CN113345569B - Medical rescue service method based on unmanned aerial vehicle - Google Patents
Medical rescue service method based on unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
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- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
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- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- G16H10/00—ICT specially adapted for the handling or processing of patient-related medical or healthcare data
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Abstract
The embodiment of the invention discloses a medical rescue service method based on an unmanned aerial vehicle, which realizes a medical rescue service by using the mode of the unmanned aerial vehicle, a user inputs own face information and medical information into a cloud server in a pre-registration link, when an accident or sudden disease occurs, the user can be called to perform medical rescue by using a mobile terminal, the unmanned aerial vehicle can also discriminate the user by waving hands and recognizing faces so as to ensure accurate delivery of medical materials, and meanwhile, the self-checking of the unmanned aerial vehicle on the medical materials is realized by using a Radio Frequency Identification (RFID) mode.
Description
Technical Field
The invention relates to an unmanned aerial vehicle application method, in particular to a medical rescue service method based on an unmanned aerial vehicle.
Background
The population base of China is large, the corresponding medical rescue pressure is also large, the traditional rescue mechanism at the present stage is difficult to deal with the large emergency pressure, and various defects exist, for example: 1. the rescue mode of the driven emergency ambulance is limited, and under the condition of ground traffic, the rescue vehicle cannot reach the position of a help seeker in time in the rush hour of the vehicle or the condition of a road section which is easy to jam; 2. the traditional first aid needs to use a plurality of medical resources and medical personnel, and the first aid cost is too high; 3. the rescue helicopter has the defects of poor maneuverability and high cost, and particularly has obvious defects of poor convenience in urban rescue.
Along with the gradual maturity of unmanned aerial vehicle technique, utilize unmanned aerial vehicle technique can effectively compensate the not enough of traditional rescue mode, overcome the shortcoming such as the limited in traffic, with high costs, mobility is poor that exist in traditional first aid, in the more urban rescue of high-rise building, more have mobility and convenience simultaneously.
Therefore, the invention combines the advantages of the unmanned aerial vehicle aiming at the problems and realizes a medical rescue service method based on the unmanned aerial vehicle.
Disclosure of Invention
In order to solve the technical problem, an embodiment of the invention provides a medical rescue service method based on an unmanned aerial vehicle, which comprises the following steps:
step S1: the method comprises the steps that a recourse person inputs face information and medical information in advance in a user registration mode, and the face information and the medical information are stored in a cloud server;
step S2: the rescue information and the position information are sent to the cloud server by the aid seeker through the mobile terminal, and the cloud server calls the unmanned aerial vehicle to carry out rescue according to the received rescue task information and the medical information of the aid seeker;
and step S3: the unmanned aerial vehicle flies to a position near a recourse person at a preset height after receiving the position information sent by the cloud server and carrying out material self-inspection;
and step S4: after the unmanned aerial vehicle reaches the position close to the recourse person, the unmanned aerial vehicle determines and reaches the accurate height and position of the recourse person according to the position information provided by the user;
step S5: after the unmanned aerial vehicle reaches the accurate position of the person seeking help, automatically detecting a rescue target which is calling for help, locking the target, and gradually flying towards the target;
step S6: after the unmanned aerial vehicle approaches a target, starting face detection, collecting a target face picture, comparing face information prestored in the cloud service of the picture, and after an auditing process of the unmanned aerial vehicle, enabling the unmanned aerial vehicle to enter a material handover mode;
step S7: the unmanned aerial vehicle enters a handover link and lands to perform accurate material handover;
step S8: after the material handover is finished, the unmanned aerial vehicle returns to the original position according to the original route after self-checking the body state, and waits for the next rescue.
Wherein the step 1 comprises the following steps:
step S11: the method comprises the steps that a person seeking help inputs face information and medical information of the person seeking help in advance through an APP on a mobile terminal, wherein the medical information is medical history and medical history information of the person seeking help;
step S12: the cloud server establishes an information base for the recourse seeker according to the medical information and the face information of the recourse seeker and generates a medical information label.
The mobile terminal in step 2 may be a mobile phone, a smart watch, and other wearable devices.
The position information sent by the recourse person in the step 2 comprises longitude and latitude coordinate information of the position, yaw angle information, floor information used for indicating the height of the recourse person and air pressure information.
The material self-checking step in the step S3 specifically comprises the following steps: and reading the RFID label attached to the material through the RFID read-write module carried by the unmanned aerial vehicle, further determining material information, and sending the material information to the cloud server through the airborne computer.
Wherein, the step S4 can be specifically divided into the following 4 steps:
step S41: the unmanned aerial vehicle directly detects the accurate position of the recourse person, and the unmanned aerial vehicle directly lands in situ;
step S42: the unmanned aerial vehicle ascends/descends according to the floor information of the recourse person in the step S2 and the height of 3 m/floor until reaching the accurate position of the recourse person;
step S43: detecting the air pressure of the sensing environment through a sensor carried by the unmanned aerial vehicle, and comparing the detected air pressure with the air pressure information in the position information sent by the step S2, so as to determine the height of the person who lands or ascends to the recourse person and reach the accurate position of the recourse person;
step S44: the person seeking help opens the up-and-down person finding mode of the unmanned aerial vehicle through the mobile terminal, and then the unmanned aerial vehicle is controlled through the mobile terminal to land/ascend to reach the accurate position of the person seeking help.
Wherein, unmanned machines have on-board computer, flight controller, face identification module, atmospheric pressure perception module, wireless communication module, goods and materials self-checking module, flight controller, face identification module, atmospheric pressure perception module, goods and materials self-checking module's output with the on-board computer is connected, the on-board computer passes through wireless communication module accepts cloud server and mobile terminal's information.
The embodiment of the invention has the following beneficial effects:
1. adopt unmanned aerial vehicle's mode to carry out medical rescue service to the rescuer, overcome traditional first aid and be limited by the restriction of traffic, still have simultaneously with low costs, efficient, mobility strong advantage.
2. Adopt the people's face and wave two kinds of recognition methods of hand, recognition efficiency is higher, simultaneously can be accurate put in medical supplies for the person of seeking help.
3. After the unmanned aerial vehicle reaches the position close to rescue, the accurate position of the person seeking help is determined in multiple modes, and the height of the person seeking help is included, so that the service also has a good application scene in places where high-rise buildings such as cities are dense, and the unmanned aerial vehicle can accurately land on the floor where the person seeking help is located.
4. Through the medical information that inputs in advance when the user registers, can be for asking for help the person to filter specific unmanned aerial vehicle through the mode that generates medical information label, reach the effect of sending medicine to the symptom.
5. Unmanned aerial vehicle has the function of state self-checking and goods and materials self-checking, can guarantee that the lack of omission can not appear in the goods and materials, also can guarantee the security of unmanned aerial vehicle flight.
Drawings
Fig. 1 is an information transfer diagram of a flow of receiving rescue task information by an unmanned aerial vehicle in step S2 of the present invention;
fig. 2 is a flow chart of the state self-inspection and material self-inspection of the unmanned aerial vehicle in step S3 of the present invention;
FIG. 3 is a flow chart of the invention for the unmanned plane to reach the exact location of the rescuer in steps S4, S5;
fig. 4 is a flowchart of the unmanned aerial vehicle performing face recognition in step S6 of the present invention;
fig. 5 is a schematic view of the field of view of the unmanned aerial vehicle in the unmanned aerial vehicle face recognition process in step S6 of the present invention;
fig. 6 is a flowchart of the verification process of the unmanned aerial vehicle in step S6 of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Example 1
A medical rescue service method based on an unmanned aerial vehicle is characterized by comprising the following steps:
step S1: the method comprises the steps that a recourse person inputs face information and medical information in advance in a user registration mode, and the face information and the medical information are stored in a cloud server;
step S2: the rescue seeker sends rescue information and position information to the cloud server through the mobile terminal, and the cloud server calls the unmanned aerial vehicle to carry out rescue according to the received rescue information and medical information of the rescue seeker;
and step S3: the unmanned aerial vehicle flies to a position near a recourse person at a preset height after receiving the position information sent by the cloud server and carrying out material self-checking and unmanned aerial vehicle self-checking;
and step S4: after the unmanned aerial vehicle reaches the position near the recourse seeker, the unmanned aerial vehicle determines and reaches the accurate position of the recourse seeker according to the position information provided by the user.
Step S5: after the unmanned aerial vehicle reaches the accurate position of a rescuer, a rescue target which is calling for help is automatically detected, and after the target is locked, the unmanned aerial vehicle gradually flies towards the target;
step S6: after the unmanned aerial vehicle approaches a target, starting face detection, collecting a target face picture, comparing face information prestored in the cloud service of the picture, and after an auditing process of the unmanned aerial vehicle, enabling the unmanned aerial vehicle to enter a material handover mode;
step S7: the unmanned aerial vehicle enters a handover link and lands to perform accurate material handover;
step S8: after the material handover is finished, the unmanned aerial vehicle returns to the original position according to the original route after self-checking the body state, and waits for the next rescue.
The total eight steps can be specifically divided into six flows, namely unmanned aerial vehicle rescue service registration, unmanned aerial vehicle rescue task information receiving, unmanned aerial vehicle state self-checking and material self-checking, unmanned aerial vehicle arrival recourse person accurate position, unmanned aerial vehicle face recognition and auditing flow, unmanned aerial vehicle material handover and return, and the following describes the flows in detail with reference to the attached drawings.
1. Unmanned aerial vehicle rescue service registration:
the registration process of the user to the unmanned aerial vehicle rescue service comprises the step S1, wherein the user uploads a face photo of the user in advance through the mobile terminal, and uploads face information and medical information of the user to the cloud server.
2. Receiving the rescue task information by the unmanned aerial vehicle:
as shown in fig. 1, the flow of receiving the rescue task information of the user by the unmanned aerial vehicle includes step S2, when the user is in an accident or needs rescue due to sudden illness, the mobile terminal can send rescue task information to the cloud server 7, the cloud server 7 calls the nearest unmanned aerial vehicle to rescue according to the received rescue task information and the medical information of the person seeking help, and meanwhile, the unmanned aerial vehicle can send own position information to the cloud server 7 through the wireless communication module 5, so that the person seeking help can check the number of surrounding unmanned aerial vehicles and the expected arrival time at the mobile terminal.
3. Unmanned aerial vehicle's state self-checking and goods and materials self-checking:
as shown in fig. 2, the unmanned aerial vehicle status self-inspection and material self-inspection process includes step S3.
Unmanned aerial vehicle state self-checking:
communication self-checking of unmanned aerial vehicle and airborne computer: detecting a wireless communication module of the unmanned aerial vehicle by publishing and subscribing to a cloud server topic; detecting whether the unmanned aerial vehicle can receive normal visual information or not; and detecting whether the off-board program of the unmanned aerial vehicle normally runs.
It should be noted that the off-board program detection in the present embodiment refers to switching the flight controller to the Offboard mode, because the on-board computer can control the drone only in the Offboard mode. And judging whether the airborne computer takes over the operation condition of the unmanned aerial vehicle or not by detecting whether the airborne computer of the unmanned aerial vehicle can carry out mode switching or not.
Communication self-checking of unmanned aerial vehicle and flight controller: detecting whether the electric quantity of the unmanned aerial vehicle is sufficient; detecting whether the power system of the unmanned aerial vehicle is normal or not, and detecting whether the unmanned aerial vehicle can obtain normal posture information or not;
material self-inspection:
each material carried by the unmanned aerial vehicle is pasted with an RFID label, and the unmanned aerial vehicle internally comprises an RFID receiving module. And the RFID read-write module reads the information of the labels and then sends the information to the airborne computer. And the airborne computer receives the material information of the unmanned aerial vehicle and sends the material information to a cloud server.
4. Unmanned aerial vehicle arrives at the correct position of the recourse:
as shown in fig. 3, the flow of the unmanned aerial vehicle arriving at the correct location of the rescuer includes step S4 and step S5.
After the unmanned aerial vehicle receives the rescue task information sent by the cloud server and completes self-checking, the approximate position of the person seeking help is determined according to longitude and latitude and yaw angle information in the position information, meanwhile, whether height information is contained in the position information sent by rescue in the step 2 is judged, and then different modes are selected to accurately reach the accurate position of the person seeking help.
When the position information does not contain height information, the unmanned aerial vehicle flies to the rescue target accurately at a preset height, and the preset height of the embodiment is 3m.
When the position information has height information of the recourse person and the information is the number of floors, the unmanned aerial vehicle flies to the accurate position of the rescue target at the preset height, calculates the height of the rescue target in a 3 m/floor mode, and ascends/descends to the specified height.
When the position information does not contain height information but has the environmental air pressure information of the position of the recourse person, the air pressure of the induction environment can be detected through the sensor carried by the unmanned aerial vehicle, and is compared with the air pressure information sent by the step S2 until the unmanned aerial vehicle reaches the air pressure, so that the unmanned aerial vehicle can be determined to land/rise to the height of the recourse person and reach the accurate position of the recourse person.
Meanwhile, when the person seeking help discovers that the unmanned aerial vehicle is too far away from the unmanned aerial vehicle and cannot detect the person seeking help, the person seeking help can control the unmanned aerial vehicle to enter an up-down person finding mode through the mobile terminal, so that the control right of a part of unmanned aerial vehicle is obtained, and the person seeking help controls the unmanned aerial vehicle to reach an accurate position.
5. Unmanned aerial vehicle's face identification and audit flow:
as shown in fig. 4, 5, and 6, the process of face recognition and auditing by the drone includes step S6.
Face recognition process:
as shown in fig. 4, after the unmanned aerial vehicle reaches the accurate position of the person seeking help, the unmanned aerial vehicle can automatically lock the target point (the human face and the person who is calling for help) according to the principle that fig. 5 can be referred to.
If the central coordinate is in the threshold value area, the unmanned aerial vehicle does not move; if the central coordinate is outside the threshold value area, the unmanned aerial vehicle calculates the displacement distance that the central coordinate enters the threshold value area unmanned aerial vehicle and needs to be carried out, and after the calculation is completed, the airborne computer sends the distance to the flight control, controls the unmanned aerial vehicle to fly to reach the face of the person seeking help, and locks the face of the person to take a picture.
It should be noted that, in order to ensure that the safety of the unmanned aerial vehicle can keep a certain safety distance with the help seeker when the unmanned aerial vehicle arrives at the help seeker, the safety distance in the embodiment is 5 meters, and the safety distance can be modified according to different situations.
An unmanned aerial vehicle auditing process:
as shown in fig. 6, after the unmanned aerial vehicle reaches the face of the recourse person and locks the face, the face of the recourse person is photographed and the picture is uploaded to the cloud server, and the cloud server compares the face picture information uploaded by the user during registration in step 1 and performs auditing by checking the information of the two pictures.
In addition, under the condition that the face information check fails, the face information check can be carried out through the verification code, the unmanned plane can send the verification code to the cloud server through the 4G network, and then sends a short message containing the same verification code to the mobile phone of the help seeker through the GSM module. When the help seeker receives the verification code in the short message, the verification code input box in the mobile terminal APP is filled in the help seeker, and the APP can automatically compare the verification code filled in by the user with the verification code of the cloud server side. And when the two verification codes are the same, the verification is passed, and after the verification is passed, the unmanned aerial vehicle enters a material handover link.
6. Unmanned aerial vehicle's material handing-over and returning voyage:
unmanned aerial vehicle 'S goods and materials handing-over and flow of returning a journey include step S7 and S8, examine and examine the back that passes through, unmanned aerial vehicle descends, waits for recourse person to receive goods and materials, waits for the goods and materials handing-over to finish the back, unmanned aerial vehicle carries out unmanned aerial vehicle' S state self-checking and goods and materials self-checking once more, detects to finish returning a journey to the primary position.
After the unmanned aerial vehicle lands to the original position, the unmanned aerial vehicle enters a standby state to wait for material supplement and next rescue.
Example 2
The embodiment mainly supplements an unmanned aerial vehicle rescue service method capable of meeting different requirements of recourse persons.
In the step S1, the user registers in the unmanned aerial vehicle service link in advance, not only can the face information of the user be uploaded, but also medical history information and medical history information can be uploaded, and after the face information, the medical history and the medical history information are uploaded to the cloud server, the cloud server can generate a medical information label according to the medical history and the medical history information.
In step S3, the unmanned aerial vehicle can send different material information to the cloud server according to different materials carried by the unmanned aerial vehicle during the material self-inspection process, and the cloud server matches the medical information tag of the user with the material information. Furthermore, when the user sends out rescue task information, the cloud server calls the data of the user and calls a specific unmanned aerial vehicle according to the medical information tag of the user, and the requirement that the unmanned aerial vehicle sends medicines according to the symptoms is met.
For example, when the user has special disease history such as heart disease and drug allergy, the user can automatically generate a medical information label for the user after uploading own medical history and medical history in a registration link, and when the user has an accident or sudden disease, the user sends rescue task information, and the cloud server screens out the unmanned aerial vehicle meeting the requirements, and then calls a specific unmanned aerial vehicle to rescue the user.
Preferably, the mobile terminal can be a mobile phone, a smart watch and other wearable devices.
Preferably, the material self-checking step in step S3 specifically includes: and reading the RFID label attached to the material through the RFID read-write module carried by the unmanned aerial vehicle, further determining material information, and sending the material information to the cloud server through the airborne computer.
More preferably, unmanned machines have airborne computer 1, flight controller 2, face identification module 3, atmospheric pressure perception module 4, wireless communication module 5, goods and materials self-checking module 6, flight controller 2, face identification module 3, atmospheric pressure perception module 4, goods and materials self-checking module 6's output with airborne computer 1 connects, airborne computer 1 passes through wireless communication module 5 with high in the clouds server and mobile terminal carry out information communication.
It should be understood that the above-mentioned embodiments are only illustrative of the technical concepts and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (5)
1. A medical rescue service method based on an unmanned aerial vehicle is characterized by comprising the following steps:
step S1: the recourse person inputs face information and medical information in advance through a user registration mode, and stores the face information and the medical information to a cloud server, and the method specifically comprises the following steps:
step S11: the method comprises the steps that a person seeking help inputs face information and medical information of the person seeking help in advance through an APP on a mobile terminal, wherein the medical information is medical history and medical history information of the person seeking help;
step S12: the cloud server establishes an information base for the recourse seeker according to the medical information and the face information of the recourse seeker and generates a medical information label;
step S2: the rescue information and the position information are sent to the cloud server by the aid seeker through the mobile terminal, and the cloud server calls the unmanned aerial vehicle to carry out rescue according to the received rescue task information and the medical information of the aid seeker;
and step S3: the unmanned aerial vehicle receives the position information sent by the cloud server, performs material self-inspection and sends material information to the cloud server, and the cloud server screens out a specific unmanned aerial vehicle according to a medical information label of a user and then flies to a position near a recourse person at a preset height;
and step S4: after the unmanned aerial vehicle arrives at the position near the recourse person, the unmanned aerial vehicle determines and arrives at the accurate height and position of the recourse person according to the position information provided by the user, and the method specifically comprises the following steps:
step S41: the unmanned aerial vehicle directly detects the accurate position of the recourse person, and the unmanned aerial vehicle directly lands in situ;
step S42: the unmanned aerial vehicle ascends/descends according to the floor information of the recourse person in the step S2 and the height of 3 m/floor until reaching the accurate position of the recourse person;
step S43: detecting the air pressure of the sensing environment through a sensor carried by the unmanned aerial vehicle, comparing the detected air pressure with the air pressure information in the position information sent by the step S2, and further determining that the landing/ascending is at the height of the recourse person and the landing/ascending reaches the accurate position of the recourse person;
step S44: the person seeking help starts an up-and-down person finding mode of the unmanned aerial vehicle through the mobile terminal, and then the unmanned aerial vehicle is controlled to land/ascend through the mobile terminal to reach the accurate position of the person seeking help;
step S5: after the unmanned aerial vehicle reaches the accurate position of the person seeking help, automatically detecting a rescue target which is calling for help, locking the target, and gradually flying towards the target;
step S6: after the unmanned aerial vehicle approaches a target, starting face detection, collecting a target face picture, comparing the face information of the picture with face information prestored in the cloud server, and after an auditing process of the unmanned aerial vehicle, enabling the unmanned aerial vehicle to enter a material handover mode;
step S7: the unmanned aerial vehicle enters a handover link and lands to perform accurate material handover;
step S8: after the material handover is finished, the unmanned aerial vehicle returns to the original position according to the original route after self-checking the body state, and waits for the next rescue.
2. The medical rescue service method based on unmanned aerial vehicle as claimed in claim 1, wherein the mobile terminal in step S2 can be a mobile phone or a smart watch.
3. The medical rescue service method based on the unmanned aerial vehicle as claimed in claim 1, wherein the position information sent by the recourse person in step S2 comprises longitude and latitude coordinate information of the position, yaw angle information, and floor information and air pressure information for indicating the height of the recourse person.
4. The medical rescue service method based on the unmanned aerial vehicle as claimed in claim 1, wherein the material self-inspection step in the step S3 is specifically: and reading the RFID label attached to the material through the RFID read-write module carried by the unmanned aerial vehicle, further determining material information, and sending the material information to the cloud server through the airborne computer.
5. The unmanned aerial vehicle-based medical rescue service method according to any one of claims 1 to 4, wherein the unmanned aerial vehicle has an on-board computer (1), a flight controller (2), a face recognition module (3), an air pressure sensing module (4), a wireless communication module (5) and a material self-checking module (6), the output ends of the flight controller (2), the face recognition module (3), the air pressure sensing module (4) and the material self-checking module (6) are connected with the on-board computer (1), and the on-board computer (1) performs information interaction with the cloud server (7) and a mobile terminal through the wireless communication module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110651495.4A CN113345569B (en) | 2021-06-10 | 2021-06-10 | Medical rescue service method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
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