Method and system for assisting emergency responders in restoring routes - Patents.com

Abstract

1. A method for assisting emergency responders in path recovery, the method comprising: receiving motion data from a first motion sensor recording movement of a first of at least one emergency responder searching an emergency scene; compiling trajectory data based on the motion data of the first motion sensor, the trajectory data representing a first trajectory of the first emergency responder through the emergency scene; calculating route data based on the trajectory data, the route data representing a route that corresponds to at least a portion of the trajectory; and providing the route data to an actuator configured to guide the at least one emergency responder along the route.

Description

[Technical field]

[0001] The present invention relates to a method for assisting emergency responders in recovering a route, and also to a system for assisting emergency responders in recovering a route, and more particularly to assisting firefighters in retracing a route from an emergency scene to a safe location.

[0002] 2. Background of the Invention Emergency responders, such as firefighters, may need to enter an object, such as a building or house, while the object is on fire. The smoke from the fire may make it difficult or even impossible to visually navigate the interior of the object. Emergency responders are trained on how to navigate in these types of conditions. However, impaired visual perception still significantly reduces the emergency responder's capabilities. Additionally, even if the emergency responder's vision is not impaired, the emergency responder may become lost within a complex or other structure when navigating the structure.

[0003] Systems for aiding navigation within buildings typically use some sort of wireless network to determine the position of the navigation recipient. Such systems are known, for example, in WO 2019 / 206894. Emergency responders typically operate in emergency situations where the wireless network may have lost power, making wireless network-based emergency scene navigation highly unreliable.

[0004] Summary of the Invention It is an object of the present invention to overcome one or more of the above-mentioned drawbacks. According to a first aspect of the present invention, a method for assisting emergency responders in recovering a route comprises the steps of: receiving motion data from a first motion sensor recording movements of a first of the at least one emergency responder exploring the emergency scene; - compiling trajectory data based on motion data of a first motion sensor, the trajectory data representing a first trajectory of a first emergency responder through the emergency scene; - calculating and / or determining route data based on the trajectory data, the route data representing a route that corresponds to at least a portion and / or section of the trajectory; providing route data to an actuator configured to guide an emergency responder of the at least one emergency responder along a route; Includes.

[0005] Emergency responders or first responders are people who typically respond to emergency situations. An example of an emergency situation is a fire in an object such as a building, house, or flat. Another example of an emergency situation may be an accident in an industrial area involving a fire, explosion, hazardous materials, toxic pollution, or a combination thereof. Smoke, fumes, gases, steam, fog, etc. may obstruct, limit, or impede the visibility of emergency responders.

[0006] In these emergency situations, the situation may rapidly deteriorate to a level where emergency responders need to leave the emergency scene for their own safety. The emergency responders are travelling along a trajectory as they enter, explore and / or investigate the emergency scene. Because the trajectory has already been travelled, upon entry, the trajectory is verified as traversable. The trajectory can be used as a verified route to exit the emergency scene. Thus, the method or system according to the present invention has the effect of enabling emergency responders to leave the emergency scene along a verified route.

[0007] Also, if the emergency situation worsens in another way, the emergency responder may need the assistance of another emergency responder, for example when carrying an unconscious victim. Thus, the other emergency responder may need to reach the first emergency responder as quickly as possible. The emergency responder is traversing a trajectory as he enters, explores and / or investigates the emergency scene. Since the trajectory has already been traversed, upon entry, the trajectory is verified as traversable, e.g., safe to traverse. The trajectory can be used as a verified path through the emergency scene. This method or system according to the invention has the effect of enabling the other emergency responder to use the verified path to the first emergency responder.

[0008] The motion sensor may include a gyroscope, compass, or any other means for measuring direction and distance of movement. The motion sensor may be located anywhere on the first emergency responder. However, there is an advantage to locating the motion sensor on or near the boot or shoe of the emergency responder. This allows the motion sensor to be recalibrated to prevent offset or drift the moment the foot is firmly planted on the ground. To compensate for said offset or drift, another motion sensor on the same emergency responder may be used, preferably located at another location on the first emergency responder, for example, on the other boot or shoe. Being attached to the same emergency responder, the correlation of movement between these motion sensors may be utilized to increase the overall accuracy. The motion sensor may also be supplemented by a GPS sensor to calibrate the absolute position of the motion sensor. GPS signals are generally of poor quality or absent inside objects such as buildings, making them unreliable for the entire trajectory. However, a sensor that provides an absolute reference, such as a GPS sensor, may be used to align the motion data of multiple emergency responders. Additionally, the motion sensor may be supplemented by an air pressure sensor to measure height or altitude. Outside air pressure may be used to obtain an initial reading, but inside, windy conditions caused by, for example, a fire may make the air pressure sensor less reliable. On the other hand, if the air pressure inside the object is not disturbed by an emergency, the air pressure sensor may complement the detection of the level or altitude inside the object. The motion sensor may also be complemented by a compass sensor that measures the geomagnetic field. Typically, the compass sensor provides a good indication of orientation outside the object. Inside the object, the compass sensor readings may be disturbed by materials that disturb the geomagnetic field, such as iron. These materials may be used in the construction of the object. Additionally, the GPS sensor, the air pressure sensor and / or the compass sensor may be used to align the motion data of multiple emergency responders.Additionally, GPS sensors, air pressure sensors and / or compass sensors may be used to complement the motion sensors so that the trajectory data is more accurate.

[0009] Motion data is data from a motion sensor. The motion data typically includes the direction and distance the motion sensor moves from one reference point to another. If the motion sensor is placed near a boot or shoe of an emergency responder, the motion data typically includes the distance and direction between successive positions of the boot or shoe on the ground.

[0010] In one embodiment of the invention, calculating and / or determining the path data comprises: - recognizing intersections in the trajectory data to recognize parallel trajectories between the intersections; - selecting one of the parallel tracks for the path data; and The parallel tracks between the nodes may be referred to as parallel track sections or track portions. A track section or track portion may also be a smaller or larger portion of the track. This advantageously allows for the selection of track sections for the route data having specific characteristics. The characteristics considered for the selection may be the length of the track section, the number of curves in the track section, the travel time of the track section, the straightness of the track section, and / or the proximity to other track sections.

[0011] In one embodiment of the present invention, calculating the path data includes calculating a length of each of the parallel tracks between the nodes and / or calculating a travel time of each of the parallel tracks; The selection of one of the parallel tracks is based on the length and / or travel time of the parallel tracks. This embodiment advantageously allows for the selection of the path with the shortest length or the shortest time. Furthermore, a combination of the length of the track segments and the travel time of the track segments may be taken into account.

[0012] In one embodiment of the invention, the actuator is a haptic actuator, and preferably the haptic actuator comprises a plurality of haptic actuators, preferably arranged around the waist of the emergency responder, configured to provide a sense of direction to the emergency responder to guide the emergency responder. In a further embodiment, the haptic actuator is part of a navigation belt, typically worn around the waist. In a further embodiment, the haptic actuator may be arranged around the leg or arm. In another embodiment, the haptic actuator may be arranged in a shoe or a glove. In yet another embodiment, the haptic actuator may be arranged around the head, such as inside a helmet or hat worn by the emergency responder. These embodiments provide the advantage of being silent, having a direct sensation, and / or not being disturbed by noise. A particular advantage may be that these embodiments provide the aforementioned advantages when one or more of the emergency responder's senses, e.g. hearing and / or vision, are obstructed by their protective gear.

[0013] In one embodiment of the present invention, the embodiment includes receiving motion data from a second motion sensor recording the movement of a second of the at least one emergency responder exploring the emergency scene, and compiling the trajectory data is also based on the motion data of the second motion sensor. When the first and second emergency responders are both exploring the same emergency scene, data from both motion sensors can be used advantageously to enhance the trajectory data. Typically, both emergency responders have slightly different gaits or walks from each other when exploring the emergency scene. This situation of two emergency responders at an emergency scene is particularly applicable to firefighters, since they usually pair up to explore an emergency scene, such as a burning building. Since the motion data from the two emergency responders do not completely overlap, more insight can be gained at the emergency scene, especially when it is possible or highly likely that the subsequent emergency responder will walk through a different trajectory through the building. In a further advantageous embodiment, the second emergency responder exploring the scene is guided along a route based on the trajectory data from the first emergency responder, enhancing the trajectory data with motion data from a second motion sensor carried by the second emergency responder. This enhancement may be performed in real-time, allowing route data to be calculated and / or determined relative to the enhanced trajectory data in real-time.

[0014] In one embodiment of the invention, the emergency responder is a first emergency responder, where the emergency responder is typically retracing his or her trajectory to advantageously leave the emergency scene, or at least is approaching leaving the emergency scene.

[0015] In one embodiment of the present invention, the emergency responder is a second or third emergency responder, who may be on route through the emergency scene to support the first emergency responder. The method advantageously provides a path to find the first emergency responder. This may be particularly advantageous if the first emergency responder gets into trouble and requires additional equipment or assistance in leaving the emergency scene.

[0016] In one embodiment of the present invention, compiling the trajectory data comprises: - obtaining a position and / or orientation of a first motion sensor on the body of the first emergency responder and / or on equipment carried by the first emergency responder, preferably where obtaining the position and / or orientation of the first motion sensor comprises recovering a pre-defined position and / or orientation of the first motion sensor or preferably where obtaining the position and / or orientation of the first motion sensor comprises estimating the position and / or orientation of the first motion sensor from motion data; - obtaining a track width; - establishing trajectory data based on the motion data, the trajectory width, and the position and / or orientation of the first motion sensor; The first emergency responder has a width specific to his / her body. Thus, the trajectory data can be augmented with the width of the first emergency responder. This augmented trajectory data indicates that the first emergency responder is traversing more area, i.e., traversing and / or encompassing a wider trajectory rather than a single line. As more area is traversed, advantageously, there is a higher probability of finding intersections for optimizing route calculation and / or determination. Shortcuts can be found more easily. Furthermore, when multiple emergency responders augment the trajectory data with their own motion data while noting the trajectory width, there is an even higher probability of finding intersections for optimizing route calculation and / or determination, and advantageously, the area traversed is further increased.

[0017] The motion sensor is typically located on a shoe, but may be located on any part of the body or any equipment carried by the first emergency responder. The method may estimate which shoe the motion sensor is located on. The method may alternatively use this information, for example as a predetermined value or immediately prior to use. If the motion sensor is located off the central axis of the body, such as on a shoe, the trajectory data of the first emergency responder will be spread out to one side compared to the other side. The motion data may indicate the location of the motion sensor on the body. For example, if the motion data indicates a moment without clear movement, the motion sensor may be located on a shoe or leg that is always firmly planted on the ground. As another example, if the motion sensor is estimated or predetermined to be located on a shoe or leg, the radius of the left and right curves may indicate whether the motion sensor is located on the left or right shoe or leg.

[0018] In one embodiment of the present invention, receiving the motion data is at least partially overlapped in time with providing the path data. This allows, for example, a second emergency responder to traverse a path while a first emergency responder is enhancing trajectory data as he traverses an emergency scene. In this way, the second emergency responder can "catch up" with the first emergency responder. In an alternative scenario, the first emergency responder can retrace or partially retrace his steps or route along a path calculated in accordance with the present invention.

[0019] In one embodiment of the present invention, calculating the path data comprises: -loading a building information model; - optimizing route data based on a building information model; A building information model may be available for the building. If this building information model is available, it may be advantageously used by the method for optimizing path data. Optimizing may include recognizing separate rooms. Optimizing may include recognizing walls separating spaces. Optimizing may include recognizing shortcuts by recognizing that the path can be placed closer to a wall for the trajectory. This may allow for cutting corners, for example when a trajectory segment is taking a wider trajectory around a corner. Optimizing may include recognizing that the path may go through an opening, such as a door, while the trajectory does not go through this opening. This may allow for straightening the trajectory between two waypoints, for example an entry point and an exit point of a room.

[0020] In a further embodiment of the invention, optimizing the path data comprises recognizing intersections based on a building information model. Optimizing may include recognizing shortcuts by recognizing that different trajectory sections do not intersect but are labeled as intersections based on the proximity of the trajectory sections and the building information model. Optimizing may include recognizing that trajectory sections cannot be labeled as intersections due to the presence of separations such as walls according to the building information. In this way, advantageously, the recognition of intersections is corrected or optimized.

[0021] In yet another embodiment of the present invention, optimizing the path data includes recognizing intersections, and recognizing the intersections includes recognizing alternative parallel trajectories based on a building information model. The alternative parallel trajectories may be based solely on the building information model, where the alternative parallel trajectories are not traversed by the emergency responders of the at least one emergency responder. A combination of recognizing additional intersections and / or removing locations labeled as intersections advantageously allows for optimizing the calculation of path data or the recognition of parallel trajectories. Having more parallel trajectories and / or better verified parallel trajectories increases the certainty of accuracy of path data derived from the trajectory data.

[0022] In one embodiment of the present invention, the knowledge of the location and / or orientation of the motion sensor, the trajectory width, and the availability of the building information model are combined. This can be advantageously combined when the emergency responder is a first emergency responder or when the emergency responder is a second emergency responder. The combination of the trajectory width and the building information allows for the recognition or rejection of possible intersections when based on the trajectory data alone. This combination advantageously increases the reliability of the method since it allows for the establishment with a higher degree of certainty whether an intersection exists in the trajectory data.

[0023] In one embodiment of the present invention, the trajectory data represents the total displacement of the first emergency responder, and the path data is configured to guide the emergency responder along a path that provides a net displacement. The trajectory data includes all steps, small and large, front, rear, and side steps. This allows the trajectory data to typically encompass a larger area of ​​the emergency scene, preferably combined with knowledge and use of the trajectory width. This greater encompassment provides more options for finding intersections within the trajectory data to advantageously optimize the calculation of the path data. The path data typically filters these small and large, front, rear, and side steps to provide a direct route to the emergency responder, preferably a smooth route.

[0024] In one embodiment of the invention, the trajectory data represents the displacement of the first emergency responder. The motion data typically includes a direction and a distance a motion sensor has moved from one reference point to another. Compiling the trajectory data may include aggregating the motion data into trajectory data representing a trajectory traveled by the first emergency responder. The trajectory data advantageously represents the displacement of the first emergency responder. The trajectory data may advantageously include a trajectory width that further details the trajectory traveled by the first emergency responder or a representation of the displacement of the first emergency responder.

[0025] In one embodiment of the present invention, the embodiment comprises: receiving a label labeling a particular location; Compiling the trajectory data is also based on the received label, preferably the received label indicates obstacles on at least a part and / or section of the path and / or trajectory, obstacles at points of inevitable insertion, and / or obstacles at relevant points. The label may be provided by the first emergency responder. The first emergency responder may indicate obstacles on the trajectory and / or may indicate positions through which the emergency responder must ensure to pass. The first emergency responder may indicate a location where something should be picked up, such as a victim or material. Alternatively, the label may be provided by the emergency responder. The label may indicate obstacles on the path. The label may confirm the pick-up of the victim or material. The label may be provided with a simple push button or a more elaborate interface provided to the first emergency responder or the emergency responder. In further embodiments of the invention, the labels advantageously represent locations and / or actual conditions and / or any other type of information regarding buildings, areas and / or routes related to the emergency scene that are necessarily inserted into location to be avoided and / or route data to assist emergency responders in recovering the route.

[0026] According to another aspect of the invention, the system includes a microprocessor configured and advantageously loaded with software for carrying out any of the described methods or at least the steps of any of these methods.

[0027] In accordance with another aspect of the present invention, a system for assisting emergency responders in recovering a route includes: a first motion sensor unit configured to record the movements of a first of the at least one emergency responder exploring the emergency scene; and a processing unit, Receiving motion data from a first motion sensor; compiling trajectory data based on the motion data of the first motion sensor, the trajectory data representing a first trajectory of a first emergency responder through the emergency scene; calculating route data based on the trajectory data, the route data representing a route that corresponds to at least a portion of the trajectory; Providing route data; and a processing unit configured to: an actuator configured to receive route data and guide an emergency responder of the at least one emergency responder along the route; The technical effects of the system follow those described for the method. The system for assisting emergency responders may be advantageously combined with features of the other embodiments, systems, and methods described.

[0028] In one embodiment of the invention, the path data includes waypoints, which are preferably placed at strategic locations, such as room entrance and exit locations, trajectory intersections, and / or locations where the path curves and / or turns.

[0029] According to another aspect of the present invention, there is provided a method for assisting a second of at least one emergency responder in recovering a route, the method comprising: - placing an actuator on a body of a second emergency responder; - providing route data representative of a route to an actuator for guiding an emergency responder along the route, the route data being obtained according to any of the described methods; The technical effects of the method are in accordance with the described technical effects. The method for assisting second emergency responders may be advantageously combined with features of other described embodiments.

[0030] In one embodiment of the present invention, the second emergency responder advantageously follows a route to the location of the first emergency responder, which provides a simple, reliable and safe way for the second emergency responder to discover or reach the location of the first emergency responder.

[0031] According to another aspect of the present invention, there is provided a method for assisting a first of at least one emergency responder in recovering a route, the method comprising: placing a first motion sensor on a body of a first emergency responder; receiving motion data from a first motion sensor recording movements of a first emergency responder exploring the emergency scene; - compiling trajectory data based on the motion data, the trajectory data representing a first trajectory of a first emergency responder through the emergency scene; and - calculating and / or determining route data based on the trajectory data, the route data representing a route that corresponds to at least a portion and / or section of the trajectory; placing an actuator on a body of the at least one emergency responder; and providing route data to actuators to guide emergency responders along the route; The technical effects of the method are in accordance with the described technical effects. The method for assisting first emergency responders may be advantageously combined with features of other described embodiments.

[0032] In one embodiment of the present invention, the emergency responder is a first emergency responder, and guiding the emergency responder is to allow the emergency responder to back up along the route, which provides a simple, reliable and safe manner for the first emergency responder to find or escape from the emergency scene.

[0033] According to another aspect of the present invention, there is provided a computer program product including a computer readable medium having computer readable code embodied therein, the computer readable code being configured to, when executed by a suitable computer or processor, cause the computer or processor to perform the method of any of the embodiments, the technical effects of which follow those described for the method.

[0034] According to another aspect of the present invention, a computer-readable medium includes motion data, trajectory data, and / or path data suitable for use in any of the methods or systems of any of the embodiments. The technical effects of the computer-readable medium follow the technical effects described for the method. The technical effects of the method follow the technical effects described. The method for assisting first emergency responders may be advantageously combined with features of other described embodiments.

[0035] The invention will be apparent from and further elucidated with reference to the embodiments described as examples in the following description and with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0036] [Figure 1] 1a, 1b and 1c are schematic diagrams illustrating a first top view of three levels traversed by a first emergency responder. [Diagram 2] 2a, 2b and 2c are schematic diagrams illustrating a second top view of the three levels traversed by the first emergency responder. [Diagram 3] 3a, 3b and 3c are schematic diagrams illustrating a third top view of the three levels traversed by the first emergency responder. [Figure 4] 4a, 4b and 4c are schematic diagrams illustrating a fourth top view of the three levels traversed by the first emergency responder. [Diagram 5] FIG. 13 is a schematic diagram illustrating a fifth top view of the ground floor where the first emergency responders cross. [Figure 6] 6a, 6b and 6c are all schematic diagrams illustrating a sixth top view of the ground floor traversed by the first emergency responder. [Figure 7] FIG. 13 is a schematic diagram illustrating the location of a motion sensor on a first emergency responder. [Figure 8] 8a, 8b and 8c are schematic diagrams illustrating a first trajectory width for a first emergency responder. [Figure 9] 9a and 9b are diagrams that illustrate the detection of intersections in trajectory data by proximity. [Figure 10] 10a, 10b and 10c are schematic diagrams illustrating a seventh top view of the ground floor traversed by the first emergency responder with changing conditions. [Figure 11] 11a, 11b, and 11c are schematic diagrams illustrating an eighth top view of the third floor traversed by the first emergency responder using building information. [Figure 12] FIG. 1 illustrates a schematic of a method for assisting emergency responders in recovering a route. [Figure 13] FIG. 1 illustrates a schematic of a system for assisting emergency responders in recovering a route. [Figure 14] FIG. 2 illustrates a schematic diagram of one embodiment of a computer program product, computer readable medium, and / or non-transitory computer readable storage medium according to the present invention.

[0037] The drawings are purely schematic and are not drawn to scale. In the figures, elements that correspond to elements already described may have the same reference numbers.

[0038] [Table 1-1] [Table 1-2]

[0039] DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS The following figures may detail various embodiments. The embodiments may be combined to arrive at enhanced or improved technical effects. These combined embodiments may be explicitly mentioned in some places and / or may be suggested or implied in other places throughout the text.

[0040] 1a, 1b, and 1c show schematic top views of a first of three floors traversed by a first emergency responder. The building layout is shown for informative purposes only, but the method does not require knowledge of the building layout. 1a, 1b, and 1c show floor layouts of the ground, second, and third floors, respectively, of a building 10. The building includes rooms 11, a hallway 12, a door 13, a staircase 14, and a cabinet 15. Although clearly visible in the diagram, not all rooms, doors, staircases, and cabinets are labeled.

[0041] FIG. 1a shows a start 120 of a first trajectory 110. The first trajectory represents a trajectory traversed or walked by a first emergency responder 111 shown in FIG. 1c. The trajectory ends at the location of the first emergency responder. The trajectory is represented by trajectory data internal to the method. The trajectory can be compiled directly from the motion sensor trajectory. The trajectory may be compiled indirectly, such as via filtering, to form the motion sensor trajectory. FIG. 1a further shows a transition 121 of the first trajectory from the ground floor to the second floor.

[0042] FIG. 1b shows that the first emergency responder has extensively surveyed, traversed, or searched all areas of, for example, the second floor. The trajectory 110 shows such an extensive check. FIG. 1b further shows a transition 121 from the ground floor to the second floor, and a transition 122 from the second floor to the third floor.

[0043] FIG 1c shows the trajectory 110 of a first emergency responder across floor 3. At the end of the trajectory is the first emergency responder 111.

[0044] Typically, the first emergency responder has a motion sensor configured to record the movement of the first emergency responder. Using the motion data from the motion sensor, trajectory data is compiled. The trajectory data represents a first trajectory acquired by the first emergency responder. The first emergency responder may be a firefighter, police officer, ambulance personnel, or any other person moving, exploring, or traversing an emergency scene. An emergency scene may be a scene involving a fire, riot, casualty, accident, or any other scene that requires immediate attention from a professional to provide assistance at the situation or scene. An emergency scene may be indoors, such as inside a building, or outdoors, such as a dense forest or built-up area. An emergency scene is typically a stressful scene or situation that requires the emergency responder to pay full attention, particularly to the task at hand, rather than to navigating the scene. At the emergency scene, the senses of the emergency responder, such as visual and / or auditory senses, may be impaired, making it more difficult or even impossible to navigate the emergency scene. Emergency scenes can be so complex and / or detailed that emergency responders may become lost without assistance such as by a method or system according to the present invention.

[0045] Figure 2a, Figure 2b and Figure 2c show a schematic top view of a second of the three floors traversed by the first emergency responder. Figure 2 shows the same building layout as Figure 1. In addition, Figure 2 also shows the first track and the first emergency responder.

[0046] 2 further illustrates a route 140 calculated based on the trajectory. The route is marked with a cross because it at least partially overlaps with the trajectory. Typically, the route is a portion of the trajectory that allows emergency responders to traverse the emergency scene, preferably safely and / or quickly. The route may be the shortest route from the start of the trajectory to the location of the first emergency responder.

[0047] The trajectory data may include intersections of the first trajectory with itself. For example, if a second emergency responder, not shown, is traversing the emergency scene, intersections between the first trajectory and the second trajectory may also be considered in calculating and / or determining a route. Based on these intersections, parallel sections of the trajectory may be identified. Based on these multiple parallel trajectory sections, route data may be calculated, which is represented by the illustrated route.

[0048] Figures 3a, 3b, 3c and 4a, 4b, 4c show schematic top views of a second of the three floors traversed by the first emergency responder. Figures 3 and 4 show the same building layout as Figure 1, and again, this building layout is not required for the method or function to be applied. Additionally, Figures 3 and 4 also show the path 140 and the first emergency responder marked with a cross.

[0049] In Figure 3, the emergency responder using the path may be a first emergency responder, who typically intuitively wants to leave the emergency scene via the start of the trajectory in a simple, direct, safe, reliable, effective, fast and short route. The direction of travel of the path is marked by an arrow on the path in Figure 3.

[0050] In Fig. 4, the emergency responders can be a second and / or a third emergency responder, or any number of emergency responders who wish to reach the location of the first emergency responder 111 at the end of the trajectory 123 from the start of the trajectory 120. The direction of travel of the path is marked by an arrow on the path in Fig. 4 and is opposite to the direction of travel of the path in Fig. 3. In this case, the emergency responders can assist the first emergency responder in any way, such as bringing additional equipment to the location of the first emergency responder. The path assists the emergency responder to find a route that is simple, direct, safe, reliable, effective, fast and short, usually intuitive.

[0051] FIG. 5 shows a schematic diagram of a fifth top view of the ground floor traversed by a first emergency responder. Trajectory data is compiled from motion data of a first motion sensor placed on the first emergency responder and motion data of a second motion sensor placed on the second emergency responder. Thus, the trajectory data represents a first trajectory and a second trajectory. The first trajectory 110 is marked with a line without additional markings. The second trajectory 130 is marked with a line with dots as additional markings. Based on the trajectory data, route data is calculated. The route data is visualized with a line marked with a cross. The assignment of the labels first trajectory and second trajectory is arbitrary. The route data may partially overlap with the first trajectory and / or partially overlap with the second trajectory to provide an optimal route for the emergency responder.

[0052] Figures 6a, 6b and 6c all show schematic top views of a sixth ground floor traversed by a first emergency responder.

[0053] Figures 6a, 6b and 6c show the same building layout as in Figure 1. Figure 6 shows a first track 110. In addition, Figure 6 also shows a path 140 marked with a cross. Figure 6a shows the first track without a path.

[0054] Figure 6b shows a first trajectory 110 having a calculated path 140 based on trajectory data. The first trajectory is used to calculate a path that literally follows a path that does not deviate from the first trajectory.

[0055] FIG. 6c shows a first trajectory 110 with a path 140 calculated based on trajectory data. While the first trajectory is used to calculate the path, additional information may be used to calculate the path. This additional information may be building information that indicates a straighter line can be followed for a path through a hallway of a building on the ground floor. This additional information may be track width information. This additional information may be received from other sensors. This additional information may come from an algorithm that analyzes the motion data and / or trajectory data when calculating the path data. This algorithm may be, for example, an artificial intelligence algorithm that recognizes patterns in the motion data and / or trajectory data.

[0056] FIG. 7 shows a schematic location of the motion sensor 151, 151' on the first emergency responder 111. The motion sensor 151 can be mounted on the shoe of the emergency responder. This has the advantage that the motion sensor has a stationary moment in time when the shoe is placed on the ground. Normally, gyroscopic sensors tend to drift. Having this stationary moment in time advantageously allows the gyroscopic sensor to be recalibrated to prevent drift from significantly affecting the accuracy of the motion sensor. Alternatively, the motion sensor 151' may be mounted on the hip, shoulder, head, helmet, SCBA, or body of the first emergency responder.

[0057] 8a, 8b, and 8c show a schematic of a first track width W of a first emergency responder 111. FIG. 8 shows a first track 110 having a track width W, where the track is traversed in a direction T. FIG. 8a shows the track width W of the first track 110. The track width typically extends on either side of the motion sensor 151. Because the motion sensor may be located on the shoe of the first emergency responder, the track width may extend asymmetrically around the motion sensor, with the first track width W being split between a first track width extension W1 extending to the left of the first emergency responder and a second track width extension W2 extending to the right of the first emergency responder.

[0058] 8b and 8c show the first and second sections 126 and 127 of the first track, respectively. In FIG. 8b, the first and second track sections are close to each other with a distance D between them, so that it can be assumed that the first and second track sections overlap when considering the track width, and thus represent an intersection of the first track. The intersection information can be used when calculating and / or determining the route. The distance between the first and second track sections may be less than twice the first track width extension W2. The distance between the first and second track sections may be less than twice the first track width extension W2 minus an additional margin, which may be a safety margin.

[0059] In FIG. 8c, the first and second trajectory segments are separated by a distance D', which may be assumed not to represent an intersection of the first trajectory since the first and second trajectory segments do not overlap when considering the trajectory width. This would be the case, for example, if the first emergency responder were traveling along walls on both sides, which typically occurs when, for example, a firefighter is surveying an area. Since walls are typically impenetrable objects for the emergency responder following a path, the path would follow the first trajectory around the wall and would not represent a shortcut through the wall.

[0060] Fig. 9a-b show a schematic diagram of trajectory data intersection detection by proximity. Fig. 9a-b show a first trajectory 110 as a continuous line. Fig. 9b further shows a first path 140 and a second path 141. The first path is marked with a cross and the second path is marked with a triangle. Furthermore, in Fig. 9b, distances d1, d2, d3, d4 between the first trajectory segments are shown.

[0061] For the first path, it is assumed that the distance d4 is small enough that the first trajectory section at this location may be considered as an intersection. This intersection may be assumed based on the trajectory width information. This intersection may be assumed based on the building information and / or an algorithm analyzing the motion data and / or the trajectory data to provide room entry and exit information. In addition, the room entry and exit information may be based on using directions in the motion data and / or the trajectory data. Thus, in the first path, the gap indicated as distance d4 is skipped.

[0062] For the second path, it is assumed that distances d3 and d4 are too large to be considered as intersections, and distances d1 and d2 can be considered as intersections. Thus, in the second path, the gaps indicated as distances d3 and d4 are not jumped, but the gaps indicated as distances d1 and d2 are jumped. This use of proximity and assuming intersections of the sections of the first trajectory may be based on the first trajectory width. This use of proximity and assuming intersections of the sections of the trajectory may be based on the sections of the first trajectory and the sections of the second trajectory. This use of proximity may be based on the use of pattern recognition in the trajectory data and / or the motion data.

[0063] 10a, 10b, and 10c show a seventh top view of the ground floor where the first emergency responder is traversing as the situation changes. 10a, 10b, and 10c show the layout of the ground floor of the same building as 1a. 10 shows the first trajectory 110 and the second trajectory 130 from the second emergency responder. In addition, 10b and 10c also show a path 140 marked with a cross. When the emergency responder is the first emergency responder, in other words, when the first emergency responder is trying to leave the emergency scene, the emergency responder follows a first path as shown in 10b. The first path leads the emergency responder to an obstacle in the hallway. This obstacle is an area that the emergency responder cannot cross. This obstacle can be a fire, a dangerous opening in the floor, some kind of debris, or anything else that prevents the emergency responder from passing through the location.

[0064] The emergency responder can indicate the obstacle to a method that uses the input to calculate and / or determine an alternate or second route 141. The first route segment with the obstacle will typically not be used in any subsequent calculations of routes for other emergency responders. The second route is marked with a triangle and is shown in FIG. 10c. The second route starts at the emergency responder's position facing the obstacle. FIG. 10c shows that the second route uses the first trajectory to allow the emergency responder to safely traverse the hallway and detouring around the obstacle.

[0065] Figures 11a, 11b and 11c show schematic top views of the third floor 8 of a first emergency responder traversal using building information. Figure 11a shows the layout of the third floor 22 of the same building 10 as Figure 1c. Figure 11 shows a first trajectory 110 from a first emergency responder 111. The emergency responder, in this case, is a first emergency responder.

[0066] FIG. 11a shows the first trajectory passing by double doors with a first emergency responder entering room 11 through one of the double doors and exiting the room through the other double doors.

[0067] When calculating a path now, it needs to be determined whether an emergency responder using the path needs to follow a first path 140 across the room as shown in FIG. 11b, or can take a shortcut by following a second path 141. To determine if the second path is possible, it needs to be determined, for example, whether there is a wall 31 at the location of the double doors, or whether there is no obstruction between these first trajectory segments at the double doors, and only the double doors. This can be determined based on building information, motion data, or a combination.

[0068] FIG. 12 generally illustrates a method 200 for assisting emergency responders in recovering a path. The method begins with receiving 210 motion data of a first motion sensor. Receiving the motion data may continue while other steps of the method are performed in parallel. The method continues with compiling trajectory data based on the motion data 220. Compiling the trajectory data may continue while other steps of the method are performed in parallel. The method then continues with calculating and / or determining route data based on the trajectory data 230. Compiling and / or determining the route data may continue while other steps of the method are performed in parallel. The method then continues with providing 240 the route data to actuators to guide the emergency responder. Providing the route data may continue while other steps of the method are performed in parallel.

[0069] FIG. 13 illustrates a schematic of a system 300 for assisting emergency responders in recovering a route. The system includes a first motion sensor unit 310, a processing unit 320, and an actuator 330. The first motion sensor unit includes motion sensors 151, 151′. The first motion sensor unit is configured to record a movement of a first emergency responder of the at least one emergency responder searching the emergency scene. The motion sensor unit may further include a communication module for communicating with the processing unit. The motion sensor unit provides at least the motion data to the processing unit. The processing unit is configured to: Receiving motion data from a first motion sensor; compiling trajectory data based on the motion data of the first motion sensor, the trajectory data representing a first trajectory of a first emergency responder through the emergency scene; calculating route data based on the trajectory data, the route data representing a route that corresponds to at least a portion of the trajectory; Providing route data; and The present invention is configured to:

[0070] The processing unit provides the route data to the actuator, such that the actuator is configured to receive the route data and guide an emergency responder of the at least one emergency responder along the route.

[0071] The communication between the first motion sensor unit, the processing unit and the actuators may be wired or wireless. The actuators can be located at the same or different emergency responders. The processing unit may be configured to control and / or service multiple motion sensors of different emergency responders. The processing unit may be configured to control and / or service multiple actuators of different emergency responders. The processing unit may be centralized or distributed. The processing unit may be distributed in the sense that it processes motion data and tracking data locally at the first motion sensor unit and less data may be communicated between parts of the distributed processing unit. The distributed processing unit may communicate between parts of the distributed processing unit wired or wirelessly. The processing unit may include an interface for a supervisor, such as a fire chief, to get an overview of the emergency scene and various positions of the emergency responders. The processing unit may include a database for storing motion data, trajectory data and / or route data.

[0072] FIG. 14 illustrates an embodiment of a computer program product 1000, a computer readable medium 1010, and / or a non-transitory computer readable storage medium according to the present invention, comprising computer readable code 1020.

[0073] Examples, embodiments, or optional features, whether or not indicated as non-limiting, should not be understood as limiting the invention as claimed.

[0074] It should be noted that the drawings are purely schematic and are not drawn to scale. In the figures, elements corresponding to elements already described may have the same reference numbers.

[0075] It will be understood that the invention also applies to computer programs adapted to implement the invention, in particular computer programs on or in a carrier. The programs may be in the form of object code, such as source code, code intermediate source and partially compiled form, or in any other form suitable for use in the implementation of the method according to the invention. It will also be understood that such programs may have many different architectural designs. For example, the program code implementing the functions of the method or system according to the invention may be subdivided into one or more subroutines. Many different ways of distributing functionality among these subroutines will be apparent to those skilled in the art. The subroutines may be stored together in one executable file to form a self-contained program. Such an executable file may contain computer executable instructions, such as processor instructions and / or interpreter instructions (e.g. Java interpreter instructions). Alternatively, one or more or all of the subroutines may be stored in at least one external library file and linked with the main program statically or dynamically, for example at run-time. The main program contains at least one call to at least one of the subroutines. The subroutines may also contain function calls to each other. One embodiment of a computer program product includes computer-executable instructions corresponding to each processing step of at least one of the methods described herein. These instructions may be subdivided into subroutines and / or stored in one or more files that may be linked statically or dynamically. Another embodiment of a computer program product includes computer-executable instructions corresponding to each means of at least one of the systems and / or products described herein. These instructions may be subdivided into subroutines and / or stored in one or more files that may be linked statically or dynamically.

[0076] The carrier of a computer program may be any entity or device capable of carrying a program. For example, the carrier may comprise a data storage device such as a ROM, e.g. a CD ROM or a semiconductor ROM, or a magnetic recording medium, e.g. a hard disk. Furthermore, the carrier may be a transmissible carrier such as an electric or optical signal which may be conveyed via an electric or optical cable or by radio or other means. When the program is embodied in such a signal, the carrier may be constituted by such a cable or other device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing or used for the performance of the relevant method.

[0077] The term "substantially" herein, such as "substantially all release" or "substantially consisting of", will be understood by those skilled in the art. The term "substantially" can also include embodiments having "entirely", "completely", "all", etc. Thus, in embodiments, the adjective "substantially" may be removed. Where applicable, the term "substantially" can also relate to 90% or more, such as 95% or more, particularly 99% or more, even more particularly 99.5% or more (including 100%). The term "comprises" also includes embodiments where the term "comprises" means "consist of".

[0078] The term "functionally" is understood by and clear to those skilled in the art. The terms "substantially" as well as "functionally" may also include embodiments with "completely", "entirely", "all", etc. Thus, in embodiments, the adjective may be functionally removed. For example, when used in "functionally parallel", those skilled in the art will understand that the adjective "functionally" includes substantially those terms as described above. "Functionally" should be understood to include, among other things, configurations of features that allow those features to function as if the adjective "functionally" were not present. The term "functionally" is intended to encompass variations of the features it refers to, variations that allow the combination of features to operate or function in the functional use of the features, possibly in combination with other features to which it pertains in the present invention. For example, when an antenna is functionally coupled or functionally connected to a communication device, a received electromagnetic signal received by the antenna can be used by the communication device. For example, the term "functionally" as used in "functionally parallel" is used to encompass exact parallel, but also encompasses embodiments encompassed by the term "substantially" as described above. For example, "functionally parallel" refers to embodiments in which, during operation, the parts function as if they were in parallel, including embodiments that would be apparent to one of ordinary skill in the art to operate in the intended field of use as if they were in parallel.

[0079] Moreover, the terms first, second, third, etc. in the description and claims are used to distinguish between similar elements and not necessarily to describe a sequential or chronological order. The terms so used are interchangeable under appropriate circumstances, with it being understood that the embodiments of the invention described herein are capable of operating in sequences other than those described or illustrated herein.

[0080] Devices or apparatuses herein are described, inter alia, as being in operation. Those skilled in the art will appreciate that the present invention is not limited to methods of operation or devices in operation.

[0081] It should be noted that the above-described embodiments illustrate rather than limit the invention, and that those skilled in the art can design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the scope of the claims. Use of the verb "to have" and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The article "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a device or apparatus claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certain means are recited in mutually different dependent claims does not indicate that a combination of these means cannot be used to advantage.

[0082] The invention further extends to an apparatus or device comprising one or more of the features described in the specification and / or shown in the accompanying drawings.The invention further relates to a method or process comprising one or more of the features described in the specification and / or shown in the accompanying drawings.

[0083] The various aspects described in this patent may be combined to provide additional advantages. Further, some of the features may form the basis of one or more divisional applications.

Claims

1. 1. A method (200) for assisting emergency responders in recovering a route, comprising: receiving (210) motion data from a first motion sensor (151, 151′) recording movement of a first of the at least one emergency responder (111) exploring the emergency scene; compiling (220) trajectory data representative of a first trajectory (110) of the first emergency responder through the emergency scene based on the motion data of the first motion sensor; calculating (230) path data based on the trajectory data, the path data representing a path (140, 141) that corresponds to at least a portion of the trajectory; providing (240) the route data to an actuator configured to guide an emergency responder of the at least one emergency responder along the route; Including, Calculating the path data identifying intersections in the trajectory data to identify parallel trajectories between the intersections; selecting one of the parallel trajectories for the path data; A method comprising:

2. 2. The method of claim 1, wherein the selecting is based on one or more of the following group: length of the track segment, number of curves in the track segment, travel time of the track segment, straightness of the track segment, and proximity to other track segments.

3. wherein calculating the path data includes calculating a length of each of the parallel trajectories between intersections and / or calculating a travel time of each of the parallel trajectories; selecting one of the parallel trajectories is based on a length and / or a travel time of the parallel trajectory. The method of claim 2.

4. The method according to claim 1 , wherein the actuator is a haptic actuator.

5. The method includes receiving motion data from a second motion sensor recording movements of a second of the at least one emergency responder exploring the emergency scene; and compiling the trajectory data is also based on the motion data of the second motion sensor.

5. The method according to any one of claims 1 to 4.

6. the emergency responder is the first emergency responder (111); the actuator is disposed on the body of the first emergency responder; 6. The method according to any one of claims 1 to 5.

7. the emergency responder is a second emergency responder (112); or the emergency responder is a third emergency responder; 6. The method according to any one of claims 1 to 5.

8. Compiling the trajectory data Obtaining a position and / or orientation of the first motion sensor on the body of the first emergency responder or on equipment carried by the first emergency responder; Obtaining a track width; establishing the trajectory data based on the motion data, the trajectory width, and the position and / or orientation of the first motion sensor; The method according to any one of claims 1 to 7, comprising:

9. Calculating the path data loading a building information model; optimizing the path data based on the building information model; 9. The method according to any one of claims 1 to 8, comprising:

10. the trajectory data represents a total displacement of the first emergency responder; The total displacement includes all step data acquired by the first emergency responder, including small and large steps, front steps, rear steps, and side steps; the route data is configured to guide the emergency responders along routes that provide smooth routes; The route data does not include data on all steps, including small and large steps, front steps, rear steps, and side steps, acquired by the first emergency responder.

10. The method according to any one of claims 1 to 9.

11. The method further comprising: Receiving a label that labels a particular location Including, and compiling the trajectory data is also based on the received labels.

11. The method according to any one of claims 1 to 10.

12. The method of claim 11 , wherein the labels represent locations to be avoided and / or locations to be necessarily inserted in the route data.

13. A system including a microprocessor configured and loaded with software for carrying out any of the methods of any one of claims 1 to 12.

14. 1. A method for assisting a second of at least one emergency responder in recovering a route, comprising: placing an actuator on a body of the second emergency responder; providing route data representative of the route to the actuator for guiding the second emergency responder along the route, the route data being obtained according to a method according to any one of claims 1 to 11; A method comprising:

15. A computer program configured to execute, on a computer, the method according to any one of claims 1 to 11 and 14.

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