In-vehicle rescue device, in-vehicle rescue device control method and vehicle
By designing an in-vehicle rescue device, including moving components and multiple mechanisms, active rescue is achieved when occupants are unable to operate the device independently. This solves the problem of rescue difficulties caused by reliance on manual operation in existing technologies, and improves the safety of occupants and the efficiency of rescue.
Patent Information
- Application Number
- CN202511184763.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-22
- Publication Date
- 2025-12-12
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In the existing automotive safety system, emergency tools rely on the autonomous operation of the occupants, making them difficult to use in a timely and accurate manner during a vehicle collision, thus missing the best opportunity to escape.
Design an in-vehicle rescue device, including a motion component, an impact mechanism, a robotic arm mechanism, a cutting mechanism, and a clamping mechanism, which can actively rescue occupants of the vehicle through actions such as mechanically opening doors, breaking windows, or cutting seat belts without relying on the operation of occupants.
When the movement of people inside the vehicle is restricted, it can automatically perform rescue actions to ensure that people are safely and quickly moved out of the vehicle, improve rescue efficiency, and avoid missing the best time to get out of trouble.
Smart Images
Figure CN121106079A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to an in-vehicle rescue device, an in-vehicle rescue device control method, and a vehicle. Background Technology
[0002] Existing automotive safety systems typically include emergency tools such as window breakers.
[0003] However, emergency tools generally rely on the ability of the people inside the vehicle to operate them independently. When a vehicle collision occurs and the people inside the vehicle are restricted in their movement, they may find it difficult to use manual emergency tools in a timely and accurate manner, thus missing the best opportunity to escape.
[0004] Therefore, how to achieve proactive rescue of people inside a vehicle without relying on the operation of the people inside the vehicle is an urgent problem that needs to be solved. Summary of the Invention
[0005] In view of this, this application aims to provide an in-vehicle rescue device, an in-vehicle rescue device control method, and a vehicle, so as to achieve active rescue of people inside the vehicle without relying on the operation of people inside the vehicle.
[0006] According to a first aspect of this application, an in-vehicle rescue device is provided, including a first rescue structure. The first rescue structure includes a motion component and an impact mechanism, a robotic arm mechanism, a cutting mechanism, and a first clamping mechanism connected to the motion component. The motion component is used to drive the impact mechanism, the robotic arm mechanism, the cutting mechanism, and the first clamping mechanism to move. The robotic arm mechanism is used to pull the pull ring at the end of the emergency pull rope of the car door, and the robotic arm mechanism is also used to push open the car door; the impact mechanism is used to impact the car window or car door; The cutting mechanism is used to cut the seat belt, the first clamping mechanism is used to clamp the person in need of rescue, and the motion component is used to drive the first clamping mechanism to move outside the vehicle through the open door or the broken window.
[0007] Optionally, the motion assembly includes a first robotic arm, and the impact mechanism, the robotic hand mechanism, the cutting mechanism, and the clamping mechanism are all rotatably connected to the end of the first robotic arm; The impact mechanism, the robotic arm mechanism, the cutting mechanism, and the clamping mechanism each have a working position or a non-working position. In the non-working position, the angle between the impact mechanism, the robotic arm mechanism, the cutting mechanism, and the clamping mechanism and the first robotic arm is an acute angle. In the working position, the angle between the impact mechanism, the robotic arm mechanism, the cutting mechanism, and the clamping mechanism and the first robotic arm is an obtuse angle.
[0008] Optionally, the in-vehicle rescue device further includes a second rescue structure, the second rescue structure including a second robotic arm and a second clamping mechanism rotatably connected to the end of the second robotic arm; The first clamping mechanism and the second clamping mechanism are used together to clamp the person in need of rescue, and the second robotic arm is used to drive the second clamping mechanism to move outside the vehicle through the open car door or the broken car window.
[0009] Optionally, the first rescue structure has a retracted state and an extended state. In the retracted state, the first rescue structure is located inside the B-pillar, and in the extended state, the first rescue structure extends outside the B-pillar. The first robotic arm includes a base and a joint assembly. The in-vehicle rescue device also includes a telescopic assembly connected to the B-pillar. The telescopic assembly is also connected to the base. The telescopic assembly is used to drive the first rescue structure to reciprocate between the retracted state and the extended state.
[0010] Optionally, the in-vehicle rescue device further includes a pressure sensor located inside the vehicle door; And / or, the in-vehicle rescue device also includes an infrared thermal imaging camera and a vision camera.
[0011] Optionally, the in-vehicle rescue device further includes an independent power supply system, which includes a capacitor and / or a battery pack, and is used at least to power the first rescue structure.
[0012] According to a second aspect of this application, a method for controlling an in-vehicle rescue device is also provided, for controlling the in-vehicle rescue device as described above, the method comprising: Receive trigger signal; Obtain information about the people inside the vehicle, and determine whether there are any people in need of rescue inside the vehicle based on the information; If the person in need of rescue is inside the vehicle, and the vehicle door cannot be opened normally, the first rescue structure will be controlled to perform rescue actions.
[0013] Optionally, controlling the first rescue structure to perform rescue actions includes: Control the first rescue structure to perform the mechanical door opening action; If the vehicle door is closed after a first set time, the first rescue structure is controlled to perform a window breaking or door breaking action; if the environment inside the vehicle is dangerous, the first rescue structure is controlled to perform a personnel removal action. If the vehicle door is open after the first set time, and the vehicle interior is in the dangerous environment, the first rescue structure will be controlled to move personnel out.
[0014] Optionally, the in-vehicle rescue device further includes a pressure sensor located inside the vehicle door; The control of the first rescue structure to perform a window-breaking or door-breaking action includes: Obtain the pressure value detected by the pressure sensor; If the pressure value is less than or equal to the set value, then the first rescue structure is controlled to perform a door-breaking action; If the pressure value is greater than the set value, the first rescue structure is controlled to perform a window-breaking action; And / or, the in-vehicle rescue device further includes an infrared thermal imaging camera and a vision camera; The acquisition of information about people inside the vehicle includes: The system acquires information about occupants inside the vehicle from the infrared thermal imaging camera and the visual camera. This information includes the location of the occupants, their body temperature, and whether they have the ability to move independently.
[0015] Optionally, determining whether there are people in need of rescue inside the vehicle based on the vehicle occupant information includes: Based on the information about the people inside the vehicle, determine whether there are any people in need of rescue inside the vehicle and the number of such people. If the person requiring rescue is inside the vehicle, and the vehicle door cannot be opened normally, the first rescue structure is controlled to perform rescue actions, including: If there are multiple people in need of rescue inside the vehicle, then the consciousness status of the people in need of rescue is acquired, and the rescue order is determined based on the consciousness status of the people in need of rescue; if the vehicle door cannot be opened normally, the first rescue structure is controlled to perform rescue actions on each of the people in need of rescue according to the rescue order; If there is a person in need of rescue inside the vehicle, and the number of people in need of rescue is one, then if the vehicle door cannot be opened normally, the first rescue structure is controlled to perform a rescue action on the person in need of rescue.
[0016] According to a third aspect of this application, a vehicle is also provided, including the in-vehicle rescue device as described above; And / or, including a processor and a memory for storing processor-executable instructions, the processor being configured to execute the instructions to implement the in-vehicle rescue device control method as described above.
[0017] In this embodiment, if no one outside the vehicle intervenes or external rescue is not in place, and the person in need of rescue is incapacitated or unconscious, the in-vehicle rescue device can perform mechanical door opening, window breaking, or door breaking actions. If necessary, the moving component and the first clamping mechanism can also actively move the person in need of rescue out of the vehicle, so as to achieve active rescue of the person in need of rescue without relying on the operation of the person in need of rescue.
[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the first robotic arm in the first rescue structure of an in-vehicle rescue device in a retracted state, as provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of the first robotic arm in the first rescue structure of an in-vehicle rescue device in an extended state, as provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the second joint and the robotic arm mechanism in the working position in an in-vehicle rescue device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the second joint and the robotic arm mechanism in a non-working position in an in-vehicle rescue device provided in an embodiment of this application; Figure 5 This is a flowchart of the steps of a vehicle in-vehicle rescue device control method provided in an embodiment of this application.
[0020] Figure label: 1-First robotic arm, 11-First joint, 12-Second joint, 2-Robot arm mechanism, 21-First connecting arm, 22-Robot arm, 3-B-pillar, 31-Accommodation slot. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of this application to enable readers to better understand this application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can be implemented. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.
[0022] Emergency tools generally rely on the independent operation capabilities of vehicle occupants. In the event of a vehicle collision and when occupants' movement is restricted, they may struggle to use manual emergency tools promptly and accurately, leading to missed opportunities for escape. Therefore, how to achieve proactive rescue of vehicle occupants without relying on them is a pressing issue. To address this problem, this application provides an in-vehicle rescue device, a control method for the in-vehicle rescue device, and a vehicle. The in-vehicle rescue device, control method, and vehicle mentioned above are described in detail below.
[0023] Reference Figures 1 to 4 This application provides an in-vehicle rescue device, including a first rescue structure. The first rescue structure includes a motion component and an impact mechanism, a robotic arm mechanism 2, a cutting mechanism, and a first clamping mechanism connected to the motion component. The motion component is used to drive the impact mechanism, robotic arm mechanism 2, cutting mechanism, and first clamping mechanism to move. The robotic arm mechanism 2 is used to pull the pull ring at the end of the emergency pull rope of the car door and is also used to push open the car door. The impact mechanism is used to impact the car window or car door. The cutting mechanism is used to cut the seat belt. The first clamping mechanism is used to clamp the person in need of rescue. The motion component is used to drive the first clamping mechanism to move to the outside of the car through the open car door or the broken car window.
[0024] The first rescue structure can be positioned at locations such as the B-pillar 3, the roof, or behind the seats. The motion component can be the first robotic arm 1, or other structures capable of fulfilling the corresponding motion requirements. The robotic arm mechanism 2 can include a first connecting arm 21 and a robotic arm 22 connected to the end of the first connecting arm 21, the robotic arm 22 being rotatably connected to the end of the first connecting arm 21.
[0025] The impact mechanism may include a second connecting arm and a high-hardness punch connected to the end of the second connecting arm; the cutting mechanism may include a third connecting arm and a hydraulic shear connected to the end of the third connecting arm; and the first clamping mechanism may include a fourth connecting arm and a clamping member connected to the end of the fourth connecting arm. The clamping member may be an arc-shaped clamping structure, and the inner side of the clamping member may be provided with a soft pad. The first, second, third, and fourth connecting arms are used for connection to the motion component.
[0026] The motion assembly may include a single robotic arm. Alternatively, the motion assembly may include four separate robotic arms, in which case the impact mechanism, manipulator mechanism, cutting mechanism, and first gripping mechanism are each connected to one of the four separate robotic arms. The robotic arms may be made of an impact-resistant material, such as carbon fiber reinforced polymer.
[0027] In cases with a pull-ring cover, the robotic arm mechanism 2 is also used to open the pull-ring cover during the mechanical door opening action. The window can be a side window of the door or a sunroof. In the impact mechanism, the punch used to impact the door and window can be the same punch. Alternatively, the impact mechanism can have two punches of different types, designed to be retractable, so that when one punch extends, the other retracts.
[0028] The motion component and robotic arm mechanism 2 can perform mechanical door opening actions, and the motion component and impact mechanism can perform window breaking actions or door breaking actions. When performing mechanical door opening actions, the targeted door is the door of the vehicle closest to the person in need of rescue. When performing window breaking actions or door breaking actions, the targeted door or window is the window or door of the vehicle closest to the person in need of rescue.
[0029] After a vehicle collision, electronic unlocking of the doors often fails due to power outages, door deformation, or other reasons, preventing the doors from opening normally. Traditional window breakers rely on conscious occupants with the ability to operate them independently, making them unsuitable for seriously injured individuals. In this embodiment, in situations where no external personnel intervene or external rescue is in place, and the person requiring rescue is incapacitated or unconscious, the in-vehicle rescue device can perform mechanical door opening, window breaking, or door breaking actions. If necessary, the moving components and the first clamping mechanism can also actively remove the person requiring rescue from the vehicle, enabling proactive rescue without relying on the person's own actions.
[0030] If, after mechanically opening, breaking down, or breaching a door or window, the environment inside the vehicle is relatively safe and the people requiring rescue are not in immediate danger, then rescuing them may not be necessary. In this case, since the door or window is already open, it facilitates a rapid entry for external rescue forces, improving overall rescue efficiency. Furthermore, it allows for a quick improvement of the interior environment, stabilizing vital signs and potentially extending the survival time of the occupants, thus buying more time for effective rescue. However, if, after mechanically opening, breaking down, or breaching a door or window, the environment inside the vehicle is unsafe, then the people requiring rescue must be removed to ensure their safety and maximize the possibility of rescue.
[0031] In some embodiments, refer to Figure 1 , Figure 3 and Figure 4 The motion assembly includes a first robotic arm 1, an impact mechanism, a robotic arm mechanism 2, a cutting mechanism, and a first clamping mechanism, all of which are rotatably connected to the end of the first robotic arm 1. The impact mechanism, robotic arm mechanism 2, cutting mechanism, and first clamping mechanism each have a working position or a non-working position. In the non-working position, the angle between the impact mechanism, robotic arm mechanism 2, cutting mechanism, and first clamping mechanism and the first robotic arm 1 is an acute angle. In the working position, the angle between the impact mechanism, robotic arm mechanism 2, cutting mechanism, and first clamping mechanism and the first robotic arm 1 is an obtuse angle.
[0032] In the working position, the angle between the impact mechanism, the robotic arm mechanism 2, the cutting mechanism, and the first clamping mechanism and the first robotic arm 1 is approximately 180°. In the non-working position, the angle between the impact mechanism, the robotic arm mechanism 2, the cutting mechanism, and the first clamping mechanism and the first robotic arm 1 can be less than 45°. When the first robotic arm 1 includes a first joint 11 and a second joint 12, the impact mechanism, the robotic arm mechanism 2, the cutting mechanism, and the first clamping mechanism are all rotatably connected to the end of the second joint 12.
[0033] In this embodiment, the impact mechanism, the robotic arm mechanism 2, the cutting mechanism, and the first clamping mechanism are all connected to the end of the first robotic arm 1. When in use, one of the mechanisms can be switched to the working position as needed, which simplifies the overall structure and reduces the space occupied by the first rescue structure, thus facilitating the arrangement of the first rescue structure.
[0034] In other embodiments, the motion component can be an autonomous mobile robot. The impact mechanism, manipulator mechanism 2, cutting mechanism, and first clamping mechanism are all connected to the autonomous mobile robot, which can move outside the vehicle. In this embodiment, the distance between the rescued personnel and the vehicle can be determined based on the damage status of the vehicle.
[0035] In some embodiments, the in-vehicle rescue device further includes a second rescue structure, which includes a second robotic arm and a second clamping mechanism rotatably connected to the end of the second robotic arm; the first clamping mechanism and the second clamping mechanism are used together to clamp the person in need of rescue, and the second robotic arm is used to drive the second clamping mechanism to move to the outside of the vehicle through an open door or a broken window.
[0036] The second rescue structure is positioned differently from the first rescue structure; it can be placed under the seat, on the roof, or behind the seat. The structure of the second robotic arm can be the same as that of the first robotic arm. The structure of the second gripping mechanism can be the same as that of the first gripping mechanism. When not in use, the second rescue structure can be hidden in a receiving slot. In this embodiment, when removing the person requiring rescue from the vehicle, the first and second gripping mechanisms respectively grip different parts of the person's body to stabilize their posture, avoid causing significant limb movement, and improve the efficiency of removing the person from the vehicle.
[0037] In some embodiments, refer to Figure 1 and Figure 2 The first rescue structure has a retracted state and an extended state. In the retracted state, the first rescue structure is located inside the B-pillar 3. In the extended state, the first rescue structure extends out of the B-pillar 3. The first robotic arm 1 includes a base and a joint assembly. The in-vehicle rescue device also includes a telescopic assembly connected to the B-pillar 3. The telescopic assembly is also connected to the base. The telescopic assembly is used to drive the first rescue structure to reciprocate between the retracted state and the extended state.
[0038] The first robotic arm 1 can be a micro-robotic arm. The B-pillar 3 has a receiving groove 31, and the first rescue structure is located in the receiving groove 31 when it is retracted. The B-pillar 3 is also provided with an openable cover plate, which must be opened before the first rescue structure can be extended. The cover plate must be closed after the first rescue structure is retracted.
[0039] The joint assembly may include two joints, such as a first joint 11 and a second joint 12. The first joint 11 is rotatably connected to the base, and the second joint 12 is rotatably connected to the end of the first joint 11. The joint assembly may also include three joints. The maximum extension of the telescopic assembly can be within 30 cm. In this embodiment, under normal circumstances, the first rescue structure is in a retracted state, does not occupy the interior space of the vehicle, and does not affect the layout of other structures inside the vehicle.
[0040] In some embodiments, the in-vehicle rescue device further includes a pressure sensor located inside the vehicle door.
[0041] There can be multiple pressure sensors. Under normal circumstances, the door structure is intact, and the internal components do not exert pressure on the pressure sensors. The pressure value detected by the pressure sensors is close to the initial value, such as 0. When a vehicle collides, the door structure undergoes physical deformation, and the pressure sensors are compressed. As the degree of door deformation intensifies, the pressure on the pressure sensors increases, and the pressure value detected by the pressure sensors rises accordingly. Therefore, the degree of door deformation can be determined based on the pressure value detected by the pressure sensors.
[0042] In some embodiments, the in-vehicle rescue device also includes an infrared thermal imaging camera.
[0043] Vital signs of a person include body temperature, respiratory rate, and heart rate. An infrared thermal imaging camera is an imaging device based on the principle of thermal radiation sensing, capable of collecting the infrared radiation distribution on the human body surface and generating a thermal image. By analyzing the thermal image generated by the infrared thermal imaging camera, the body temperature of the people inside the vehicle can be obtained to confirm whether they show signs of life. If the body temperature of the people inside the vehicle is greater than or equal to a first set temperature, it indicates that the people show signs of life; if the body temperature of the people inside the vehicle is lower than a second set temperature, it indicates that the people do not show signs of life. The location of the people inside the vehicle can also be determined by analyzing the thermal image generated by the infrared thermal imaging camera.
[0044] In some embodiments, a person's breathing rate can also be used to determine if they have signs of life.
[0045] In some embodiments, the in-vehicle rescue device also includes a vision camera.
[0046] A vision camera can capture video footage of the vehicle's interior, allowing the determination of the occupants' positions and their capacity for independent movement. If occupants show little or no movement, it indicates they lack the capacity for independent movement. Conversely, if occupants exhibit significant movements, it indicates they possess the capacity for independent movement.
[0047] Those requiring rescue can refer to occupants of a vehicle who are unable to move independently but show signs of life. Infrared thermal imaging cameras and visual cameras can be used to identify which occupants require rescue and their locations, facilitating subsequent rescue efforts.
[0048] In some embodiments, the in-vehicle rescue device further includes a temperature sensor, an oxygen concentration sensor, and a carbon monoxide concentration sensor. The temperature sensor is used to detect the temperature inside the vehicle, the oxygen concentration sensor is used to detect the oxygen concentration inside the vehicle, and the carbon monoxide concentration sensor is used to detect the carbon monoxide concentration inside the vehicle.
[0049] In some embodiments, the in-vehicle rescue device further includes an independent power supply system, which includes a capacitor and / or a battery pack, and is used at least to power the first rescue structure.
[0050] The independent power supply system powers the components in the in-vehicle rescue device that require electricity. Specifically, it powers the first rescue structure, the second rescue structure, pressure sensors, infrared thermal imaging cameras, vision cameras, and controllers. The vehicle includes a vehicle power supply and a main vehicle power supply system electrically connected to the vehicle power supply; the independent power supply system is physically isolated from the main vehicle power supply system. Under normal circumstances, the vehicle power supply charges the capacitors and / or battery packs in the independent power supply system.
[0051] The capacitor can be a supercapacitor, and the battery can be a high-density lithium battery pack. Under normal circumstances, the independent power supply system needs to maintain a charge level of over 90% to ensure sufficient power in the event of a collision. The independent power supply system can be activated by the vehicle's collision sensors. Once activated, the independent power supply system must provide at least 30 minutes of driving range.
[0052] In other embodiments, the independent power supply system and the vehicle's main power supply system are used together to power the devices in the in-vehicle rescue device that require power. In this case, if the vehicle's main power supply system is not interrupted, the vehicle's main power supply system supplies power to the in-vehicle rescue device; if the vehicle's main power supply system is interrupted, the independent power supply system supplies power to the in-vehicle rescue device.
[0053] Reference Figure 5 The diagram illustrates a flowchart of a method for controlling an in-vehicle rescue device according to an embodiment of this application. This method controls the aforementioned in-vehicle rescue device and includes: S101 receives the trigger signal.
[0054] The trigger signal originates from either a collision sensor or a remote control terminal. Receiving the trigger signal includes receiving a collision signal from the collision sensor or a control signal from the remote control terminal. The remote control terminal can be a mobile phone, tablet, etc.
[0055] S102, obtain information on the people inside the vehicle, and determine whether there are people in need of rescue inside the vehicle based on the information on the people inside the vehicle.
[0056] Information about occupants inside the vehicle can include their location, body temperature and / or respiratory rate and / or heart rate, and whether they are capable of independent movement. Body temperature and / or respiratory rate and / or heart rate can determine whether there are signs of life. This information can be obtained from infrared thermal imaging cameras, visual cameras, etc. Those requiring rescue can refer to occupants who are unable to move independently but show signs of life.
[0057] S103: If there are people in need of rescue inside the vehicle, and the vehicle door cannot be opened normally, control the first rescue structure to perform rescue actions.
[0058] The ability to open the vehicle door normally means that the electronic unlocking system is functioning properly, and personnel can open the door normally by pulling the handle and pushing the door. The inability to open the door normally means that the electronic unlocking system is malfunctioning, and personnel cannot open the door normally by pulling the handle and pushing the door. The in-vehicle rescue device also includes a controller, which includes a processor. The processor in the controller is used to execute the control method of the in-vehicle rescue device described above, that is, to control the first rescue structure through the controller.
[0059] In some embodiments, controlling the first rescue structure to perform rescue actions includes: Control the first rescue structure to perform the mechanical door opening action; If the vehicle door is closed after the first set time, the first rescue structure will be controlled to perform a window breaking or door breaking action; if the environment inside the vehicle is dangerous, the first rescue structure will be controlled to remove the personnel. If the door is open after a set time, and the interior environment is dangerous, the first rescue structure will be controlled to remove personnel.
[0060] Specifically, the first rescue structure is controlled to perform the mechanical door opening action, that is, the moving component is controlled to move to the pull ring, and the robotic arm mechanism 2 is controlled to pull the pull ring at the end of the emergency door pull rope and push the door open. In the case of a pull ring cover, the robotic arm mechanism 2 is also used to open the pull ring cover when performing the mechanical door opening action.
[0061] The initial time setting can be set according to actual needs; this embodiment does not impose a specific limitation. A sensor, such as a Hall effect sensor, can be used to detect whether the car door is closed or open. The first rescue structure is controlled to perform a window-breaking action, that is, to move the moving component to the window to be broken and control the impact mechanism to impact the window. The first rescue structure is also controlled to perform a door-breaking action, that is, to move the moving component to the door to be broken and control the impact mechanism to impact the door. Finally, the first rescue structure is controlled to perform a personnel removal action, that is, to remove the personnel to be rescued through the open door or the broken window.
[0062] In cases where the vehicle interior is hazardous, before controlling the first rescue structure to remove personnel, the process includes: acquiring information about the vehicle interior environment and determining whether it is hazardous. This information includes vehicle interior temperature, oxygen concentration, carbon monoxide concentration, and smoke concentration.
[0063] As an example, in-vehicle environmental information includes in-vehicle temperature and carbon monoxide concentration. Determining whether the in-vehicle environment is hazardous based on this information includes: if both the in-vehicle temperature and carbon monoxide concentration are above a preset value, the environment is considered hazardous; if both are below or equal to the preset values, the environment is not hazardous. Preset temperature values can be 45℃, 50℃, 60℃, etc., and the preset concentration value can be 500 ppm.
[0064] If the environment inside the vehicle is not dangerous, the first rescue structure will no longer be controlled to remove personnel, and the current rescue action will end directly. S103, if there are personnel in need of rescue inside the vehicle, after controlling the first rescue structure to perform the rescue action when the vehicle door cannot be opened normally, it may also include: periodically acquiring information about the environment inside the vehicle, determining whether the environment inside the vehicle is dangerous based on the information, and controlling the first rescue structure to remove personnel if the environment inside the vehicle is dangerous.
[0065] In this embodiment, mechanical opening of the door is attempted first, followed by breaking the door or window, prioritizing the preservation of the vehicle's integrity. In this embodiment, if the interior environment is unsafe, the person requiring rescue is removed to ensure their safety; if the interior environment is safe, the person requiring rescue does not need to be removed and can wait inside the vehicle for external assistance, thus avoiding unnecessary intervention.
[0066] In some embodiments, the in-vehicle rescue device further includes a pressure sensor located inside the vehicle door; controlling the first rescue structure to perform a window breaking action or a door breaking action includes: acquiring the pressure value detected by the pressure sensor; if the pressure value is less than or equal to a set value, controlling the first rescue structure to perform a door breaking action; if the pressure value is greater than the set value, controlling the first rescue structure to perform a window breaking action.
[0067] The pressure value detected by the pressure sensor can be measured in nanoseconds (N). Under normal circumstances, the door structure is intact, and the internal components do not exert any pressure on the pressure sensor. The pressure value detected by the pressure sensor is close to its initial value, such as 0. When a collision occurs, the door structure undergoes physical deformation, and the pressure sensor is compressed. As the door deformation intensifies, the pressure on the pressure sensor increases, and the pressure value detected by the pressure sensor rises accordingly. Therefore, the degree of door deformation can be determined based on the pressure value detected by the pressure sensor.
[0068] When there are multiple pressure sensors, if any pressure sensor detects a pressure value greater than a set value, the first rescue structure is controlled to perform a window-breaking action. The set value can be set according to actual needs, and this embodiment does not impose a specific limitation. As an example, the set value can be 1kN-5kN.
[0069] When the pressure value detected by the pressure sensor is large, it indicates that the door is deformed to a large extent. In this case, even if the first rescue structure is controlled to perform a door-breaking action, it will be difficult to successfully break the door. In this embodiment, when the pressure value detected by the pressure sensor is large, the first rescue structure is directly controlled to perform a window-breaking action, which eliminates the inefficient door-breaking attempt and can speed up the rescue response.
[0070] It should be noted that when controlling the first rescue structure to perform the door-breaking action, it is also necessary to check whether the door is open after a second preset time. Only when the door is open can the first rescue structure be controlled to remove personnel. The second preset time can be set according to actual needs, and this embodiment does not impose a specific limitation. If the door is closed after the second preset time, the first rescue structure is controlled to perform the window-breaking action. Subsequently, if the environment inside the vehicle is dangerous, the first rescue structure is controlled to remove personnel.
[0071] In some embodiments, the in-vehicle rescue device further includes an infrared thermal imaging camera and a vision camera; obtaining in-vehicle occupant information includes obtaining in-vehicle occupant information from the infrared thermal imaging camera and the vision camera.
[0072] The information on people inside the vehicle includes their location, body temperature, and whether they are capable of independent movement. Body temperature can be used to determine if anyone inside the vehicle is showing signs of life.
[0073] An infrared thermal imaging camera is an imaging device based on the principle of thermal radiation sensing. It can collect the infrared radiation distribution on the human body surface and generate a thermal image. By analyzing the thermal image generated by the infrared thermal imaging camera, the body temperature of the occupants inside the vehicle can be obtained to determine whether there are signs of life. If the body temperature of the occupants is greater than or equal to a first set temperature, it indicates that the occupants are alive; if the body temperature is lower than a second set temperature, it indicates that the occupants are not alive. The location of the occupants inside the vehicle can also be determined by analyzing the thermal image generated by the infrared thermal imaging camera.
[0074] A vision camera can capture video footage of the vehicle's interior, allowing the determination of the occupants' positions and their capacity for independent movement. If occupants show little or no movement, it indicates they lack the capacity for independent movement. Conversely, if occupants exhibit significant movements, it indicates they possess the capacity for independent movement.
[0075] People requiring rescue are those inside a vehicle who are incapacitated but show signs of life. Infrared thermal imaging cameras and visual cameras can identify which occupants require rescue and their locations, facilitating subsequent rescue efforts. For example, if analysis of thermal images from an infrared camera determines that the occupants in the driver's and passenger's seats show signs of life, and in-vehicle video footage shows that they are incapacitated, then these occupants are considered to require rescue, and their locations are within the driver's and passenger's seats.
[0076] In some embodiments, determining whether there are people in need of rescue in the vehicle based on the occupant information includes: determining whether there are people in need of rescue in the vehicle and the number of people in need of rescue based on the occupant information. If there are people in need of rescue inside the vehicle, and the doors cannot be opened normally, the first rescue mechanism will be controlled to perform rescue actions, including: If there are multiple people in need of rescue inside the vehicle, the consciousness status of these people is acquired, and the rescue order is determined based on their consciousness status. If the vehicle doors cannot be opened normally, the first rescue structure is controlled to perform rescue actions on each person in need of rescue according to the rescue order. If there is a person in need of rescue inside the vehicle, and the number of people in need of rescue is one, then if the vehicle door cannot be opened normally, the first rescue structure will be controlled to perform rescue actions on the person in need of rescue.
[0077] The consciousness state of the person requiring rescue can be divided into conscious and unconscious states. If the person can open their eyes voluntarily, they are considered conscious; if they cannot, they are considered unconscious. The consciousness state can be determined using in-vehicle video captured by a vision camera. For example, by analyzing the in-vehicle video, it can be determined whether the person has remained closed for a set period of time. If they have, they are considered unconscious; otherwise, they are considered conscious. The set duration can range from 1 to 5 seconds.
[0078] When determining the rescue order based on the conscious state of those in need, those who are conscious have a higher rescue priority than those who are unconscious. If there are multiple conscious individuals, they are randomly ranked. Similarly, if there are multiple unconscious individuals, they are randomly ranked. In this embodiment, those who are conscious are prioritized for rescue so that they can actively participate in subsequent rescue efforts after being rescued.
[0079] In another embodiment provided in this application, a vehicle is also provided, including the above-described in-vehicle rescue device; and / or, including a processor and a memory for storing processor-executable instructions, the processor being configured to execute the instructions to implement the above-described in-vehicle rescue device control method.
[0080] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device.
[0081] The processors mentioned above can be general-purpose processors, such as central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices.
[0082] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.
[0083] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.
[0084] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.
Claims
1. An in-vehicle rescue device, characterized in that, The system includes a first rescue structure, which comprises a motion component and an impact mechanism, a robotic arm mechanism, a cutting mechanism, and a first clamping mechanism connected to the motion component. The motion component is used to drive the impact mechanism, the robotic arm mechanism, the cutting mechanism, and the first clamping mechanism to move. The robotic arm mechanism is used to pull the pull ring at the end of the emergency pull rope of the car door, and the robotic arm mechanism is also used to push open the car door; the impact mechanism is used to impact the car window or car door; The cutting mechanism is used to cut the seat belt, the first clamping mechanism is used to clamp the person in need of rescue, and the motion component is used to drive the first clamping mechanism to move outside the vehicle through the open door or the broken window.
2. The in-vehicle rescue device according to claim 1, characterized in that, The motion assembly includes a first robotic arm, and the impact mechanism, the robotic hand mechanism, the cutting mechanism and the clamping mechanism are all rotatably connected to the end of the first robotic arm; The impact mechanism, the robotic arm mechanism, the cutting mechanism, and the clamping mechanism each have a working position or a non-working position. In the non-working position, the angle between the impact mechanism, the robotic arm mechanism, the cutting mechanism, and the clamping mechanism and the first robotic arm is an acute angle. In the working position, the angle between the impact mechanism, the robotic arm mechanism, the cutting mechanism, and the clamping mechanism and the first robotic arm is an obtuse angle.
3. The in-vehicle rescue device according to claim 1 or 2, characterized in that, The in-vehicle rescue device also includes a second rescue structure, which includes a second robotic arm and a second clamping mechanism rotatably connected to the end of the second robotic arm. The first clamping mechanism and the second clamping mechanism are used together to clamp the person in need of rescue, and the second robotic arm is used to drive the second clamping mechanism to move outside the vehicle through the open car door or the broken car window.
4. The in-vehicle rescue device according to claim 2, characterized in that, The first rescue structure has a retracted state and an extended state. In the retracted state, the first rescue structure is located inside the B-pillar, and in the extended state, the first rescue structure extends out of the B-pillar. The first robotic arm includes a base and a joint assembly. The in-vehicle rescue device also includes a telescopic assembly connected to the B-pillar. The telescopic assembly is also connected to the base. The telescopic assembly is used to drive the first rescue structure to reciprocate between the retracted state and the extended state.
5. The in-vehicle rescue device according to claim 1, characterized in that, The in-vehicle rescue device also includes a pressure sensor, which is located inside the vehicle door; And / or, the in-vehicle rescue device also includes an infrared thermal imaging camera and a vision camera.
6. The in-vehicle rescue device according to claim 1, characterized in that, The in-vehicle rescue device also includes an independent power supply system, which includes a capacitor and / or a battery pack, and is used at least to power the first rescue structure.
7. A method for controlling an in-vehicle rescue device, characterized in that, The in-vehicle rescue device control method for controlling the in-vehicle rescue device as described in any one of claims 1 to 6 includes: Receive trigger signal; Obtain information about the people inside the vehicle, and determine whether there are any people in need of rescue inside the vehicle based on the information; If the person in need of rescue is inside the vehicle, and the vehicle door cannot be opened normally, the first rescue structure will be controlled to perform rescue actions.
8. The control method for the in-vehicle rescue device according to claim 7, characterized in that, The control of the first rescue structure to perform rescue actions includes: Control the first rescue structure to perform the mechanical door opening action; If the vehicle door is closed after a first set time, the first rescue structure is controlled to perform a window breaking or door breaking action; if the environment inside the vehicle is dangerous, the first rescue structure is controlled to perform a personnel removal action. If the vehicle door is open after the first set time, and the vehicle interior is in the dangerous environment, the first rescue structure will be controlled to move personnel out.
9. The control method for the in-vehicle rescue device according to claim 8, characterized in that, The in-vehicle rescue device also includes a pressure sensor, which is located inside the vehicle door; The control of the first rescue structure to perform a window-breaking or door-breaking action includes: Obtain the pressure value detected by the pressure sensor; If the pressure value is less than or equal to the set value, then the first rescue structure is controlled to perform a door-breaking action; If the pressure value is greater than the set value, the first rescue structure is controlled to perform a window-breaking action; And / or, the in-vehicle rescue device further includes an infrared thermal imaging camera and a vision camera; The acquisition of information about people inside the vehicle includes: The system acquires information about occupants inside the vehicle from the infrared thermal imaging camera and the visual camera. This information includes the location of the occupants, their body temperature, and whether they have the ability to move independently.
10. The control method for the in-vehicle rescue device according to claim 7, characterized in that, The step of determining whether there are people in need of rescue inside the vehicle based on the information of the people inside the vehicle includes: Based on the information about the people inside the vehicle, determine whether there are any people in need of rescue inside the vehicle and the number of such people. If the person requiring rescue is inside the vehicle, and the vehicle door cannot be opened normally, the first rescue structure is controlled to perform rescue actions, including: If there are multiple people in need of rescue inside the vehicle, then the consciousness status of the people in need of rescue is acquired, and the rescue order is determined based on the consciousness status of the people in need of rescue; if the vehicle door cannot be opened normally, the first rescue structure is controlled to perform rescue actions on each of the people in need of rescue according to the rescue order; If there is a person in need of rescue inside the vehicle, and the number of people in need of rescue is one, then if the vehicle door cannot be opened normally, the first rescue structure is controlled to perform a rescue action on the person in need of rescue.
11. A vehicle, characterized in that, Includes the in-vehicle rescue device as described in any one of claims 1 to 6; And / or, including a processor and a memory for storing processor-executable instructions, the processor being configured to execute the instructions to implement the in-vehicle rescue device control method as claimed in any one of claims 7 to 10.