Field

[0001] The present invention relates to the technical field of cutting rescue, and particularly to a rescue cutting method and a cutting device. Background Art

[0002] In rescue scenarios, the rapid and safe rescue of trapped persons is a crucial task. Cutting tools are often used to cut objects such as vehicles and building structures to open up rescue channels or remove obstacles. However, how to avoid trapped persons during the cutting process and ensure the safety of rescue operations is an urgent problem to be solved in rescue work.

[0003] Currently, rescue cutting operations mainly rely on manual judgment and infrared detection technology to identify trapped persons. Manual judgment depends on the experience and visual observation of rescue personnel, but this method is prone to misjudgment in complex environments, especially when the line of sight is blocked or the environment is chaotic. Infrared detection technology locates trapped persons by detecting the infrared radiation emitted by the human body. Although it can improve the detection efficiency to a certain extent, its detection accuracy still has limitations in complex and changeable rescue environments.

[0004] In actual rescue scenarios, the environment is complex and changeable, and especially the change of environmental temperature has a significant impact on the detection accuracy of infrared sensors. Infrared sensors identify trapped persons by detecting the infrared radiation emitted by the human body, and their working principle is based on the temperature difference between the human body and the environment. However, when the environmental temperature is close to the human body temperature (for example, in high-temperature environments or fire scenes), the detection accuracy of infrared sensors will drop significantly. These problems seriously affect the safety and efficiency of rescue cutting operations. Summary of the Invention

[0005] Embodiments of the present invention provide a rescue cutting method and a cutting device to solve the problems of low detection accuracy and low safety of trapped persons in existing rescue cutting methods.

[0006] In a first aspect, embodiments of the present invention provide a rescue cutting method, which is applied to control a rescue cutting device; the rescue cutting device includes an infrared sensor for detecting trapped persons; the method includes:

[0007] Obtain the current rescue cutting environment temperature;

[0008] Determine the temperature difference between the rescue cutting environment temperature and the human body temperature;

[0009] According to the temperature difference and the default sensitivity threshold of the infrared sensor, obtain the adjusted sensitivity threshold of the infrared sensor, where the adjusted sensitivity threshold is positively correlated with the temperature difference;

[0010] Based on the adjusted sensitivity threshold, control the infrared sensor to detect on the cutting path, and obtain the personnel detection result on the cutting path;

[0011] Based on the personnel detection result on the cutting path, control the rescue cutting equipment to adjust the cutting path and perform cutting rescue.

[0012] In a possible implementation manner, obtaining the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor includes:

[0013] Obtain a preset temperature deviation threshold;

[0014] If the temperature difference is greater than the preset temperature deviation threshold, use the default sensitivity threshold as the adjusted sensitivity threshold of the infrared sensor.

[0015] In a possible implementation manner, obtaining the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor includes:

[0016] If the temperature difference is not greater than the preset temperature deviation threshold, linearly reduce the default sensitivity threshold based on the temperature difference to obtain a linearly reduced sensitivity threshold; wherein, the linearly reduced sensitivity threshold is positively correlated with the temperature difference;

[0017] Use the linearly reduced sensitivity threshold as the adjusted sensitivity threshold.

[0018] In a possible implementation manner, obtain the adjusted sensitivity threshold based on the following formula;

[0019]

[0020] wherein, S adjusted represents the adjusted sensitivity threshold; S default represents the default sensitivity threshold; ΔT safe represents the preset temperature deviation threshold; ΔT represents the temperature difference.

[0021] In a possible implementation manner, based on the personnel detection result on the cutting path, controlling the rescue cutting equipment to adjust the cutting path and perform cutting rescue includes:

[0022] Obtain the three-dimensional model of the object to be cut and the cutting path obtained based on the three-dimensional model;

[0023] Based on the personnel detection result on the cutting path and the three-dimensional model, regenerate the cutting path through the D* pathfinding algorithm;

[0024] Perform cutting rescue according to the regenerated cutting path.

[0025] In a possible implementation, the rescue cutting device further includes a cutting angle adjustment device; performing cutting rescue according to the regenerated cutting path includes:

[0026] Obtaining a target cutting angle according to the regenerated cutting path;

[0027] Controlling the cutting angle adjustment device according to the target cutting angle to adjust the cutting angle and perform cutting rescue.

[0028] In a possible implementation, the rescue cutting device further includes an ultrasonic sensor for detecting the distance of the trapped person; controlling the infrared sensor to detect on the cutting path based on the adjusted sensitivity threshold, and obtaining the personnel detection result on the cutting path includes:

[0029] Controlling the infrared sensor to detect on the cutting path based on the adjusted sensitivity threshold, and determining whether there is a trapped person on the cutting path;

[0030] If there is a trapped person, controlling the ultrasonic sensor to detect the distance of the trapped person.

[0031] In a possible implementation, after controlling the ultrasonic sensor to detect the distance of the trapped person, it further includes: if the distance of the trapped person is less than a preset threshold, controlling the rescue cutting device to stop the cutting operation and controlling to issue a warning signal to remind the operator.

[0032] In a possible implementation, the warning signal includes but is not limited to displaying a warning message through a display screen, reminding the operator through a vibration feedback device, or emitting a warning signal through an indicator light.

[0033] In a second aspect, an embodiment of the present invention provides a cutting device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the method in the first aspect or any possible implementation manner of the first aspect above.

[0034] In the embodiments of the present invention, by obtaining the temperature of the current rescue cutting environment and calculating the temperature difference from the human body temperature, the influence of the environment on infrared detection can be reflected in real time. Based on the temperature difference, the sensitivity threshold of the infrared sensor is adjusted, so that the sensor can maintain the best detection performance under different environmental conditions, reducing false alarms and missed detections. For example, when the temperature difference is small, that is, the environmental temperature is close to the human body temperature, the sensitivity threshold of the infrared sensor can be automatically reduced to reduce false alarms; for another example, when the temperature difference is large, the sensitivity threshold is appropriately increased to ensure the reliability of detection. This dynamic adjustment mechanism effectively solves the problem of low detection accuracy of infrared sensors caused by environmental temperature changes in the prior art. In addition, based on the adjusted sensitivity threshold, the infrared sensor is controlled to detect on the cutting path, and the position of the trapped person can be identified more accurately. Once a trapped person is detected, the cutting path can be immediately adjusted to avoid the trapped person, thus ensuring the safety of the cutting operation. This intelligent path adjustment not only improves the cutting efficiency but also minimizes the risk of secondary injury to the trapped person. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is an application scenario diagram of the rescue cutting method provided by the embodiments of the present invention;

[0036] Figure 2 is an implementation flowchart of the rescue cutting method provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0038] Figure 1 is an application scenario diagram of the rescue cutting method provided by the embodiments of the present invention. As Figure 1 shown, a cutting device includes a tool body, a tool protection shell, a motor, and a handle, wherein the motor drives the tool to rotate.

[0039] Exemplarily, detection sensors such as lidar, temperature sensors, infrared sensors, and ultrasonic sensors can be provided on the tool protection shell of the cutting device.

[0040] Exemplarily, the cutting device further includes a fine-tuning motor. The fine-tuning motor can adjust the cutting angle of the tool.

[0041] Exemplarily, the cutting device further includes a vibration device, an indicator light, and a display screen. The vibration device gives a feedback reminder through vibration. The display screen can display the obstacle detection result.

[0042] Exemplarily, the cutting device further includes a central processing unit. The central processing unit can control each part. For example, it can be used to execute the rescue cutting method provided by the embodiments of the present invention.

[0043] In battlefield emergency repair and rescue, emergency rescue, and traffic accident rescue scenarios, the main purpose of rescue is to quickly and safely rescue trapped personnel, restore the normal operation of equipment, or promptly rescue trapped personnel to ensure the safety of people's lives and reduce the occurrence of secondary disasters. Rescue often involves vehicles or buildings with complex structures and high durability. Therefore, specially designed cutting tools are required to perform fast, safe, and efficient cutting operations on high-strength materials or complex structures to rescue trapped personnel or complete emergency repair tasks.

[0044] Infrared sensors have high detection accuracy and can detect the thermal signals of the human body at a relatively long distance. Through the infrared sensors installed on the cutting equipment, the system can monitor in real time whether there are trapped personnel approaching on the cutting path. This real-time detection ability significantly improves the safety of rescue operations and reduces the risk of accidental injury.

[0045] First, explain the impact of changes in ambient temperature on the detection accuracy of infrared sensors.

[0046] False alarms increase: When the ambient temperature rises, the infrared radiation on the surface of the object increases, making it easy for the infrared sensor to misidentify non-human heat sources as trapped personnel, resulting in false alarms.

[0047] Missed alarm risk: When the ambient temperature approaches the human body temperature, the temperature difference between the human body and the environment decreases, and it is difficult for the infrared sensor to accurately distinguish the human heat source, thus increasing the risk of missed alarms.

[0048] Detection range limitation: Changes in ambient temperature also affect the detection range and sensitivity of infrared sensors, resulting in a shortened detection distance or an incomplete detection area.

[0049] The above problems seriously affect the safety and efficiency of rescue cutting operations. Embodiments of the present invention effectively improve the accuracy and reliability of trapped personnel detection and the safety of rescue cutting by calibrating the sensitivity threshold of the infrared sensor in real time based on the ambient temperature.

[0050] See Figure 2 , which shows the implementation flowchart of the rescue cutting method provided by the embodiments of the present invention, and is described in detail as follows:

[0051] Embodiments of the present invention provide a rescue cutting method applied to controlling a rescue cutting device; the rescue cutting device includes an infrared sensor for detecting trapped personnel; the method includes:

[0052] Step 201, obtain the current ambient temperature of the rescue cutting environment;

[0053] In some embodiments, the rescue cutting device is further provided with a temperature sensor. Exemplarily, the temperature sensor is installed above the infrared sensor or at a symmetric position. Another example is that one temperature sensor is installed above the infrared sensor, and the other is symmetrically installed on the other side of the protective housing. This symmetric arrangement can ensure that the temperature sensor can fully cover the detection range of the infrared sensor and provide accurate ambient temperature data.

[0054] It should be noted that the introduction of the temperature sensor is to monitor the ambient temperature in real time and provide dynamic calibration support for the infrared sensor. Through temperature data calibration, the system can dynamically adjust the detection threshold of the infrared sensor, reduce false alarms caused by temperature changes, and improve the reliability of personnel detection. This multi-sensor fusion design enables the system to work continuously and accurately even in harsh environments such as low light and smoke, improving environmental adaptability and detection reliability.

[0055] Step 202: Determine the temperature difference between the rescue cutting environment temperature and the human body temperature;

[0056] It should be noted that the human body temperature usually fluctuates between 36°C and 37°C. Here, the human body temperature can take the average value of the normal human body temperature. The human body emits infrared radiation with a specific wavelength (8 to 14 microns), which belongs to the human body temperature range (about 36°C to 37°C). The infrared sensor can identify whether there is a heat source conforming to the human body temperature by receiving the infrared radiation signal within this wavelength range.

[0057] Exemplarily, the above-mentioned ambient temperature refers to the real-time temperature at the rescue cutting site, which is measured by the temperature sensor installed on the rescue cutting device in step 201.

[0058] Exemplarily, the human body temperature can be set to a standard value. For example, it can be 36.5°C (the average value of the normal human body temperature).

[0059] Exemplarily, the calculation formula for the temperature difference (ΔT) can be:

[0060] ΔT = |T env - T humax |

[0061] where T env represents the ambient temperature; T humax represents the human body temperature.

[0062] Step 203: Obtain the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor, where the adjusted sensitivity threshold is positively correlated with the temperature difference;

[0063] It should be noted that the sensitivity threshold is a reference value set during the detection process of the infrared sensor, which is used to determine whether the detected signal is strong enough to determine the presence of trapped persons. The sensitivity threshold is used to distinguish background noise from actual heat source signals. By reasonably setting the sensitivity threshold, false alarms and missed detections can be reduced, and the detection accuracy can be improved.

[0064] Exemplarily, the default sensitivity threshold is usually a relatively high sensitivity. Exemplarily, the default sensitivity threshold is higher than the adjusted sensitivity threshold.

[0065] Exemplarily, the fact that the adjusted sensitivity threshold is positively correlated with the temperature difference means that the smaller the temperature difference, the smaller the adjusted sensitivity threshold. The following specifically describes the adjustment method.

[0066] In a possible implementation manner, obtaining the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor includes:

[0067] Obtain a preset temperature deviation threshold;

[0068] If the temperature difference is greater than the preset temperature deviation threshold, then use the default sensitivity threshold as the adjusted sensitivity threshold of the infrared sensor.

[0069] It should be noted that the preset temperature deviation threshold represents the temperature difference within a certain range. For example, 5°C. When the temperature difference is within the preset temperature deviation threshold, it means the temperature difference is small. When the temperature difference is outside the preset temperature deviation threshold, it means the temperature difference is large.

[0070] Furthermore, it should be noted that when the temperature difference is greater than the preset temperature deviation threshold, it means the difference between the ambient temperature and the human body temperature is large, so a relatively high default sensitivity threshold is used as the adjusted sensitivity threshold. The following describes the situation where the temperature difference is not greater than the preset temperature deviation threshold.

[0071] In a possible implementation manner, obtaining the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor includes:

[0072] If the temperature difference is not greater than the preset temperature deviation threshold, then linearly reduce the default sensitivity threshold based on the temperature difference to obtain a linearly reduced sensitivity threshold; wherein, the linearly reduced sensitivity threshold is positively correlated with the temperature difference;

[0073] Use the linearly reduced sensitivity threshold as the adjusted sensitivity threshold.

[0074] It should be noted that the temperature difference not being greater than the preset temperature deviation threshold indicates that the difference between the ambient temperature and the human body temperature is small, and the ambient temperature is close to the human body temperature. As the ambient temperature gets closer to the human body temperature, the probability of misjudgment by the infrared sensor is higher. Therefore, the default sensitivity threshold is linearly reduced based on the temperature difference. The smaller the temperature difference, the smaller the adjusted sensitivity threshold.

[0075] In a possible implementation, the adjusted sensitivity threshold is obtained based on the following formula;

[0076]

[0077] where, S adjusted represents the adjusted sensitivity threshold; S default represents the default sensitivity threshold; ΔT safe represents the preset temperature deviation threshold; ΔT represents the temperature difference.

[0078] Step 204, control the infrared sensor to detect on the cutting path based on the adjusted sensitivity threshold, and obtain the personnel detection result on the cutting path;

[0079] Exemplarily, the cutting path can be the direction towards which the cutting tool is oriented during current cutting. Exemplarily, the cutting path can be a pre-planned cutting route.

[0080] It should be noted that when controlling the cutting equipment to perform cutting, the infrared sensor detects the cutting path in real time to determine whether there are trapped personnel on the cutting path. Note that when detecting here, the adjusted sensitivity threshold is used to control the infrared sensor to perform the detection.

[0081] In some complex rescue scenarios, such as narrow spaces, it may be insufficient to control only based on the detection result of the infrared sensor. For example, if the space is narrow, trapped personnel may be continuously detected during cutting rescue, and at this time, cutting may be necessary. Therefore, it is necessary to further improve the accuracy of detecting trapped personnel.

[0082] In a possible implementation, the rescue cutting equipment further includes a ultrasonic sensor for detecting the distance of trapped personnel; controlling the infrared sensor to detect on the cutting path based on the adjusted sensitivity threshold, and obtaining the personnel detection result on the cutting path includes:

[0083] Controlling the infrared sensor to detect on the cutting path based on the adjusted sensitivity threshold, and determining whether there are trapped personnel on the cutting path;

[0084] If there are trapped personnel, control the ultrasonic sensor to detect the distance of the trapped personnel.

[0085] Exemplarily, through an infrared and ultrasonic dual personnel detection system, the tool can monitor in real time whether there are personnel approaching in the cutting area. Once a trapped person is detected approaching, the system will immediately trigger the emergency stop function, cut off the power source of the tool, and avoid causing harm to the personnel. In addition, the display screen and the vibration feedback device can synchronously remind the operator of the current safety status to ensure that the operator can respond quickly in dangerous situations.

[0086] In the embodiment of the present invention, through the dual verification mechanism of infrared and ultrasonic sensors, the accuracy of identifying trapped personnel is effectively improved. Compared with the traditional single-sensor detection method, the dual verification can reduce misjudgment and ensure that the emergency stop is triggered only after detecting a heat source signal and a cavity structure that conform to human characteristics, thereby greatly reducing the risk of secondary injury to trapped personnel during the rescue cutting process.

[0087] After obtaining the personnel detection result, the cutting can be stopped to protect the trapped personnel. The following is an example.

[0088] In a possible implementation manner, after controlling the ultrasonic sensor to detect the distance of the trapped person, it further includes: if the distance of the trapped person is less than a preset threshold, controlling the rescue cutting device to stop the cutting operation and controlling to emit a warning signal to remind the operator.

[0089] Exemplarily, the distance of the trapped person being less than the preset threshold may indicate that continuing the current cutting method will cause secondary injury to the trapped person. Therefore, the operation should be stopped at this time for the next step of processing.

[0090] In a possible implementation manner, the warning signal includes but is not limited to displaying a warning message through the display screen, reminding the operator through the vibration feedback device, or emitting a warning signal through the indicator light.

[0091] Exemplarily, the display screen can be installed above the handle and is used to display the system status, cutting path, and obstacle warning information in real time. When the system detects an obstacle or a person approaching, the display screen can prompt information such as "obstacle detection" or "emergency stop" to remind the operator to pay attention to the surrounding environment.

[0092] Exemplarily, when a person approaches or a trapped person is detected, the vibration feedback device will be activated and remind the operator through vibration to increase the safety of the operation.

[0093] Exemplarily, the indicator light shows green during normal operation and turns red when the system detects a dangerous state, reminding the operator to be cautious during the cutting process.

[0094] It should be noted that after obtaining the personnel detection result, except in the case of stopping the operation, the cutting path can also be automatically optimized to reduce the probability of causing secondary injuries to the trapped personnel.

[0095] In a rescue scenario, if the operator needs to judge the cutting path by himself and continuously encounters uncertain obstacles, resulting in the forced stop of cutting, this not only reduces the cutting efficiency but also may delay the rescue time. By introducing an intelligent path planning system, the cutting efficiency can be significantly improved. The intelligent path planning system can sense the obstacles in the environment in real time and automatically generate the optimal cutting path, thus reducing the burden on the operator to judge the path by himself and improving the cutting efficiency.

[0096] Step 205: Based on the personnel detection result on the cutting path, control the rescue cutting device to adjust the cutting path and perform cutting rescue.

[0097] It should be noted that the rescue cutting device is equipped with an infrared sensor for detecting in real time whether there are trapped personnel on the cutting path. The infrared sensor identifies the position of the trapped personnel by detecting the infrared radiation signal emitted by the human body. The system analyzes the detection data of the infrared sensor according to the adjusted sensitivity threshold. If the intensity of the detected heat source signal exceeds the adjusted sensitivity threshold and the position and characteristics of the signal conform to the characteristics of the human body (such as temperature range, signal persistence, etc.), the system determines that there are trapped personnel on the cutting path.

[0098] Furthermore, when the system detects that there are trapped personnel on the cutting path, the central processing unit (CPU) will immediately control the rescue cutting device to adjust the cutting path. The specific ways to adjust the path can include: stopping cutting, immediately stopping the cutting operation to avoid harming the trapped personnel; avoiding the trapped personnel, adjusting the angle or position of the cutting tool through a fine-tuning motor to make the cutting path bypass the trapped personnel; re-planning the path, if necessary, the system can regenerate a new cutting path that bypasses the trapped personnel.

[0099] After adjusting the cutting path, the rescue cutting device continues to perform the cutting operation to ensure the safety and efficiency of the cutting process. The system will continuously monitor the personnel detection result on the cutting path to ensure that the trapped personnel are always bypassed throughout the cutting process.

[0100] By adjusting the cutting path based on the personnel detection result, the rescue cutting device can efficiently and safely complete the cutting task in a complex environment. This intelligent path adjustment mechanism not only improves the cutting efficiency but also significantly reduces the risk of causing secondary injuries to the trapped personnel, providing more reliable technical support for the rescue work.

[0101] The following describes the ways for the rescue cutting device to adjust the cutting path.

[0102] In a possible implementation, based on the personnel detection result on the cutting path, controlling the rescue cutting device to adjust the cutting path for cutting rescue includes:

[0103] Step 2051, obtain the three-dimensional model of the object to be cut, and the cutting path obtained based on the three-dimensional model;

[0104] It should be noted that the system can generate an environmental model through the data of lidar and ultrasonic sensors, and the central processing unit uses the D* algorithm to calculate the optimal cutting path. The path planning algorithm can identify the optimal cutting path in a complex obstacle environment. Also, since the trapped person may move, the initial path planning may need to be updated at any time.

[0105] Exemplarily, the three-dimensional model can be generated based on lidar and ultrasonic sensors, and contains detailed information about the object to be cut and its surrounding environment. The model can not only include the shape, size, and position of the object, but also the position information of obstacles and trapped persons.

[0106] Step 2052, based on the personnel detection result on the cutting path and the three-dimensional model, regenerate the cutting path through the D* path finding algorithm;

[0107] The D* algorithm is a dynamic path planning algorithm that can dynamically adjust the path when the environment changes. The algorithm ensures that the cutting path avoids obstacles and trapped persons by updating the path in real time.

[0108] When it is detected that the trapped person moves or a new obstacle appears, the CPU will call the D* algorithm, combine the three-dimensional model and the personnel detection result, and regenerate a safe cutting path.

[0109] The D* algorithm will recalculate the cutting path according to the latest personnel detection result and three-dimensional model. The new path will avoid trapped persons and obstacles, ensuring the safety of the cutting operation. The regenerated path will consider cutting efficiency and safety, optimize the length and shape of the path, and reduce the cutting time.

[0110] Step 2053, perform cutting rescue according to the regenerated cutting path.

[0111] Once the new cutting path is generated, the CPU will control the rescue cutting device to perform the cutting operation according to the new path. The fine-tuning motor will adjust the angle or position of the cutting tool according to the new path to ensure the accuracy of the cutting path. The system will continuously monitor the personnel detection result on the cutting path to ensure that the trapped person is always avoided throughout the cutting process.

[0112] In a possible implementation, the rescue cutting device further includes a cutting angle adjustment device; performing cutting rescue according to the regenerated cutting path includes: obtaining a target cutting angle according to the regenerated cutting path; controlling the cutting angle adjustment device according to the target cutting angle to adjust the cutting angle and perform cutting rescue.

[0113] Exemplarily, the fine-tuning motor is installed between the tool body and the handle and is connected to the tool body through a connecting adjustment rod for controlling the cutting angle of the tool. When the sensor detects an obstacle, the central processing unit sends an instruction to the fine-tuning motor, and adjusts the tool angle through the connecting adjustment rod to make the tool fine-tune the angle to avoid obstacles during cutting.

[0114] It should be noted that the target cutting angle refers to the angle to which the cutting tool needs to be adjusted at a specific position to avoid obstacles or trapped persons. According to the direction of the cutting path and the position of the obstacle, the target cutting angle of each cutting point is calculated. These angle information will be updated in real time to adapt to the changes in the cutting path. During the cutting process, the system continuously monitors the personnel detection results and the obstacle positions on the cutting path. If a new obstacle or the movement of a trapped person is detected, the system immediately recalculates the target cutting angle and adjusts it through the fine-tuning motor. The system provides real-time feedback to the operator through a display screen, a vibration feedback device, and an indicator light to ensure that the operator can timely understand the changes in the cutting path and angle.

[0115] Further, after adjusting the cutting angle, the rescue cutting device continues to perform the cutting operation. By dynamically adjusting the cutting angle, the system can ensure the accuracy and safety of the cutting operation and avoid secondary injuries to trapped persons.

[0116] In the embodiment of the present invention, by introducing a cutting angle adjustment device and dynamically adjusting the cutting angle according to the regenerated cutting path, the rescue cutting device can efficiently and safely complete tasks in a complex environment. This intelligent path planning and angle adjustment mechanism not only improves the cutting efficiency but also significantly reduces the risk of secondary injuries to trapped persons, providing more reliable technical support for rescue work.

[0117] In the embodiments of the present invention, by obtaining the temperature of the current rescue cutting environment and calculating the temperature difference from the human body temperature, the influence of the environment on infrared detection can be reflected in real time. Based on the temperature difference, the sensitivity threshold of the infrared sensor is adjusted so that the sensor can maintain the best detection performance under different environmental conditions, reducing false alarms and missed detections. For example, when the temperature difference is small, that is, the environmental temperature is close to the human body temperature, the sensitivity threshold of the infrared sensor can be automatically reduced to reduce false alarms; for another example, when the temperature difference is large, the sensitivity threshold can be appropriately increased to ensure the reliability of detection. This dynamic adjustment mechanism effectively solves the problem of low detection accuracy of infrared sensors caused by environmental temperature changes in the prior art. In addition, based on the adjusted sensitivity threshold, the infrared sensor is controlled to detect on the cutting path, and the position of the trapped person can be identified more accurately. Once a trapped person is detected, the cutting path can be immediately adjusted to avoid the trapped person, thus ensuring the safety of the cutting operation. This intelligent path adjustment not only improves the cutting efficiency but also minimizes the risk of secondary injury to the trapped person.

[0118] It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0119] The embodiments of the present invention further provide a cutting device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the method in the above method embodiments is implemented. Exemplarily, the cutting device can be a hydraulic cutter, an electric cutter, a laser cutter, a plasma cutter, a portable saw, etc., which is not limited herein.

[0120] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Without special instructions and logical conflicts, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0121] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A rescue cutting method, characterized in that, Applied to control rescue cutting equipment; the rescue cutting equipment includes an infrared sensor for detecting trapped persons; the method includes: Obtain the current temperature of the rescue cutting environment; Determine the temperature difference between the rescue cutting environment temperature and the human body temperature; Based on the temperature difference and the default sensitivity threshold of the infrared sensor, obtain the adjusted sensitivity threshold of the infrared sensor, where the adjusted sensitivity threshold is positively correlated with the temperature difference; Based on the adjusted sensitivity threshold, control the infrared sensor to detect on the cutting path to obtain the personnel detection result on the cutting path; Based on the personnel detection result on the cutting path, control the rescue cutting equipment to adjust the cutting path for cutting rescue.

2. The rescue cutting method according to claim 1, characterized in that, Obtaining the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor includes: Obtain a preset temperature deviation threshold; If the temperature difference is greater than the preset temperature deviation threshold, use the default sensitivity threshold as the adjusted sensitivity threshold of the infrared sensor.

3. The rescue cutting method according to claim 2, wherein, Obtaining the adjusted sensitivity threshold of the infrared sensor according to the temperature difference and the default sensitivity threshold of the infrared sensor includes: If the temperature difference is not greater than the preset temperature deviation threshold, linearly reduce the default sensitivity threshold based on the temperature difference to obtain a linearly reduced sensitivity threshold; where the linearly reduced sensitivity threshold is positively correlated with the temperature difference; Use the linearly reduced sensitivity threshold as the adjusted sensitivity threshold.

4. The rescue cutting method according to claim 3, wherein, Obtain the adjusted sensitivity threshold based on the following formula; Among them, S adjusted represents the adjusted sensitivity threshold; S default represents the default sensitivity threshold; ΔT safe represents the preset temperature deviation threshold; ΔT represents the temperature difference.

5. The rescue cutting method according to claim 1, characterized in that Based on the personnel detection result on the cutting path, controlling the rescue cutting equipment to adjust the cutting path for cutting rescue includes: Obtain the three-dimensional model of the object to be cut and the cutting path obtained based on the three-dimensional model; Based on the personnel detection result on the cutting path and the three-dimensional model, regenerate the cutting path through the D* pathfinding algorithm; Perform cutting rescue according to the regenerated cutting path.

6. The rescue cutting method according to claim 5, wherein The rescue cutting equipment further includes a cutting angle adjustment device; performing cutting rescue according to the regenerated cutting path includes: Obtain the target cutting angle according to the regenerated cutting path; According to the target cutting angle, control the cutting angle adjustment device to adjust the cutting angle for cutting rescue.

7. The rescue cutting method according to claim 1, wherein The rescue cutting equipment further includes an ultrasonic sensor for detecting the distance of trapped persons; Based on the adjusted sensitivity threshold, controlling the infrared sensor to detect on the cutting path to obtain the personnel detection result on the cutting path includes: Based on the adjusted sensitivity threshold, control the infrared sensor to detect on the cutting path to determine whether there are trapped persons on the cutting path; If there are trapped persons, control the ultrasonic sensor to detect the distance of the trapped persons.

8. The rescue cutting method according to claim 7, wherein After controlling the ultrasonic sensor to detect the distance of the trapped persons, it further includes: If the distance of the trapped person is less than the preset threshold, control the rescue cutting equipment to stop the cutting operation and control to issue a warning signal to remind the operator.

9. The rescue cutting method according to claim 8, characterized in that, The warning signal includes but is not limited to displaying a warning message through a display screen, reminding the operator through a vibration feedback device, or emitting a warning signal through an indicator light.

10. A cutting device, characterized in that, It includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the method according to any one of claims 1 to 9.

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