Search and rescue path planning method and system

Abstract

The invention belongs to the technical field of equipment related to ships, and particularly relates to lifesaving in water, in particular to a search and rescue path planning method and system.The search and rescue path planning method comprises the steps that a search and rescue range is determined through a server according to an initial falling point of a person falling into water, and a search and rescue path is constructed in the search and rescue range according to the search and rescue range; the rescue device travels along the search and rescue path, determines a rescue point after identifying the person falling into water, directly travels towards the rescue point after separating from the search and rescue path, and decelerates to get close to the person falling into water after entering the rescue range of the person falling into water so as to complete rescue of the person falling into water; after the person falling into water is rescued, the rescue device travels towards the preset ashore point, so that the person falling into water is quickly rescued, and the rescue efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of ship-related equipment, specifically relating to water rescue, and particularly to a search and rescue path planning method and system. Background Technology

[0002] In related water rescue methods, a corresponding serpentine path is generated within the search and rescue area. However, some of the serpentine paths are invalid. Traversing all the serpentine paths will increase the required rescue time and affect the rescue efficiency.

[0003] Therefore, how to avoid wasting rescue time due to invalid parts of the search and rescue route is a technical problem that urgently needs to be solved in this field.

[0004] 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

[0005] This disclosure provides at least one search and rescue route planning method and system.

[0006] In a first aspect, embodiments of this disclosure provide a search and rescue route planning method, including: The server determines the search and rescue area based on the initial point of the person falling into the water, and constructs a search and rescue path within the search and rescue area. The rescue equipment travels along the search and rescue route, and after identifying the person who fell into the water, it determines the rescue point and then departs from the search and rescue route to travel directly to the rescue point.

[0007] In one optional implementation, the method of constructing a search and rescue path based on and within the search and rescue area includes: The server is configured to obtain the vertex closest to the current location of the rescue device based on the current location of the rescue device and the four vertices of the quadrilateral search and rescue range, use this vertex as the starting point of the search and rescue path, construct a serpentine search and rescue path, and send the search and rescue path to the rescue device.

[0008] In one optional implementation, the spacing between adjacent parallel segments in the search and rescue path is 2N, and the spacing between the connecting segment between adjacent parallel segments and the corresponding search and rescue range boundary line is N. N = 0.5 * L * sin (0.5*α); Where L is the effective recognition distance of the camera on the rescue device; α is the horizontal field of view of the camera.

[0009] In one optional implementation, the rescue device includes: a control module, and a camera, a voice recognition module, and an infrared thermal imaging module electrically connected to the control module; The control module is configured to identify people who have fallen into the water using a camera and to obtain their location. The control module is configured to acquire the distress cries of a person who has fallen into the water through a voice recognition module to identify the person and obtain the location of the person. The control module is configured to acquire the infrared radiation of a person who has fallen into the water through an infrared thermal imaging module in order to identify the person and obtain their location. The recognition range of the voice recognition module and the infrared thermal imaging module is greater than that of the camera.

[0010] In one optional implementation, the method of determining the rescue point after identifying the person in the water, and then departing from the search and rescue route to directly drive towards the person in the water at the rescue point includes: The rescue device is configured to travel along a search and rescue route. During the journey, if the camera does not identify the person who has fallen into the water, but the voice recognition module and / or infrared thermal imaging module does, the rescue device obtains the location of the person who has fallen into the water based on the voice recognition module and / or infrared thermal imaging module. The rescue device then forms a straight path with the location of the person who has fallen into the water based on its current location, and travels towards the location of the person who has fallen into the water based on the straight path.

[0011] In one optional implementation, when the rescue device travels along a straight path, if it still identifies a person in the water at the intersection of the straight path and the search and rescue path, it obtains the location of the person in the water using a voice recognition module and / or an infrared thermal imaging module. The rescue device then forms a new straight path based on its current location and the location of the person in the water, and travels towards the location of the person in the water according to the new straight path.

[0012] In one optional implementation, if the person who fell into the water cannot be identified, a new serpentine path is constructed starting from the current position of the rescue device, and the device travels along the new serpentine path. The spacing between adjacent parallel segments in the new serpentine path is 4N, and the spacing between the connecting segments between adjacent parallel segments and the corresponding search and rescue range boundary line is 2N.

[0013] In one optional implementation, the rescue device identifies a person who has fallen into the water via a camera while in motion. Once the camera identifies the person, the rescue device travels directly toward the person and slows down to approach the person after entering their rescue range, thus completing the rescue.

[0014] Secondly, embodiments of this disclosure also provide a search and rescue route planning system, including: The rescue device is configured to use the search and rescue path planning method described above.

[0015] In one alternative implementation, a server is configured to determine the search and rescue area based on the initial point of the person falling into the water, and to construct a search and rescue path within the search and rescue area.

[0016] The beneficial effects of this invention are that the search and rescue path planning method determines the search and rescue range based on the initial point of the person falling into the water using a server, and constructs a search and rescue path within the search and rescue range; the rescue device travels along the search and rescue path, and after identifying the person in the water, determines the rescue point, departs from the search and rescue path and travels directly towards the rescue point; after entering the rescue range of the person in the water, the rescue device slows down and approaches the person in the water to complete the rescue; after rescuing the person in the water, the rescue device travels towards the preset landing point, thereby achieving rapid rescue of the person in the water and improving rescue efficiency.

[0017] 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.

[0018] 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

[0019] 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.

[0020] Figure 1 A flowchart of a search and rescue route planning method provided in this embodiment of the disclosure; Figure 2 A schematic diagram of a search and rescue route provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of a vehicle moving towards a person who has fallen into the water, provided as an embodiment of this disclosure.

[0021] In the picture: Search and rescue area 1, search and rescue route 2. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] In related water rescue methods, a corresponding serpentine path is generated within the search and rescue area. However, some of the serpentine paths are invalid. Traversing all the serpentine paths will increase the required rescue time and affect the rescue efficiency.

[0025] 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.

[0026] like Figure 1 and Figure 2 As shown, at least one disclosed embodiment provides a search and rescue path planning method, including: determining a search and rescue range 1 based on the initial point of the person falling into the water via a server, and constructing a search and rescue path 2 within the search and rescue range 1; a rescue device traveling along the search and rescue path 2 to search for the person falling into the water, and determining a rescue point after identifying the person, leaving the search and rescue path 2 and traveling directly towards the rescue point; after entering the rescue range of the person falling into the water, the rescue device slows down and approaches the person, completing the rescue; after rescuing the person, the rescue device travels towards a preset landing point, thereby achieving rapid traversal of the search and rescue range 1 and ensuring that the person falling into the water is rescued.

[0027] In this embodiment, the server can simulate the drift trajectory of a person who has fallen into the water using a drift model (such as the Lagrange tracking method, random particle simulation method, Monte Carlo method, etc.) to predict the possible distribution area and construct the search and rescue range 1.

[0028] In this embodiment, the rescue device may be, but is not limited to, unmanned rescue boats, etc.

[0029] In one optional implementation, the method of constructing a search and rescue path 2 based on the search and rescue range 1 and within the search and rescue range 1 includes: the server is configured to obtain the vertex closest to the current position of the rescue device based on the current position of the rescue device and the positions of the four vertices of the quadrilateral search and rescue range 1, use this vertex as the starting point of the search and rescue path 2, construct a serpentine search and rescue path 2, and send the search and rescue path 2 to the rescue device.

[0030] like Figure 2 As shown, in an optional embodiment, the spacing between adjacent parallel segments in the search and rescue path 2 is 2N, and the spacing between the connecting segment between adjacent parallel segments and the corresponding edge line of the search and rescue range 1 is N. N = 0.5 * L * sin (0.5*α); Where L is the effective recognition distance of the camera on the rescue device; α is the horizontal field of view of the camera.

[0031] In this embodiment, the value of N needs to be calculated based on the identification distance of the person who fell into the water and the field of view of the camera. If N is too large, some areas will not be covered during the cruise, and the person who fell into the water will be missed. If N is too small, the cruise path will be too long and the search speed will be slow. The spacing between adjacent parallel segments in the search and rescue path 2 is 2N, so that the rescue device can completely search within the search and rescue range 1 during the journey, avoiding the failure to identify the person who fell into the water due to the area being missed.

[0032] In this embodiment, the camera can be a Hikvision DS-2CD2T4FDBA46-LS lightweight intelligent surveillance network camera with a 4mm focal length and a horizontal field of view α=78.3°. Its internal YOLOv8 drowning person recognition model has an effective recognition distance of L=30 meters. Therefore, N = 0.5 * 30 * sin(0.5 * 78.3°) = 9.47 meters. The distance between adjacent parallel segments in search and rescue path 2 is 2 * N = 2 * 9.47 = 18.94 meters.

[0033] In one optional embodiment, the rescue device includes: a control module, and a camera, a voice recognition module, and an infrared thermal imaging module electrically connected to the control module; the control module is configured to identify a person who has fallen into the water through the camera and obtain the location of the person; the control module is configured to obtain the distress call of the person who has fallen into the water through the voice recognition module to identify the person and obtain the location of the person; the control module is configured to obtain the infrared radiation of the person's body through the infrared thermal imaging module to identify the person and obtain the location of the person; the recognition range of the voice recognition module and the infrared thermal imaging module is larger than the recognition range of the camera.

[0034] In this embodiment, the camera has the smallest recognition range for people who have fallen into the water, but it can accurately identify people who have fallen into the water as long as they enter its recognition range. The voice recognition module and the infrared thermal imaging module have a larger recognition range than the camera, but they cannot accurately identify the specific location of people who have fallen into the water. Therefore, during the journey along the search and rescue route 2, the voice recognition module and the infrared thermal imaging module can identify the approximate location of people who have fallen into the water earlier, and then the rescue device can drive directly to the location of people who have fallen into the water, which can save the search and rescue route 2 and reach the location of people who have fallen into the water faster.

[0035] In one alternative implementation, such as Figure 3 As shown, the method of determining the rescue point after identifying a person who has fallen into the water, and then departing from search and rescue path 2 to drive directly to the rescue point for the person who has fallen into the water includes: the rescue device is configured to drive along search and rescue path 2; during the driving process, when the camera does not identify the person who has fallen into the water, but the voice recognition module and / or infrared thermal imaging module identify the person who has fallen into the water, the location of the person who has fallen into the water is obtained according to the voice recognition module and / or infrared thermal imaging module; the rescue device forms a straight path according to the current location and the location of the person who has fallen into the water; and the rescue device drives to the location of the person who has fallen into the water according to the straight path.

[0036] In one optional implementation, when the rescue device travels along a straight path, if it still identifies a person who has fallen into the water at the intersection of the straight path and the search and rescue path 2, it obtains the location of the person who has fallen into the water using the voice recognition module and / or the infrared thermal imaging module. The rescue device then forms a new straight path based on its current location and the location of the person who has fallen into the water, and travels towards the location of the person who has fallen into the water along the new straight path.

[0037] In this embodiment, when the rescue device travels along a straight path, each time it reaches the intersection of the straight path and the search and rescue path 2, the voice recognition module and / or the infrared thermal imaging module obtain the location of the person who fell into the water again. If the person who fell into the water can still be detected, it means that the voice recognition module and / or the infrared thermal imaging module have not made any errors in detection.

[0038] In this embodiment, when the voice recognition module and / or infrared thermal imaging module do not obtain the location of the person who fell into the water, the rescue device travels along the search and rescue path 2 to ensure that the search and rescue area 1 is traversed and that the person who fell into the water is found; when the voice recognition module and / or infrared thermal imaging module obtain the location of the person who fell into the water, a straight path can be constructed to reduce the actual travel path of the rescue device and speed up the rescue of the person who fell into the water.

[0039] In this embodiment, when the location of the person who has fallen into the water is deviated by the voice recognition module and / or the infrared thermal imaging module, a new straight path can be generated to facilitate the rescue device to reach the vicinity of the person who has fallen into the water more quickly.

[0040] In this embodiment, if the voice recognition module and / or infrared thermal imaging module do not detect any shift in the position of the person who fell into the water, it indicates that the person has not moved and continues to travel along the current straight path.

[0041] In one optional implementation, if the person who fell into the water cannot be identified, a new serpentine path is constructed starting from the current position of the rescue device, and the device travels along the new serpentine path. The spacing between adjacent parallel segments in the new serpentine path is 4N, and the spacing between the connecting segment between adjacent parallel segments and the corresponding search and rescue range 1 edge line is 2N.

[0042] In this embodiment, if the voice recognition module and / or infrared thermal imaging module can no longer detect the location of the person who has fallen into the water, a new serpentine path is generated to conduct the search and rescue within the remaining search and rescue range 1 using a shorter path, so as to quickly find the person who has fallen into the water.

[0043] In one optional implementation, the rescue device identifies a person who has fallen into the water via a camera while in motion. Once the camera identifies the person, the rescue device travels directly toward the person and slows down to approach the person after entering their rescue range, thus completing the rescue.

[0044] In this embodiment, the rescue range is preset. When the camera detects a person who has fallen into the water and the rescue device enters the rescue range, the rescue device slows down to avoid hitting or affecting the person who has fallen into the water.

[0045] In this embodiment, the rescue device can also be equipped with a voice module. When the rescue device approaches the person who has fallen into the water, it can reassure the person through voice and guide them to grasp the handle on the rescue device. After the pressure sensor on the handle detects a valid grasp (≥5N), the rescue device determines that the rescue of the person who has fallen into the water has been completed, starts the return mode, and autonomously returns to the pre-set safe landing point.

[0046] In this embodiment, when used at sea, waves may obstruct the camera's view, and a person in the water may appear behind a wave, out of the camera's sight, or there may be other obstacles blocking the camera's view, but the voice recognition module can still identify them. Also, at night, the camera's view is black, making it impossible to identify a person in the water, or the identification distance is very close. In these situations, the voice recognition module and / or infrared thermal imaging module can identify the person in the water. When the voice recognition module and / or infrared thermal imaging module identify a person in the water and the person is within the camera's recognition range, but the camera does not identify the person, the rescue device proceeds directly towards the person in the water. Once the rescue device enters the person's rescue range, it slows down and approaches the person to complete the rescue.

[0047] At least one other disclosed embodiment also provides a search and rescue route planning system, including: a rescue device configured to employ the search and rescue route planning method described above.

[0048] In one alternative implementation, the server is configured to determine a search and rescue range 1 based on the initial point of the person falling into the water, and to construct a search and rescue path 2 within the search and rescue range 1.

[0049] In summary, this search and rescue path planning method uses a server to determine the search and rescue range 1 based on the initial point of the person falling into the water, and constructs a search and rescue path 2 within the search and rescue range 1. The rescue device travels along the search and rescue path 2 to search for the person in the water. After identifying the person, it determines the rescue point, leaves the search and rescue path 2, and travels directly towards the rescue point. Once within the rescue range of the person in the water, the rescue device slows down and approaches the person to complete the rescue. After rescuing the person, the rescue device travels towards a preset landing point, thus achieving rapid traversal of the search and rescue range 1 and ensuring the rescue of the person.

[0050] 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 search and rescue route planning method, characterized in that, include: The server determines the search and rescue range (1) based on the initial point of the person falling into the water, and constructs a search and rescue path (2) within the search and rescue range (1). The rescue device travels along the search and rescue route (2), and after identifying the person who fell into the water, it determines the rescue point and leaves the search and rescue route (2) to travel directly to the rescue point; The method for constructing a search and rescue path (2) based on the search and rescue range (1) and within the search and rescue range (1) includes: The server is configured to obtain the vertex closest to the current position of the rescue device based on the current position of the rescue device and the four vertex positions of the quadrilateral search and rescue range (1), use the vertex as the starting point of the search and rescue path (2), construct the serpentine search and rescue path (2), and send the search and rescue path (2) to the rescue device. The distance between adjacent parallel segments in the search and rescue path (2) is 2N, and the distance between the connecting segment between adjacent parallel segments and the edge of the corresponding search and rescue range (1) is N. N = 0.5 * L * sin (0.5*α); Where L is the effective recognition distance of the camera on the rescue device; α is the horizontal field of view of the camera.

2. The search and rescue route planning method as described in claim 1, characterized in that, The rescue device includes: a control module, and a camera, a voice recognition module, and an infrared thermal imaging module electrically connected to the control module; The control module is configured to identify people who have fallen into the water using a camera and to obtain their location. The control module is configured to acquire the distress cries of a person who has fallen into the water through a voice recognition module to identify the person and obtain the location of the person. The control module is configured to acquire the infrared radiation of a person who has fallen into the water through an infrared thermal imaging module in order to identify the person and obtain their location. The recognition range of the voice recognition module and the infrared thermal imaging module is greater than that of the camera.

3. The search and rescue route planning method as described in claim 2, characterized in that, The method of identifying a person who has fallen into the water, determining the rescue point, and then departing from the search and rescue route (2) to travel directly to the person at the rescue point includes: The rescue device is configured to travel along the search and rescue path (2). During the travel, if the camera does not identify the person who fell into the water, but the voice recognition module and / or infrared thermal imaging module identify the person who fell into the water, the rescue device obtains the location of the person who fell into the water based on the voice recognition module and / or infrared thermal imaging module. The rescue device forms a straight path with the location of the person who fell into the water based on the current location, and the rescue device travels to the location of the person who fell into the water based on the straight path.

4. The search and rescue route planning method as described in claim 3, characterized in that, When the rescue device travels along a straight path, if it still identifies a person who has fallen into the water at the intersection of the straight path and the search and rescue path (2), it obtains the location of the person who has fallen into the water based on the voice recognition module and / or the infrared thermal imaging module. The rescue device then forms a new straight path based on its current location and the location of the person who has fallen into the water, and travels to the location of the person who has fallen into the water based on the new straight path.

5. The search and rescue route planning method as described in claim 4, characterized in that, If the person who fell into the water cannot be identified, a new serpentine path is constructed starting from the current position of the rescue device, and the device travels along the new serpentine path. The distance between adjacent parallel segments in the new serpentine path is 4N, and the distance between the connecting segment between adjacent parallel segments and the corresponding search and rescue range (1) edge line is 2N.

6. The search and rescue route planning method as described in claim 2, characterized in that, The rescue device identifies people who have fallen into the water via a camera while in motion. Once the camera identifies a person, the rescue device moves directly toward the person and slows down to approach them after entering their rescue range, thus completing the rescue.

7. A search and rescue route planning system, characterized in that, include: A rescue device configured to employ the search and rescue path planning method as described in any one of claims 1-6.

8. The search and rescue route planning system as described in claim 7, characterized in that, The server is configured to determine the search and rescue range (1) based on the initial point of the person falling into the water, and to construct a search and rescue path (2) within the search and rescue range (1).

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