Waterfall search and rescue method and platform, electronic equipment and computer readable storage medium

Abstract

This application relates to the field of water search and rescue, specifically to a method and platform for rescuing someone who has fallen into the water, an electronic device, and a computer-readable storage medium. The method includes: acquiring hydrological data of the water area where the person fell into the water and the initial location of the fallen organism; marking multiple reference rescue locations based on the initial location and the hydrological data; setting up a corresponding rescue device for each reference rescue location; for any one of the rescue devices, constructing a search and rescue path corresponding to the reference rescue location; and controlling the search and rescue device to search for the fallen organism along the search and rescue path. The water search and rescue method, platform, electronic device, and computer-readable storage medium provided in this application can improve the rationality of search and rescue resource allocation and increase the efficiency and success rate of water search and rescue.

Description

Technical Field

[0001] This application relates to the field of water rescue, specifically to a method and platform for searching and rescuing people who have fallen into the water, electronic equipment, and computer-readable storage medium. Background Technology

[0002] Currently, with the deepening of global economic and trade integration, the shipping industry has ushered in an unprecedented period of prosperity, with maritime traffic volume growing exponentially. At the same time, offshore oil and gas resource development, deep-sea fishing, and coastal tourism are becoming increasingly frequent, accelerating humanity's pace of maritime expansion. However, the high density of ship traffic and the complex and ever-changing marine environment have significantly increased the probability of people falling overboard.

[0003] However, examining the current maritime search and rescue system, the traditional search and rescue model still dominates, and its limitations are becoming increasingly apparent. This model relies heavily on the personal experience and intuitive judgment of commanders, lacking scientific decision-making support driven by multi-source heterogeneous data. Commanders often struggle to process massive amounts of meteorological and hydrological information, vessel automatic identification system trajectories, and on-site video streams within a short period. This traditional "human brain + telephone" dispatching method not only suffers from information delays but also makes it difficult to achieve dynamic and optimized allocation of rescue resources, resulting in severe resource imbalances.

[0004] In actual rescue operations, there is often an unreasonable allocation of resources, with insufficient manpower in key rescue areas and redundant resources in non-critical areas. Specifically, a large number of search and rescue vessels are concentrated in low-risk waters, while the core areas where the actual emergency occurs face a dilemma of "no vessels available, no aircraft to dispatch" due to untimely dispatching. This unreasonable allocation of search and rescue resources seriously affects search and rescue efficiency, leads to prolonged search and rescue times, wastes the golden time for rescue operations, and reduces the success rate of search and rescue. Summary of the Invention

[0005] In view of this, it is necessary to provide a method and platform for searching and rescuing people who have fallen into the water, as well as electronic devices and computer-readable storage media, in order to achieve the technical effect of improving the rationality of search and rescue resource allocation and improving the efficiency and success rate of searching and rescuing people who have fallen into the water.

[0006] To address the aforementioned technical problems, firstly, this application provides a method for searching and rescuing people who have fallen into the water, comprising: Obtain hydrological data of the water area where the creature fell into the water and the initial location of the creature. Mark multiple reference rescue locations based on the initial location of the creature and the hydrological data, and set up corresponding rescue devices for each of the reference rescue locations. For any of the rescue devices, a search and rescue path corresponding to the reference rescue location is constructed, and the search and rescue device is controlled to search for the drowning creature along the search and rescue path.

[0007] In one possible embodiment, constructing the search and rescue path corresponding to the reference rescue location includes: The area where the person fell into the water is gridded to obtain multiple search and rescue grids. A grid pheromone parameter corresponding to each search and rescue grid is set, and the grid pheromone parameter is controlled to increase over time and be reset after the search and rescue device passes through the search and rescue grid. For any given search and rescue moment, the distance parameters between each of the search and rescue devices are obtained, the movement parameters of each of the search and rescue devices are determined based on the grid pheromone parameters and the distance parameters, and the search and rescue path is obtained based on the movement parameters.

[0008] In one possible embodiment, controlling the increment of the mesh pheromone parameter over time includes: Based on formula , The grid pheromone parameter is controlled to increase over time; Where t is the time parameter, For the search and rescue grid at coordinates (i, j), for Search and rescue grid The corresponding grid pheromone parameters, This is the evaporation coefficient constant. The propagation coefficient is constant. For search and rescue grid The corresponding priority constant, For search and rescue grid The corresponding pheromone switch matrix elements, For search and rescue grid The corresponding pheromone release amount, For search and rescue grid Neighborhood search and rescue grid The set, For time t Transmitted to the search and rescue grid The total amount of pheromones.

[0009] In one possible embodiment, determining the movement parameters of each of the search and rescue devices based on the grid pheromone parameters and the distance parameters includes: Identify the M search and rescue grids with the highest pheromone parameters. For any of the search and rescue devices, the attractive force of the M attractive search and rescue grids on the search and rescue device is calculated based on the grid pheromone parameters. Calculate the repulsive force exerted by other search and rescue devices on the search and rescue device based on the distance parameter. , to the attraction and the repulsive force The combined force The direction is taken as the moving direction of the search and rescue device, according to the resultant force. The moving speed of the search and rescue device is determined by its maximum moving speed, and the moving direction and the moving speed are used as the moving parameters of the search and rescue device.

[0010] In one possible embodiment, the calculation of the attractive force of the M attraction search and rescue grids on the search and rescue device based on the grid pheromone parameters is described. Calculate the repulsive force exerted by other search and rescue devices on the search and rescue device based on the distance parameter. ,include: According to the formula The attractive force was calculated. According to the formula The repulsive force was calculated. ; in, The constant coefficients, Let be the position vector between the search and rescue device and each of the attraction search and rescue grids. Let be the position vector between the search and rescue device and each other search and rescue device.

[0011] In one possible embodiment, constructing the search and rescue path corresponding to the reference rescue location includes: The water area where the person fell into the water is divided into multiple reference rescue areas based on the reference rescue location, and the reference rescue areas correspond one-to-one with the reference rescue locations. Within each of the aforementioned reference rescue areas, a reference search and rescue path corresponding to the reference rescue location is constructed.

[0012] In one possible embodiment, constructing a reference search and rescue path corresponding to the reference rescue location within each of the reference rescue areas includes: Based on formula Construct reference search and rescue paths corresponding to the reference rescue locations within each of the aforementioned reference rescue areas. ; in, The average distance between the reference rescue path and the reference rescue location. The increase in coverage area along the reference rescue route. For parameters to determine if an item is out of bounds, a, is a constant coefficient.

[0013] Secondly, this application also provides a water rescue platform, including: The parameter acquisition module is used to acquire hydrological data of the water area where the organism fell into the water and the initial location of the organism when it fell into the water. A location estimation module is used to mark multiple reference rescue locations based on the initial fall-in location and the hydrological data, and to set up corresponding rescue devices for each of the reference rescue locations. The search and rescue control module, for any of the rescue devices, is used to construct a search and rescue path corresponding to the reference rescue location, and control the search and rescue device to search for the drowning creature along the search and rescue path.

[0014] Thirdly, this application also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the drowning search and rescue method described in any of the above implementations.

[0015] Fourthly, this application also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps of the drowning search and rescue method described in any of the above implementations.

[0016] The beneficial effects of this application are: Compared with related technologies, the water search and rescue method, platform, electronic device, and computer-readable storage medium provided in this application, when starting a search and rescue operation after a water incident, first combine the hydrological data of the water area where the drowning occurred and the initial location of the drowning organism to determine multiple locations with the highest probability of the drowning organism appearing as reference rescue locations. A corresponding rescue device is set up for each reference rescue location, and a corresponding search and rescue path is constructed for each reference rescue location. Each rescue device is controlled to move along the search and rescue path of its corresponding reference rescue location to search for the drowning organism. In this way, a corresponding rescue device is configured for each reference rescue location, and each rescue device searches and rescues the surrounding waters along the search and rescue path of its corresponding reference rescue location. This achieves a reasonable allocation of rescue devices, improves the rationality of search and rescue resource allocation, and enhances the efficiency and success rate of water search and rescue. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart illustrating the water rescue method provided in this application embodiment; Figure 2 This is a schematic diagram illustrating the process of constructing a search and rescue path corresponding to a reference rescue location in the water search and rescue method provided in the embodiments of this application; Figure 3 This is a flowchart illustrating the process of constructing a search and rescue path corresponding to a reference rescue location in a water rescue method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of the water rescue platform provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0021] The terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] This application provides a method and platform for searching and rescuing people who have fallen into the water, an electronic device, and a computer-readable storage medium, which are described below.

[0024] Please refer to Figure 1 The water rescue method provided in this application includes: Step S101: Obtain hydrological data of the water area where the organism fell into the water and the initial location of the organism.

[0025] After an organism falls into the water, it will gradually drift with the current, and its final location will be affected by different hydrological data of the area where it fell in. Based on this, in this step, the hydrological data specifically includes parameters that affect the movement of the organism with the current, such as the direction of the current, the velocity of the current, the flow rate, the wind direction at the water surface, the wind speed at the water surface, and the water depth.

[0026] When acquiring hydrological data for the area where the incident occurred, different methods can be used depending on the size of the area. For larger areas, real-time access to gridded data from global ocean forecasting systems (such as the Hybrid Coordinate Ocean Model, HYCOM, and the European Centre for Medium-Range Weather Forecasts, ECMWF) is used to obtain hydrological data for a larger region. For smaller areas, IoT gateways are used to connect to smart buoys, shore-based radars, and weather stations deployed in the area to collect hydrological data for a smaller region.

[0027] Step S102: Mark multiple reference rescue locations based on the initial fall-in location and hydrological data, and set up corresponding rescue devices for each reference rescue location.

[0028] In this step, the reference rescue location is the location where the drowning creature is most likely to appear. That is, the probability of the drowning creature appearing at each location in the water area is calculated based on the initial drowning location and hydrological data, and the multiple locations with the highest probability of drowning creature appearance are selected as reference rescue locations.

[0029] The trajectory of a submerged organism after falling into the water is essentially determined by its own physical characteristics and the hydrological data of the area where it fell. This embodiment considers both the initial fall location and the uncertainty of the hydrological data. Specifically, a pre-trained drift trajectory calculation model is used to iteratively simulate the initial fall location and hydrological data multiple times based on different confidence parameters, generating a large number of possible drift paths. The set of these paths forms a probability density distribution over the fall area, thus obtaining the probability of the submerged organism appearing at each location in the fall area. Based on this probability density distribution, the locations with the highest probabilities are selected as reference rescue locations.

[0030] In addition, in some embodiments of this application, the self-parameters of the fallen organism can also be acquired. These self-parameters include the height and weight of the fallen organism, whether it is wearing a swimming ring or other auxiliary flotation device, etc. The reference rescue location can be determined by combining the self-parameters of the fallen organism, thereby improving the reliability of the reference rescue location.

[0031] Step S103: Construct a search and rescue path corresponding to the reference rescue location, and control the search and rescue device to search for and rescue the drowning creature along the search and rescue path.

[0032] Please refer to Figure 2 In this embodiment, the construction of the search and rescue path corresponding to the reference rescue location specifically includes: Step S201: The area where the person fell into the water is gridded to obtain multiple search and rescue grids. Grid pheromone parameters are set to correspond one-to-one with each search and rescue grid. The grid pheromone parameters are controlled to increase over time and reset after the search and rescue device passes through the search and rescue grid.

[0033] In this step, the area where the person fell into the water is rasterized, which involves dividing the area into multiple search and rescue grids according to set rules. For example, based on the distribution of latitude and longitude lines and according to the set grid size, the area where the person fell into the water is rasterized to obtain multiple search and rescue grids divided by latitude and longitude lines.

[0034] In this embodiment, the grid size is set according to the model and type of the search and rescue device to achieve grid processing of the water area where the person fell into the water. For example, when the search and rescue device is an aerial drone, its unit search and rescue area is large, so a larger grid size can be set to improve search and rescue efficiency; as another example, when the search and rescue device is a surface unmanned boat, its unit search and rescue area is small, so a smaller grid size can be set to improve search and rescue accuracy.

[0035] Furthermore, the grid pheromone parameter is an artificially assigned value for each search and rescue grid in this embodiment. It represents the probability that a drowning creature will appear within that grid. This parameter assists the search and rescue device in constructing a search path. A higher grid pheromone parameter indicates a higher probability of a drowning creature appearing within that grid, and the search and rescue device is more likely to move towards that grid when constructing its path. Based on this, the grid pheromone parameter for each search and rescue grid is set to increase over time and reset after the search and rescue device passes through the grid. Specifically, for unsearched grids, the corresponding grid pheromone parameter gradually increases, causing the search and rescue device to move towards them. For search and rescue grids that have already been searched, the corresponding grid pheromone parameter is reset, reducing the likelihood of the search and rescue device moving towards them and avoiding repeated searches. Simultaneously, for grids that have not been searched for a long time, the grid pheromone parameter gradually increases, increasing the probability of the search and rescue device moving towards them, thus preventing certain areas from remaining unsearched for extended periods.

[0036] Specifically, for the search and rescue grid at coordinates (i, j) The specific formula for calculating the grid pheromone parameter at time t is as follows: , This formula is used to determine the pheromone parameters of each search and rescue grid in real time. Here, t is the time parameter. For the search and rescue grid at coordinates (i, j), for Search and rescue grid The corresponding grid pheromone parameters, This is the evaporation coefficient constant. The propagation coefficient is constant. For search and rescue grid The corresponding priority constant, For search and rescue grid The corresponding pheromone switch matrix elements, For search and rescue grid The corresponding pheromone release amount, For search and rescue grid Neighborhood search and rescue grid The set, For time t Transmitted to the search and rescue grid The total amount of pheromones.

[0037] in, Search and rescue grid per unit time The corresponding increase in pheromones, i.e., per unit time interval, in the search and rescue grid. The corresponding pheromone increase , The priority constants pre-set for each search and rescue grid are specifically set according to the probability density distribution in step S102 above. Search and rescue grids with larger probability density distributions have their corresponding priority constants set. The pheromone level is relatively high, and its pheromone parameters increase rapidly. Equal to 0 or 1, in the search and rescue grid When not being searched, Equal to 1, in the search and rescue grid When already searched, Equal to 0; Evaporation coefficient constant Search and rescue grid per unit time The corresponding reduction in pheromones, i.e., the amount of pheromone reduction per unit time interval in the search and rescue grid. The corresponding pheromone reduction is E. After a unit of time interval, each search and rescue grid will also propagate a portion of its own pheromone parameters to its 8 neighboring search and rescue grids. Let be the propagation coefficient constant in this propagation process.

[0038] Step S202: For any search and rescue moment, obtain the distance parameters between each search and rescue device, determine the movement parameters of each search and rescue device based on the grid pheromone parameters and the distance parameters, and obtain the search and rescue path based on the movement parameters.

[0039] In this step, the M attractive search and rescue grids with the highest pheromone parameters are first obtained; for any search and rescue device, the attractive force of the M attractive search and rescue grids on the search and rescue device is calculated based on the grid pheromone parameters. Calculate the repulsive force exerted by other search and rescue devices on the search and rescue device based on the distance parameters. , will attract and repulsive force The combined force The direction of movement of the search and rescue device is determined by the resultant force. The maximum moving speed of the search and rescue device determines the moving speed of the search and rescue device, and the moving direction and moving speed are used as the moving parameters of the search and rescue device.

[0040] In this embodiment, the specific formula is used. Calculated attractiveness According to the formula Calculation of repulsive force ;in, The constant coefficients, This represents the position vector between the search and rescue device and each attraction search and rescue grid. This is the position vector between the search and rescue device and other search and rescue devices. Further, specifically according to the formula... Determine the movement speed of the search and rescue equipment. This represents the maximum moving speed of the search and rescue device.

[0041] It is understood that the foregoing is merely an illustrative example of a specific method for constructing a search and rescue path corresponding to the reference rescue location in this embodiment, and does not constitute a limitation. Please refer to [the relevant documentation]. Figure 3 In some other embodiments of the application, the search and rescue path corresponding to the reference rescue location is constructed as follows: Step S301: Divide the water area into multiple reference rescue areas according to the reference rescue location, with each reference rescue area corresponding to a reference rescue location.

[0042] In this step, a Voronoi diagram is used to divide the entire drowning area into multiple reference rescue zones, each corresponding to a reference rescue location. For each reference rescue zone, the distance between each search and rescue grid within that zone and its corresponding reference rescue location is less than the distance between each grid and any other reference rescue location.

[0043] Step S302: Construct reference search and rescue routes corresponding to the reference rescue locations within each reference rescue area.

[0044] In this step, the specific formula is used. Construct reference search and rescue routes corresponding to the reference rescue locations within each reference rescue area. ;in, To provide a reference for the average distance between the rescue route and the reference rescue location, The growth rate of the newly added coverage area along the reference rescue route. For parameters to determine if an item is out of bounds, a, is a constant coefficient.

[0045] Compared with related technologies, the water search and rescue method provided in this embodiment, after a water-falling event occurs and the search and rescue begins, firstly, by combining the hydrological data of the water area where the drowning occurred and the initial location of the drowning organism, determines multiple locations with the highest probability of the drowning organism appearing as reference rescue locations. A corresponding rescue device is set up for each reference rescue location, and a corresponding search and rescue path is constructed for each reference rescue location. Each rescue device is controlled to move along the search and rescue path of its corresponding reference rescue location to search for the drowning organism. In this way, a corresponding rescue device is configured for each reference rescue location, and each rescue device searches and rescues the surrounding waters along the search and rescue path, thereby achieving a reasonable allocation of rescue devices, improving the rationality of search and rescue resource allocation, and enhancing the efficiency and success rate of water search and rescue.

[0046] To better implement the water rescue method in the embodiments of this application, based on the water rescue method, correspondingly, such as Figure 4 As shown in the illustration, this application also provides a water rescue platform, which includes: The parameter acquisition module 401 is used to acquire hydrological data of the area where the drowning occurred and the initial location of the drowning organism. After acquiring real-time data such as video streams, geographical location, attitude angles, and battery level from the search and rescue device via onboard sensors, as well as hydrological data such as wind speed, wind direction, and wave height, the parameter acquisition module 401 categorizes and stores the received raw data in different databases. It also provides a standardized data access interface for easy retrieval of the stored data in subsequent steps.

[0047] While storing data, the parameter acquisition module 401 also provides unified description and management of structured and unstructured data, and performs secure authentication of user roles and imported data. The platform creates metadata for each type of data. The metadata records descriptive information such as the data's source, format, generation time, coordinate reference system, and confidentiality level. This enables the platform to uniformly understand and process different types of data. When a rescue team member logs into the platform, the platform requires them to enter their identity credentials. Simultaneously, the platform uses the SAML protocol to interface with the command center's existing unified identity authentication system to verify the team member's identity and role, and grants appropriate data access and operation permissions based on their role.

[0048] The location estimation module 402 is used to mark multiple reference rescue locations based on the initial drowning location and hydrological data, and to set up corresponding rescue devices for each reference rescue location. After the search and rescue begins, multiple agents (intelligent agents / agents) in the location estimation module 402 are activated and execute the specific methods described in the foregoing method embodiments to determine the multiple reference rescue locations and allocate the corresponding rescue devices.

[0049] The search and rescue control module 403, for any rescue device, is used to construct a search and rescue path corresponding to the reference rescue location, and control the search and rescue device to search for and rescue the drowning creature along the search and rescue path. After the search and rescue begins, multiple agents (intelligent agents / agents) in the search and rescue control module 403 are also activated, and the specific methods described in the foregoing method embodiments are executed to control multiple search and rescue devices.

[0050] Furthermore, in some embodiments of this application, the underwater search and rescue platform also provides service interfaces such as command visualization, resource scheduling, and data management. Commanders can view the rescue situation map by logging into the platform's application layer. The rescue situation map clearly marks all rescue equipment, suspected targets, search and rescue area, sea condition information, and other information; commanders can also issue commands on the service interface, such as "delineate the search and rescue area" and "start collaborative search," which are then parsed and executed by the corresponding intelligent agent.

[0051] The water rescue platform provided in the above embodiments can realize the technical solutions described in the above water rescue method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above water rescue method embodiments, and will not be repeated here.

[0052] Please refer to Figure 5 This application also provides an electronic device 500. The electronic device 500 includes a processor 501, a memory 502, and a display 503. Figure 5 Only some components of the electronic device 500 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0053] In some embodiments, processor 501 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 502 or process data, such as the drowning search and rescue method in this application.

[0054] In some embodiments, processor 501 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 501 may be local or remote. In some embodiments, processor 501 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0055] In some embodiments, memory 502 may be an internal storage unit of electronic device 500, such as a hard disk or memory of electronic device 500. In other embodiments, memory 502 may also be an external storage device of electronic device 500, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 500.

[0056] Furthermore, the memory 502 may include both internal storage units of the electronic device 500 and external storage devices. The memory 502 is used to store application software and various types of data installed on the electronic device 500.

[0057] In some embodiments, display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 503 is used to display information from electronic device 500 and to display a visual user interface. Components 501-503 of electronic device 500 communicate with each other via a system bus.

[0058] In one embodiment, when the processor 501 executes the water rescue program in the memory 502, the following steps can be implemented: Obtain hydrological data of the water area where the creature fell into the water and the initial location of the creature. Mark multiple reference rescue locations based on the initial location of the creature and the hydrological data, and set up corresponding rescue devices for each of the reference rescue locations. For any of the rescue devices, a search and rescue path corresponding to the reference rescue location is constructed, and the search and rescue device is controlled to search for the drowning creature along the search and rescue path.

[0059] It should be understood that when the processor 501 executes the water rescue program in the memory 502, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0060] Furthermore, this application does not specifically limit the type of electronic device 500 mentioned in the embodiments. Electronic device 500 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic devices. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of this application, electronic device 500 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0061] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the drowning search and rescue methods provided in the above-described method embodiments.

[0062] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0063] The above provides a detailed description of the water rescue method, apparatus, electronic device, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for searching and rescuing people who have fallen into the water, characterized in that, include: Obtain hydrological data of the water area where the creature fell into the water and the initial location of the creature. Mark multiple reference rescue locations based on the initial location of the creature and the hydrological data, and set up corresponding rescue devices for each of the reference rescue locations. For any of the rescue devices, a search and rescue path corresponding to the reference rescue location is constructed, and the search and rescue device is controlled to search for the drowning creature along the search and rescue path.

2. The method for searching and rescuing someone who has fallen into the water according to claim 1, characterized in that, The construction of the search and rescue path corresponding to the reference rescue location includes: The area where the person fell into the water is gridded to obtain multiple search and rescue grids. A grid pheromone parameter corresponding to each search and rescue grid is set, and the grid pheromone parameter is controlled to increase over time and be reset after the search and rescue device passes through the search and rescue grid. For any given search and rescue moment, the distance parameters between each of the search and rescue devices are obtained, the movement parameters of each of the search and rescue devices are determined based on the grid pheromone parameters and the distance parameters, and the search and rescue path is obtained based on the movement parameters.

3. The water rescue method according to claim 2, characterized in that, The control of the grid pheromone parameter increasing over time includes: Based on formula , The grid pheromone parameter is controlled to increase over time; Where t is the time parameter, For the search and rescue grid at coordinates (i, j), for Search and rescue grid The corresponding grid pheromone parameters, This is the evaporation coefficient constant. The propagation coefficient is constant. For search and rescue grid The corresponding priority constant, For search and rescue grid The corresponding pheromone switch matrix elements, For search and rescue grid The corresponding pheromone release amount, For search and rescue grid Neighborhood search and rescue grid The set, For time t Transmitted to the search and rescue grid The total amount of pheromones.

4. The method for searching and rescuing someone who has fallen into the water according to claim 2, characterized in that, Determining the movement parameters of each search and rescue device based on the grid pheromone parameters and the distance parameters includes: Identify the M search and rescue grids with the highest pheromone parameters. For any of the search and rescue devices, the attractive force of the M attractive search and rescue grids on the search and rescue device is calculated based on the grid pheromone parameters. Calculate the repulsive force exerted by other search and rescue devices on the search and rescue device based on the distance parameter. , to the attraction and the repulsive force The combined force The direction is taken as the moving direction of the search and rescue device, according to the resultant force. The moving speed of the search and rescue device is determined by its maximum moving speed, and the moving direction and the moving speed are used as the moving parameters of the search and rescue device.

5. The water rescue method according to claim 4, characterized in that, The attractive force of the M attraction grids to the search and rescue device is calculated based on the grid pheromone parameters. Calculate the repulsive force exerted by other search and rescue devices on the search and rescue device based on the distance parameter. ,include: According to the formula The attractive force was calculated. According to the formula The repulsive force was calculated. ; in, The constant coefficients, Let be the position vector between the search and rescue device and each of the attraction search and rescue grids. Let be the position vector between the search and rescue device and each other search and rescue device.

6. The method for searching and rescuing someone who has fallen into the water according to claim 1, characterized in that, The construction of the search and rescue path corresponding to the reference rescue location includes: The water area where the person fell into the water is divided into multiple reference rescue areas based on the reference rescue location, and the reference rescue areas correspond one-to-one with the reference rescue locations. Within each of the aforementioned reference rescue areas, a reference search and rescue path corresponding to the reference rescue location is constructed.

7. The method for searching and rescuing someone who has fallen into the water according to claim 6, characterized in that, The step of constructing a reference search and rescue path corresponding to the reference rescue location within each of the reference rescue areas includes: Based on formula Construct reference search and rescue paths corresponding to the reference rescue locations within each of the aforementioned reference rescue areas. ; in, The average distance between the reference rescue path and the reference rescue location. The increase in coverage area along the reference rescue route. For parameters to determine if an item is out of bounds, a, is a constant coefficient.

8. A water rescue platform, characterized in that, include: The parameter acquisition module is used to acquire hydrological data of the water area where the organism fell into the water and the initial location of the organism when it fell into the water. A location estimation module is used to mark multiple reference rescue locations based on the initial fall-in location and the hydrological data, and to set up corresponding rescue devices for each of the reference rescue locations. The search and rescue control module, for any of the rescue devices, is used to construct a search and rescue path corresponding to the reference rescue location, and control the search and rescue device to search for the drowning creature along the search and rescue path.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the drowning search and rescue method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the drowning search and rescue method according to any one of claims 1 to 7.

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