Air-water cooperative full-autonomous anti-drowning lifesaving method and system and readable storage medium

Abstract

The present application belongs to the technical field of water rescue, and particularly relates to an air-water collaborative full-autonomous anti-drowning rescue method, system and readable storage medium. The air-water collaborative full-autonomous anti-drowning rescue method plans the paths of the water surface and the flying life buoy at the same time, compares the time consumption, and selects the fastest rescue mode, thereby solving the poor collaboration and low efficiency of the traditional single rescue mode and maximizing the rescue time. The intelligent path planning can adapt to complex environments by using sensing information as the basis for path planning, thereby improving the accuracy of time estimation and the efficiency of time estimation and further shortening the rescue time.

Description

Technical Field

[0001] This invention belongs to the field of water rescue technology, specifically relating to an autonomous water rescue device, and more particularly to an air-water coordinated fully autonomous drowning prevention and rescue method, system, and readable storage medium. Background Technology

[0002] When people accidentally fall into the water in nearshore, offshore, or lake waters, the golden time for rescue is very short.

[0003] Common rescue methods in related technologies include manually throwing lifebuoys, deploying boats, or operating drones independently. However, these methods are often slow to respond, lack coordination, and are unsuitable for complex aquatic environments. Specifically, traditional rescue relies on manual discovery and reporting of drowning incidents, resulting in a time delay between identification and action, potentially missing the golden rescue window. Even when using automated equipment, such as fixed lifebuoys or drones, there is a lack of intelligent path planning, and rescue paths may be affected by environmental factors such as water flow and wind speed, leading to suboptimal paths or inaccurate time estimates.

[0004] Therefore, how to coordinate and utilize multiple rescue methods to reduce the time spent on rescue is a technical problem that urgently needs to be solved.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0006] This disclosure provides at least one fully autonomous air-water coordinated drowning prevention and rescue method, system, and readable storage medium.

[0007] In a first aspect, embodiments of this disclosure provide a fully autonomous air-water coordinated drowning prevention and rescue method, including:

[0008] The control module obtains the coordinates of the point where the person fell into the water;

[0009] The control module obtains the starting point coordinates of the nearest rescue point based on the coordinates of the point of entry into the water.

[0010] The control module receives wind speed and water flow velocity information between the coordinates of the starting point and the coordinates of the landing point.

[0011] The control module plans the rescue paths for the water surface lifebuoy and the flying lifebuoy based on the coordinates of the landing point, the coordinates of the starting point, wind speed information, and water flow speed information.

[0012] The control module estimates the time taken for the surface lifebuoy and the flying lifebuoy to travel along the rescue path, respectively.

[0013] The control module selects the rescue method with the shorter time consumption between water surface lifebuoys and flying lifebuoys for rescue.

[0014] In one optional implementation, the step of obtaining the wind speed information and water flow velocity information between the starting point coordinates and the landing point coordinates is as follows:

[0015] The coordinates of the starting point and the landing point are divided into multiple grids based on latitude and longitude.

[0016] Obtain wind speed and water flow velocity information within each grid.

[0017] In one alternative implementation, the rescue paths for the surface lifebuoy and the flying lifebuoy are planned based on the coordinates of the point of impact, the coordinates of the starting point, wind speed information, and water flow velocity information, respectively.

[0018] Wind speed and water flow velocity information are divided into three categories: Category I, Category II, and Category III. Category I represents the normal range, Category II represents the range outside the normal range but within the limit threshold, and Category III represents the range outside the limit threshold.

[0019] Connect the coordinates of the point of impact with the coordinates of the starting point to complete the preliminary path planning;

[0020] The categories of wind speed and water flow velocity information from the initial path planning are obtained sequentially.

[0021] If Category III exists, switch to another rescue method. If both wind speed and water flow velocity information are in Category III, issue an alarm.

[0022] If Category III does not exist, the rescue route will be planned based on the distribution of wind speed and water flow velocity information for Categories I and II.

[0023] In one alternative implementation, if Category III does not exist, the rescue route is planned based on the distribution of wind speed and water flow velocity information for Categories I and II, i.e.:

[0024] Based on the coordinates of the starting point and the landing point, the grid containing the Class II wind speed and water flow speed information is bypassed, and the rescue paths for the water surface lifebuoy and the flying lifebuoy are planned respectively.

[0025] When planning rescue routes for water rescue rings, wind speed information and water flow speed information are considered as water flow speed information.

[0026] When planning rescue routes for flying lifebuoys, wind speed information and water flow speed information are used, with wind speed information being the primary information.

[0027] The step of bypassing the grid containing the Class II wind speed and water flow velocity information based on the starting point coordinates and the landing point coordinates is as follows:

[0028] Connect the coordinates of the starting point and the landing point with a line;

[0029] Determine whether the connection passes through the grid and whether there is Class II wind speed and water flow velocity information;

[0030] If at least two consecutive grids contain Class II wind speed and water flow velocity information, select the grids located at both ends of all grids containing Class II wind speed and water flow velocity information. Draw a perpendicular line from the center point of the grids at both ends along the longitude direction until the end of the perpendicular line passes through a grid containing Class I wind speed and water flow velocity information. Then, take that grid as the passing grid.

[0031] The starting point coordinates, the path grid, and the landing point coordinates are reconnected and judged until no two consecutive grids contain Class II wind speed and water flow speed information, thus completing the path planning.

[0032] If the connecting line passes through no two consecutive grids containing Class II wind speed and water flow velocity information, the path planning is complete.

[0033] In one alternative implementation, the calculation process for the time taken for the surface lifebuoy and the air lifebuoy to travel along the rescue path is as follows:

[0034] The time required from receiving a rescue order to releasing the smart water rescue ring onto the water surface is denoted as T_Release;

[0035] Based on the average water flow velocity information of each grid, calculate the time taken for the lifebuoy to pass through each grid on the rescue path, and record the cumulative time of all grids as T_Cruise1;

[0036] The time it takes for the lifebuoy to travel along the rescue path, T 总1 =T_Release+ T_Cruise1.

[0037] In one alternative implementation, the calculation process for the time taken for the surface lifebuoy and the flying lifebuoy to travel along the rescue path, respectively, is as follows:

[0038] The hangar door for the flight lifebuoy opens at time T_HatchOpen;

[0039] The lifting time of the flying lifebuoy is T_Ascend;

[0040] The landing time of the flying lifebuoy is T_Descend;

[0041] Based on the average wind speed information of each grid, calculate the time taken for the flying lifebuoy to pass through each grid on the rescue path, and record the cumulative time of all grids as T_Fly;

[0042] The time it takes for the flying lifebuoy to travel along the rescue path, T 总2 =T_HatchOpen+T_Ascend+T_Fly+ T_Descend.

[0043] In one alternative implementation, the step of obtaining the coordinates of the point where a person fell into the water includes:

[0044] Obtain the location information sent by the positioning device on the life jacket;

[0045] Based on the location information, obtain the corresponding location coordinates to complete the acquisition of the location coordinates of the point of impact with water.

[0046] Secondly, this disclosure also provides an air-water coordinated fully autonomous drowning prevention and rescue system, including:

[0047] The first acquisition module is suitable for acquiring the coordinates of the point where a person fell into the water;

[0048] The second acquisition module is adapted to acquire the starting point coordinates of the nearest rescue point based on the position coordinates of the point of fall into the water.

[0049] The third acquisition module is suitable for acquiring wind speed information and water flow speed information between the starting point position coordinates and the landing point position coordinates.

[0050] The planning module is suitable for planning rescue paths for water surface lifebuoys and flying lifebuoys based on the coordinates of the landing point, the coordinates of the starting point, wind speed information, and water flow speed information, respectively.

[0051] An estimation module, suitable for estimating the time taken for surface lifebuoys and air rescue rings to travel along the rescue path, respectively;

[0052] The selection module is suitable for choosing the shorter rescue method between water surface lifebuoys and air rescue rings.

[0053] Thirdly, embodiments of this disclosure also provide a readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the above-described method.

[0054] Fourthly, embodiments of this disclosure also provide an electronic device, including: a memory and a processor; the memory storing at least one program instruction; the processor loading and executing the at least one program instruction to implement the steps of the method described above.

[0055] The beneficial effects of this invention are that the fully autonomous air-water coordinated drowning prevention and rescue method, system, and readable storage medium simultaneously plan the paths of the water surface and the flying lifebuoy, compare the time consumption, and select the fastest rescue method. This solves the problems of poor coordination and low efficiency in traditional single rescue modes, minimizing rescue time. By using sensor information as the basis for path planning, it enables intelligent path planning that adapts to complex environments, improving both the accuracy and efficiency of time estimation, further shortening rescue time.

[0056] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0057] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0058] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0059] Figure 1 A flowchart of the fully autonomous air-water coordinated drowning prevention and rescue method provided in this embodiment of the disclosure;

[0060] Figure 2 A schematic diagram of the air-water coordinated fully autonomous drowning prevention and rescue system provided in this embodiment of the disclosure;

[0061] Figure 3 A schematic diagram of a portion of the structure of an electronic device provided in an embodiment of this disclosure;

[0062] Figure 4 This is a schematic diagram illustrating the principle of bypassing Class II wind speed and water flow speed information provided in an embodiment of this disclosure. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0065] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0066] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0067] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise expressly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0068] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0069] Research has found that common rescue methods include manually throwing lifebuoys, deploying boats, or using drones independently. However, these methods are often slow to respond, lack coordination, and are unsuitable for complex aquatic environments. Specifically, traditional rescue relies on manual discovery and reporting of drowning incidents, resulting in a time delay between identification and action, potentially missing the golden rescue window. Even when using automated equipment, such as fixed lifebuoys or drones, there is a lack of intelligent path planning, and rescue paths may be affected by environmental factors such as water flow and wind speed, leading to suboptimal paths or inaccurate time estimates.

[0070] Based on the above research, this disclosure provides a fully autonomous air-water coordinated drowning prevention and rescue method, system, and readable storage medium. By simultaneously planning the paths of the water surface and the flying lifebuoy and comparing the time consumption, the fastest rescue method is selected, solving the problems of poor coordination and low efficiency of traditional single rescue modes, and minimizing rescue time. Using sensor information as the basis for path planning, intelligent path planning adapts to complex environments, improving both the accuracy and efficiency of time estimation, further shortening rescue time.

[0071] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as the inventor's contribution to this disclosure.

[0072] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0073] To facilitate understanding of this embodiment, a model building method disclosed in this disclosure will first be described in detail. The execution entity of the privacy-preserving multi-party data model training method provided in this disclosure is generally a computer device with certain computing capabilities. This computer device may include, for example, a terminal device, a server, or other processing devices. The terminal device can be a user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, in-vehicle device, wearable device, etc. In some possible implementations, this model building method can be implemented by a processor calling computer-readable instructions stored in memory.

[0074] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0075] See Figure 1 At least one embodiment provides a fully autonomous air-water coordinated drowning prevention and rescue method. By simultaneously planning the paths of the water surface and the flying lifebuoy and comparing the time consumption, the fastest rescue method is selected, solving the problems of poor coordination and low efficiency of traditional single rescue modes, and minimizing rescue time.

[0076] Specifically, the lifesaving methods include:

[0077] S110: The control module obtains the coordinates of the point where the person fell into the water.

[0078] Specifically, step S110 includes the following steps:

[0079] Obtain the location information sent by the positioning device on the life jacket;

[0080] Based on the location information, obtain the corresponding location coordinates to complete the acquisition of the location coordinates of the point of impact with water.

[0081] S120: The control module obtains the starting point coordinates of the nearest rescue point based on the coordinates of the point of fall into the water.

[0082] S130: The control module receives wind speed information and water flow speed information between the starting point coordinates and the landing point coordinates.

[0083] Specifically, step S130 includes:

[0084] The coordinates of the starting point and the landing point are divided into multiple grids based on latitude and longitude.

[0085] Obtain wind speed and water flow velocity information within each grid.

[0086] Specifically, multiple reference points were set up in the sea area, and each reference point was equipped with a wind speed sensor and an image capturing camera.

[0087] Based on the wind speed information from the wind speed sensor at each reference point, radial basis function interpolation is used to interpolate the points in the unknown sea area on a two-dimensional plane using known data, thereby obtaining the wind field data of the entire sea surface and completing the acquisition of wind speed information for each grid.

[0088] Based on the water area image information captured by the camera at each reference point, and analyzed using LSPIV technology, the water flow velocity information of each reference point is obtained. Through radial basis function interpolation, the points in the unknown sea area are interpolated on a two-dimensional plane using known data to obtain the water flow data of the entire sea surface, thereby completing the acquisition of wind speed information for each grid.

[0089] By simultaneously planning the paths for both water surface and air-based rescue rings and comparing their time consumption, the fastest rescue method is selected, solving the problems of poor coordination and low efficiency in traditional single-mode rescue and minimizing rescue time. Using sensor information as the basis for path planning, intelligent path planning adapts to complex environments, improving both the accuracy and efficiency of time estimation, further reducing rescue time.

[0090] S140: The control module plans the rescue paths for the water surface lifebuoy and the flying lifebuoy based on the coordinates of the landing point, the coordinates of the starting point, the wind speed information, and the water flow speed information.

[0091] Specifically, step S140 includes:

[0092] Wind speed and water flow velocity information are divided into three categories: Category I, Category II, and Category III. Category I represents the normal range, Category II represents the range outside the normal range but within the limit threshold, and Category III represents the range outside the limit threshold.

[0093] Connect the coordinates of the point of impact with the coordinates of the starting point to complete the preliminary path planning;

[0094] The categories of wind speed and water flow velocity information from the initial path planning are obtained sequentially.

[0095] If Category III exists, switch to another rescue method. If both wind speed and water flow velocity information are in Category III, issue an alarm.

[0096] If Category III does not exist, the rescue route will be planned based on the distribution of wind speed and water flow velocity information for Categories I and II.

[0097] Please see Figure 4 Specifically, based on the coordinates of the starting point and the landing point, the grid containing the Class II wind speed and water flow speed information is bypassed, and the rescue paths for the water surface lifebuoy and the flying lifebuoy are planned respectively.

[0098] Specifically, when planning rescue routes for surface lifebuoys, wind speed and water flow speed information are used as water flow speed information; when planning rescue routes for air-based lifebuoys, wind speed and water flow speed information are used as wind speed information.

[0099] The step of bypassing the grid containing the Class II wind speed and water flow velocity information based on the starting point coordinates and the landing point coordinates is as follows:

[0100] Connect the coordinates of the starting point and the landing point with a line;

[0101] Determine whether the connection passes through the grid and whether there is Class II wind speed and water flow velocity information;

[0102] If at least two consecutive grids contain Class II wind speed and water flow velocity information, select the grids located at both ends of all grids containing Class II wind speed and water flow velocity information. Draw a perpendicular line from the center point of the grids at both ends along the longitude direction until the end of the perpendicular line passes through a grid containing Class I wind speed and water flow velocity information. Then, take that grid as the passing grid.

[0103] The starting point coordinates, the path grid, and the landing point coordinates are reconnected and judged until no two consecutive grids contain Class II wind speed and water flow speed information, thus completing the path planning.

[0104] If the connecting line passes through no two consecutive grids containing Class II wind speed and water flow velocity information, the path planning is complete.

[0105] It should be noted that, Figure 4 In the diagram, A represents the coordinates of the starting point, B represents the coordinates of the point where the object fell into the water, and C and D both represent the path grid. Furthermore, if the path planning time exceeds the preset time, an alarm will be issued directly, and a backup rescue method, such as a lifeboat, will be used for rescue.

[0106] S150: Estimate the time taken for the surface lifebuoy and the flying lifebuoy to travel along the rescue path, respectively;

[0107] S160: Select the rescue method that takes less time, either a surface lifebuoy or a flying lifebuoy, for the rescue.

[0108] Specifically, in step S150, the calculation process for the time taken for the water rescue ring to travel along the rescue path is as follows:

[0109] The time required from receiving a rescue order to releasing the smart water rescue ring onto the water surface is denoted as T_Release;

[0110] Based on the average water flow velocity information of each grid, the time taken for the lifebuoy to pass through each grid on the rescue path is calculated. The cumulative time for all grids is denoted as T_Cruise1. Specifically, the water flow velocity information includes direction and magnitude, denoted as S_Flow. S_Flow is positive when the angle between the direction of the water flow velocity information and the direction of the lifebuoy is less than 90°, and negative when the angle is greater than 90°. The speed of the lifebuoy is S_Uboat. The time taken for a single grid is calculated by dividing the distance the lifebuoy travels in the grid by (S_Uboat + S_Flow). It should be noted that this is only an estimate. The calculation process is simplified by using the angle to improve the calculation speed and thus shorten the rescue time.

[0111] The time it takes for the lifebuoy to travel along the rescue path, T 总1 =T_Release+ T_Cruise1.

[0112] In step S150, the calculation process for the time taken for the flying lifebuoy to travel along the rescue path is as follows:

[0113] The hangar door for the flight lifebuoy opens at time T_HatchOpen;

[0114] The lifting time of the flying lifebuoy is T_Ascend;

[0115] The landing time of the flying lifebuoy is T_Descend;

[0116] Based on the average wind speed information of each grid, the time taken for the flying lifebuoy to pass through each grid on the rescue path is calculated, and the cumulative time of all grids is recorded as T_Fly. The calculation method of T_Fly is the same as that of T_Cruise1, except that the water flow speed information is replaced with the wind speed information, and the speed of the water surface lifebuoy is replaced with the speed of the flying lifebuoy.

[0117] The time it takes for the flying lifebuoy to travel along the rescue path, T 总2 =T_HatchOpen+T_Ascend+T_Fly+ T_Descend.

[0118] Please see Figure 2This disclosure also provides an air-water coordinated fully autonomous drowning prevention and rescue system, including the following modules:

[0119] The first acquisition module is suitable for acquiring the coordinates of the point where a person fell into the water;

[0120] The second acquisition module is adapted to acquire the starting point coordinates of the nearest rescue point based on the position coordinates of the point of fall into the water.

[0121] The third acquisition module is suitable for acquiring wind speed information and water flow speed information between the starting point position coordinates and the landing point position coordinates.

[0122] The planning module is suitable for planning rescue paths for water surface lifebuoys and flying lifebuoys based on the coordinates of the landing point, the coordinates of the starting point, wind speed information, and water flow speed information, respectively.

[0123] An estimation module, suitable for estimating the time taken for surface lifebuoys and air rescue rings to travel along the rescue path, respectively;

[0124] The selection module is suitable for choosing the shorter rescue method between water surface lifebuoys and air rescue rings.

[0125] At least one embodiment also provides a readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the air-water coordinated fully autonomous drowning prevention and rescue method.

[0126] By simultaneously planning the paths for both water rescue and air-based lifebuoys and comparing their time consumption, the fastest rescue method is selected, solving the problems of poor coordination and low efficiency in traditional single-rescue models, and minimizing rescue time. Sensor information is used as the basis for path planning.

[0127] Please see Figure 3 At least one embodiment also provides an electronic device, including: a memory 502 and a processor 501; the memory 502 stores at least one program instruction; the processor 501 loads and executes the at least one program instruction to implement the air-water coordinated fully autonomous drowning prevention and rescue method as described above.

[0128] The memory 502 and processor 501 are connected via a bus, which may include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 501 and memory 502 together. The bus may also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 501 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 501.

[0129] Processor 501 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 502 can be used to store data used by processor 501 during operation.

[0130] In summary, this invention provides a fully autonomous air-water coordinated drowning prevention and rescue method, system, and readable storage medium. The method includes: acquiring the coordinates of the person's fall into the water; acquiring the coordinates of the starting point of the nearest rescue point based on the fall point coordinates; acquiring wind speed and water flow information between the starting point coordinates and the fall point coordinates; planning rescue paths for a surface lifebuoy and a flying lifebuoy based on the fall point coordinates, the starting point coordinates, and the wind and water flow information; estimating the time taken for the surface lifebuoy and the flying lifebuoy to travel along the rescue paths; and selecting the shorter rescue method between the surface lifebuoy and the flying lifebuoy. By simultaneously planning the paths for both surface and flying lifebuoys and comparing their time consumption, the fastest rescue method is selected, solving the problems of poor coordination and low efficiency in traditional single-rescue modes, and minimizing rescue time. By using sensor information as the basis for path planning, intelligent path planning that can adapt to complex environments improves both the accuracy and efficiency of time estimation, further shortening rescue time.

[0131] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0132] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0133] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A fully autonomous air-water coordinated drowning prevention and rescue method, characterized in that, include: The control module obtains the coordinates of the point where the person fell into the water; The control module obtains the starting point coordinates of the nearest rescue point based on the coordinates of the point of entry into the water. The control module receives wind speed and water flow velocity information between the coordinates of the starting point and the coordinates of the landing point. The control module plans the rescue paths for the water surface lifebuoy and the flying lifebuoy based on the coordinates of the landing point, the coordinates of the starting point, wind speed information, and water flow speed information. The control module estimates the time taken for the surface lifebuoy and the flying lifebuoy to travel along the rescue path, respectively. The control module selects the shorter rescue method between water surface lifebuoys and flying lifebuoys for the rescue; The process involves obtaining wind speed and water flow velocity information between the starting point coordinates and the landing point coordinates, i.e.: The coordinates of the starting point and the landing point are divided into multiple grids based on latitude and longitude. Obtain wind speed and water flow velocity information within each grid; The rescue paths for the water surface lifebuoy and the flying lifebuoy are planned based on the coordinates of the landing point, the coordinates of the starting point, wind speed information, and water flow speed information, respectively. Wind speed and water flow velocity information are divided into three categories: Category I, Category II, and Category III. Category I represents the normal range, Category II represents the range outside the normal range but within the limit threshold, and Category III represents the range outside the limit threshold. Connect the coordinates of the point of impact with the coordinates of the starting point to complete the preliminary path planning; The categories of wind speed and water flow velocity information from the initial path planning are obtained sequentially. If Category III exists, switch to another rescue method. If both wind speed and water flow velocity information are in Category III, issue an alarm. If Category III does not exist, the rescue route will be planned based on the distribution of wind speed and water flow velocity information for Categories I and II.

2. The fully autonomous air-water coordinated drowning prevention and rescue method as described in claim 1, characterized in that, If Category III does not exist, then the rescue route will be planned based on the distribution of wind speed and water flow velocity information for Categories I and II, i.e.: Based on the coordinates of the starting point and the landing point, the grid containing the Class II wind speed and water flow speed information is bypassed, and the rescue paths for the water surface lifebuoy and the flying lifebuoy are planned respectively. When planning rescue routes for water rescue rings, wind speed information and water flow speed information are considered as water flow speed information. When planning rescue routes for flying lifebuoys, wind speed information and water flow speed information are used, with wind speed information being the primary information. The step of bypassing the grid containing the Class II wind speed and water flow velocity information based on the starting point coordinates and the landing point coordinates is as follows: Connect the coordinates of the starting point and the landing point with a line; Determine whether the connection passes through the grid and whether there is Class II wind speed and water flow velocity information; If at least two consecutive grids contain Class II wind speed and water flow velocity information, select the grids located at both ends of all grids containing Class II wind speed and water flow velocity information. Draw a perpendicular line from the center point of the grids at both ends along the longitude direction until the end of the perpendicular line passes through a grid containing Class I wind speed and water flow velocity information. Then, take that grid as the passing grid. The starting point coordinates, the path grid, and the landing point coordinates are reconnected and judged until no two consecutive grids contain Class II wind speed and water flow speed information, thus completing the path planning. If the connecting line passes through no two consecutive grids containing Class II wind speed and water flow velocity information, the path planning is complete.

3. The fully autonomous air-water coordinated drowning prevention and rescue method as described in claim 2, characterized in that, The calculation process for the time taken for the surface lifebuoy and the air lifebuoy to travel along the rescue path is as follows: The time required from receiving a rescue order to releasing the smart water rescue ring onto the water surface is denoted as T_Release; Based on the average water flow velocity information of each grid, calculate the time taken for the lifebuoy to pass through each grid on the rescue path, and record the cumulative time of all grids as T_Cruise1; The time it takes for the lifebuoy to travel along the rescue path, T 总1 =T_Release+ T_Cruise1.

4. The fully autonomous air-water coordinated drowning prevention and rescue method as described in claim 2, characterized in that, The calculation process for the time taken by the flying lifebuoy to travel along the rescue path, as described in the separate estimations of the time taken by the flying lifebuoy to travel along the rescue path, is as follows: The hangar door for the flight lifebuoy opens at time T_HatchOpen; The lifting time of the flying lifebuoy is T_Ascend; The landing time of the flying lifebuoy is T_Descend; Based on the average wind speed information of each grid, calculate the time taken for the flying lifebuoy to pass through each grid on the rescue path, and record the cumulative time of all grids as T_Fly; The time it takes for the flying lifebuoy to travel along the rescue path, T 总2 =T_HatchOpen+T_Ascend+T_Fly+ T_Descend.

5. The fully autonomous air-water coordinated drowning prevention and rescue method as described in claim 1, characterized in that, The step of obtaining the coordinates of the point where a person fell into the water includes: Obtain the location information sent by the positioning device on the life jacket; Based on the location information, obtain the corresponding location coordinates to complete the acquisition of the location coordinates of the point of impact with water.

6. A fully autonomous air-water coordinated drowning prevention and rescue system, characterized in that, The air-water coordinated fully autonomous drowning prevention and rescue system is used to execute the air-water coordinated fully autonomous drowning prevention and rescue method as described in claim 1. Includes: control module; The control module is configured to include: The first acquisition module is suitable for acquiring the coordinates of the point where a person fell into the water; The second acquisition module is adapted to acquire the starting point coordinates of the nearest rescue point based on the position coordinates of the point of fall into the water. The third acquisition module is suitable for acquiring wind speed information and water flow speed information between the starting point position coordinates and the landing point position coordinates. The planning module is suitable for planning rescue paths for water surface lifebuoys and flying lifebuoys based on the coordinates of the landing point, the coordinates of the starting point, wind speed information, and water flow speed information, respectively. An estimation module, suitable for estimating the time taken for surface lifebuoys and air rescue rings to travel along the rescue path, respectively; The selection module is suitable for choosing the shorter rescue method between water surface lifebuoys and air rescue rings.

7. A readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-5.

8. An electronic device, characterized in that, include: Memory and processor; the memory stores at least one program instruction; The processor implements the steps of the method as described in any one of claims 1-5 by loading and executing the at least one program instruction.

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