CN108417264A - A kind of long distance monitoring first-aid system - Google Patents
A kind of long distance monitoring first-aid system Download PDFInfo
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Abstract
The present invention provides a kind of long distance monitoring first-aid system, including patient monitoring modules, AI analysis modules, manual control module, unmanned aerial vehicle (UAV) control module and unmanned plane, patient monitoring modules give the monitoring data real-time Transmission of patient to AI analysis modules, the latter analyzes and stores to data, when analysis result is high-risk, AI analysis modules send alarm signal and patient's location information to unmanned aerial vehicle (UAV) control module, unmanned aerial vehicle (UAV) control module command unmanned plane carries preset first-aid apparatus and drug takes off and carries out first aid, AI analysis modules send alarm to manual control module simultaneously, subsequent artefacts' rescue work is carried out by duty doctor.The present invention provides a set of first-aid systems being made of remote intelligent monitoring source of early warning and unmanned plane equipment, patient is monitored in real time, it can accomplish early discovery, early treatment, emergency situation carries out judging automatically when occurring and order unmanned plane goes to treatment, avoids failing to pinpoint a disease in diagnosis, the reasons such as mistaken diagnosis and traffic jam delay treatment.
Description
Technical field
The present invention relates to a kind of monitoring emergency systems, more particularly to a kind of long distance monitoring first-aid system.
Background technology
With the development of urbanization, the traffic more congestion of China's most cities, both urban and rural area is had inconvenient traffic profit again, is passed
System ambulance is difficult to reach scene in time when patients acuity is fallen ill, and misses valuable effective emergency time.It is with cardiovascular disease
Example, in 2015, there are about 17,700,000 people to die of angiocardiopathy in the whole world, it is estimated that China's cardiovascular patient number about 2.9 hundred million,
40% or more of death composition is accounted for, underlying cause of death is burst acute events (acute coronary syndrome, malignant arrhythmia
Deng), and be happened at outside institute more than 70%.Therefore, the death rate outside angiocardiopathy institute is reduced, it is integrally dead for reducing cardiovascular disease
Rate is died, medical burden is mitigated, meaning is very great.Cardiovascular disease has the characteristics that sudden, transience and high risk, thus
Early detection, early diagnosis, early intervention are most important to the death rate for reducing angiocardiopathy.
The long distance monitoring first-aid system for being effectively extending to family is established, is the effective way for solving problem above.And mesh
It is preceding also very insufficient in patient's long distance monitoring, timely intervention etc., it is mainly reflected in：1, it can not be obtained during patient is outside institute
It is guarded to the real-time effective course of disease, when morbidity is in outside institute, and family members are at a loss, and without first-aid medicine and equipment, can not carry out
Effectively, best emergency time window is missed in correct first aid process.2, solitary patient's sudden onset, Nobody Knows.3, patient at night
Sudden onset is fainted, and family members are difficult to know.4, it is in city or Urban-rural Fringe, due to traffic congestion or not convenient causes urgency
Scene can not be reached in time by rescuing vehicle, miss emergency time.
Therefore, diagnosis, therapeutic time can be shortened by being badly in need of one kind at present, and monitoring, first aid are effectively extended to family
Long distance monitoring first-aid system.
First aid is carried out using the real-time research and application data of artificial intelligence and application unmanned plane in the present invention, due to unmanned plane speed
Degree is far longer than ambulance, and does not have congestion problems, is not limited by road conditions, so unmanned plane will be reached prior to ambulance
Valuable rescue time is won in patient location.If duty doctor examines monitoring data or denies danger after being contacted with patient
Signal, then be not necessarily to notify ambulance to go to, save expense and preciousness medical resource, while duty doctor by control module to
Unmanned plane sends return instruction, unmanned plane auto-returned homeposition.
Invention content
The present invention automatically analyzes monitoring and judges by remotely monitoring patient's physical signs such as electrocardio, blood pressure, blood oxygen outside institute
The real-time physical condition of patient.It can accomplish early discovery, early treatment, and when patient is in an emergency, it can be at the first time
Every physical signs of patient is obtained, and first aid goods and materials are dispensed using unmanned plane, strives for more emergency times, reduces because of leakage
It examines, mistaken diagnosis, emergency tender can not be on the scene in time etc., and first aid caused by reasons not in time, saves the preciousness of patient to greatest extent
Life.
The object of the present invention is to provide a kind of patient monitoring modules, AI analysis modules, manual control module, unmanned aerial vehicle (UAV) controls
Module and the interconnection of unmanned plane multiterminal, can not be influenced by morbidity's geographical environment, patient-monitoring, diagnosis, first aid is rapidly completed
Long distance monitoring first-aid system.
For achieving the above object, technical solution provided by the invention is：
A kind of long distance monitoring first-aid system, including patient monitoring modules, AI analysis modules, manual control module, unmanned plane
Control module and unmanned plane, the patient monitoring modules obtain the monitoring data and location data of patient, and real-time Transmission is to AI
Analysis module；
The data that the AI analysis modules receive, storage is transmitted by patient monitoring modules analyze life after patient monitoring data
At automatic diagnostic result, automatic diagnostic result is judged, alarm signal and patient's positioning are sent to unmanned aerial vehicle (UAV) control module
Data, order unmanned plane take off；Diagnosis report is sent to manual control module, and the monitoring data of storage are transmitted to artificial control
Molding block；
The unmanned plane is interacted by wireless network with unmanned aerial vehicle (UAV) control module and is communicated, and is carried and is used on the unmanned plane
In the drug and equipment of emergency patients, the unmanned plane module control unmanned plane patient position that flies to carries out first aid；
Two-way communication between the manual control module and unmanned aerial vehicle (UAV) control module, manual control module obtain unmanned plane control
The control authority of molding block manually manipulates unmanned plane during flying, and can receive by unmanned aerial vehicle (UAV) control module transfer nobody
Machine real time information data；The two-way communication of video or voice can be carried out between manual control module and patient monitoring modules, and
And the diagnosis report transmitted by AI analysis modules and patient monitoring data can be received.
Further, attendant physician receives patient's exception monitoring number of AI analysis modules transmission in manual control module end
According to rear, it is believed that when necessary, ambulance is sent to leave at patient giving treatment to, the unmanned plane is equipped with instantaneous speech power.
Further, patient monitoring modules can also send distress signal to the AI analysis modules, and the AI analyzes mould
Block sends alarm signal to unmanned aerial vehicle (UAV) control module after receiving distress signal and patient location data, order unmanned plane fly to
Patient position carries out first aid.
A kind of long distance monitoring first-aid system AI analysis modules include the following steps the judgement processing method of diagnostic result：
Step 1 AI analysis modules judge whether diagnostic result is normal, if it is judged that being yes, then terminate a judgement
Period；If it is judged that being no, then diagnosis report is sent to manual control module from AI analysis modules according to the preset frequency；
Step 2 AI analysis modules judge whether abnormity diagnosis result needs to start unmanned plane first aid, if it is judged that being
Otherwise terminate, if it is judged that being yes, then send alarm signal and patient location data, order nothing to unmanned aerial vehicle (UAV) control module
It is man-machine to take off, terminate.
A kind of method of long distance monitoring first-aid system control unmanned plane first aid, includes the following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the flight directive of AI control modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module is according to the specified selected unmanned plane of patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, nobody
Real time information is returned to unmanned aerial vehicle (UAV) control module by machine；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and by parameter
By network transmission to unmanned plane；
Step 5 unmanned plane carries out control flight by automatic pilot；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at according to the location information of unmanned plane, and judging result is
It is no, then return to step three；
Step 7 judging result is yes, and unmanned plane landing, unmanned aerial vehicle (UAV) control module sends to manual control module and reaches letter
Number；
Step 8 unmanned aerial vehicle (UAV) control module judges whether that end first aid, judging result are no return to step seven, judging result
It is yes, enters step nine；
Step 9 unmanned aerial vehicle (UAV) control module controls unmanned plane or unmanned plane auto-returned base station, terminates.
Further, further include step 6 a between step 6 and seven：Judging result is yes, then judges manual control mould
Whether block is controlled, if it is judged that being yes, then unmanned plane carries out artificial speech report, and artificial by manual control module
Manipulate unmanned plane during flying, subsequently into whether the judgement of first aid is terminated, judging result be no, then continue artificial speech report and by
Artificial the step of manipulating unmanned plane during flying, then enters step nine until judging result is yes；Whether manual control module is controlled
The judging result of system is no, and unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, reports patient information automatically；
Step 6 b：Unmanned aerial vehicle (UAV) control module judges whether patient gets help according to sensor back information, judging result
It is no, then returns to the step of unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, reports patient information.
A kind of method of long distance monitoring first-aid system control unmanned plane first aid, includes the following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the flight directive of AI analysis modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module selectes unmanned plane according to patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, nobody
Real time information is returned to unmanned aerial vehicle (UAV) control module by machine；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and by parameter
By network transmission to unmanned plane；
Step 5 unmanned plane is controlled by automatic pilot and is flown；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at, and judging result is no, then return to step three；
Step 7 judging result is yes, and unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, automatic to report patient's letter
Breath, unmanned aerial vehicle (UAV) control module send arriving signal to manual control module；
Step 8 judges whether manual control needs to intervene, and for judging result to be to enter step nine, judging result is no
Then enter step ten；
Step 9 manual control module manipulates unmanned plane during flying；
Step 10 unmanned aerial vehicle (UAV) control module judges whether that end first aid, judging result are no return to step seven, judging result
It is yes, enters step 11；
Step 11 unmanned aerial vehicle (UAV) control module controls unmanned plane auto-returned base station, terminates.
Further, the real time information includes GPS positioning information, is used to group information, position, posture, velocity information, ultrasound
Audiolocator information, camera photographing information.
A kind of Route planner that control parameter calculates, includes the following steps：
Step 1 is using unmanned plane current location as planning starting point qstart, initialization search tree T；
Step 2 is randomly choosed in entirely planning window with probability 1-p and is adopted using Probability p selection target point as sampled point
Sampling point qrand；
Step 3 is found in the tree node q of existing expansion tree T by stochastical sampling point qrand with a distance from stochastical sampling point
A nearest tree node qnear, on the line of qnear and qrand, calculating is reached from qnear with minimum flight path segment length L
Newest point qnew；
Step 4 judges whether qnew meets avoidance and the constraint of unmanned plane self performance, if satisfied, qnew is then added to expansion
Exhibition is set in T, otherwise return to step 2；
Step 5 judges, if satisfied, then carry out step 6, otherwise return to step 2；
Step 6 is obtained by the expansion tree T of formation from starting point qstart to the feasible path of terminal qnear；
Step 7 is cut out redundancy flight path node, obtains final flight path.
Using above-mentioned technical proposal, the present invention has the advantages that：
First, the present invention provides a set of first aid systems being made of remote intelligent monitoring source of early warning and unmanned plane equipment
System can accomplish that early discovery, early treatment, emergency situation are judged and ordered automatically when occurring to patient into houses of prostitutes or actresses in the Jin and Yuan Dynasties's external monitor
UAV flight's first-aid medicine and equipment go to patient's Location to be given treatment in time at once, long distance monitoring first aid of the invention
System suffers from hospital, family, medical center and community is widely applied space, and the present invention can be saved in time including burst
Patient vitals including heart disease, cerebral apoplexy illness substantially reduce medical burden of the society for cardiovascular and cerebrovascular disease.
Second, the present invention analyzes monitoring data by AI analysis modules, diagnoses, and obtains authentic data, according to danger
Anxious degree is distributed unmanned plane by system with flying to residing for patient automatically, and first-aid apparatus is sent at sufferer in time, overcomes patient
Family members judge inaccuracy for patient's actual conditions, and itself does not have the problem of First Aid Ability misses best emergency time.
Third, the present invention are not influenced by traffic environment, and unmanned plane quickly reaches at sufferer before emergency tender is sent, nobody
Machine is reached or is maked a return voyage automatically by the control of control platform, is overcome the time that traditional ambulance vehicles reach scene to be difficult to estimate, is succoured
The shortcomings that time is difficult to ensure.
4th, in any first-aid system, false alarm caused by patient's wrong report, system thresholds etc. is to avoid completely
, it is longer to the discriminating time of alarm, it is easier to miss valuable therapeutic time although false alarm resolution is higher；It is right
The discriminating time of alarm is shorter, and False Alarm Rate will increase, and a large amount of medical resources including ambulance, first-aid personnel will be by
Waste.The system ideally solves this predicament, and the use cost of unmanned plane is significantly less than ambulance, so can not be complete
In the case of avoiding false alarm, which uses compound graded response signal threshold value, right under the premise of excluding apparent false alarm
Valuable rescue time, but also save medical resources had not only been won in alarm active responding.
5th, after unmanned plane reaches position location, unmanned plane sends out acousto-optic by duty doctor remote control, instruction unmanned plane
Alarm reports patient's name, registered residential address by airborne broadcast system, and request Field Force's assistance passes through airborne camera control
Unmanned plane landing processed.It, can be accurate if the case where patient has family members at one's side after having an attack of one's old illness, operating personnel with family members according to linking up
Control unmanned plane passes through door and window, balcony to drop near patient；If patient helps without personnel at one's side after having an attack of one's old illness, unmanned function
Play the role of onsite alarming, rapidly in the more place landing of the personnel such as entrance guard, property, square or air-drop first-aid medicine, and broadcasts
Patient's name, address are reported, so that surrounding people is carried unmanned plane in time and goes to treatment patient
6th, the present invention provides the voices or video communication technology between patient and doctor, and doctor being capable of remote guide
Patient uses the first-aid apparatus that unmanned plane carries, and improves the efficiency of first aid.
Description of the drawings
Fig. 1 is the interaction schematic diagram of the long distance monitoring first-aid system of the present invention；
Fig. 2 is judgement processing method topological diagram of the AI analysis modules in the embodiment of the present invention to diagnostic result；
Fig. 3 is the extension schematic diagram of RRT algorithms；
Fig. 4 is the method topological diagram of the unmanned aerial vehicle (UAV) control module control unmanned plane first aid in the embodiment of the present invention；
Fig. 5 is the method topological diagram that unmanned aerial vehicle (UAV) control module controls unmanned plane first aid in another embodiment of the present invention；
Fig. 6 is the method topological diagram that unmanned aerial vehicle (UAV) control module controls unmanned plane first aid in another embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that structure chart described herein and specific embodiment are only explaining this
Invention, is not intended to limit the present invention.
Embodiment 1
Fig. 1 is the interaction schematic diagram of the long distance monitoring first-aid system of the present invention, as shown in Figure 1, the present invention provides one kind
The long distance monitoring first-aid system of patient, including patient monitoring modules, AI analysis modules, unmanned aerial vehicle (UAV) control module, manual control mould
Block and unmanned plane.
Patient wears patient monitoring modules' normal life, and the detection device in patient monitoring modules obtains the monitoring number of patient
According to and location data, patient monitoring modules the electrocardiogram of patient, blood pressure, electrocardiogram, blood oxygen are satisfied by integrated detection device
It is transmitted to AI analysis modules in real time or periodically with the location data of monitoring data and the patient such as degree.
The data that AI analysis modules receive, storage is transmitted by patient monitoring modules generate certainly after analyzing patient monitoring data
Dynamic diagnostic result, judges automatic diagnostic result, when judging result has danger, is sent to unmanned aerial vehicle (UAV) control module
Alarm signal and patient's location data, order unmanned plane take off；Diagnosis report is sent to manual control module, and by the prison of storage
Measured data and patient's location data are transmitted to manual control module.
For example, system could be provided as when automatic diagnostic result is low danger, every 12~24 hours of AI analysis modules are to people
Work control module sends a diagnosis report, and when diagnostic result is middle danger, every 4~12 hours of AI analysis modules are to manual control
Module sends a diagnosis report, and when diagnostic result is high-risk, to manual control module diagnosis report occurs for AI analysis modules immediately
It accuses, and alarm signal is sent to unmanned aerial vehicle (UAV) control module, order unmanned plane takes off, and patient position is gone to carry out first aid.
Unmanned plane is interacted by network with unmanned aerial vehicle (UAV) control module and is communicated, and is carried for emergency patients' on unmanned plane
Drug and equipment, first-aid apparatus can be miniature defibrillators etc., and first aid medicine can be aspirin, Plavix, nitroglycerin
Piece, nifepine, beta-blocker, calcium ion antagonist, ACEI classes drug, morphine injection, adrenaline injection etc., unmanned plane
It is equipped with instantaneous speech power, loudspeaker etc..
Manual control module can be by manually controlling with unmanned plane or patient monitoring modules' two-way communication, attendant physician
Molding block manipulates the flight of unmanned plane, obtains the shooting image returned by the photographic device of unmanned plane, and the loudspeaker for passing through unmanned plane
Progress audio output, commands the people near unmanned plane to carry out first aid.Attendant physician can also by internet, mobile network or
Wifi carries out video or voice communication with patient monitoring modules and unmanned plane, and patient is instructed to be set using the first aid on unmanned plane in time
It is standby that first aid is carried out to patient.
System could be provided as after manual control module receives diagnosis report, checking that AI analysis modules pass by duty doctor
Defeated patient-monitoring in real time or the past data, and is directly conversed with patient by automatic monitoring modular, the state of an illness is judged, if on duty
Doctor is judged as false alarm, then sends order of making a return voyage to unmanned aerial vehicle (UAV) control module, and unmanned plane makes a return voyage；If it is determined that true alarm,
Then notify that emergency tender sets out rescue, after unmanned plane reaches live overhead, duty doctor transmits voice by the loudspeaker of unmanned plane to be broadcast
Report, request Field Force assists and commands field rescue, and unmanned plane can automatically fly in unmanned plane during flying and switch to
It is artificial to manipulate flight.
Preferably, patient monitoring modules can also send distress signal to AI analysis modules, and AI analysis modules are receiving
Send alarm signal and patient location data to unmanned aerial vehicle (UAV) control module after distress signal, order unmanned plane fly to patient position into
Row first aid.
Whether system could be provided as before AI analysis modules are to the judgement process method step one of diagnostic result, to connecing
Distress signal is received to be judged.
AI analysis modules can use any existing analyzing and diagnosing side to the automatic diagnosis method of the patient-monitoring of acquisition
Method.
For example, patient monitoring modules are in real time by biographies such as the electrocardiogram of patient, heart rate, blood pressure, blood oxygen saturation, breathing situations
Defeated to arrive AI analysis modules, module carries out Threshold Analysis to continuous variable data：
1, heart rate, heart rate be more than 160 beats/min for it is high-risk, 159-120 beats/min be middle danger, be more than 119-90 beats/min
Clock is low danger, and 89-46 beats/min is normal, and 45-30 is middle danger, is high-risk less than 29.
2, change rate of heartbeat：Heart rate increases or decreases the time used in 50%, in being for high-risk, 11-30 seconds less than 10 seconds
Danger is low danger in 31-60 seconds, is normal more than 61 seconds.
3, blood pressure, it is high-risk that blood pressure systolic pressure, which is more than 180mmHg, and 179-160mmHg is middle danger, and 159-140mmHg is low
Danger, 140-90mmHg are normal, and 89-80 is low danger, and 79-70mmHg is middle danger, and it is high-risk to be less than 69mmHg.
4, respiratory rate：More than 50 beats/min to be high-risk, 49-40 beats/min be middle danger, 39-30 beats/min be low
Danger, 29-15 beats/min is normal, and it is high-risk to be less than 5 beats/min.5, it is high-risk that blood oxygen saturation, which is less than 70%, and 71-80% is
Middle danger, 81-90% are low danger, and 91-100% is normal.
Recognition with Recurrent Neural Network Recurrent Neural Network (RNN):It is a kind of depth of node orientation connection cyclization
Degree study artificial neural network.The internal state of this network can show dynamic time sequence behavior.Different from feedforward neural network
, RNN can handle the list entries of arbitrary sequence using its internal memory, this allows it that can be easier processing if not
Handwriting recognition, speech recognition of segmentation etc..
Shot and long term Memory Neural Networks Long Short-Term Memory (LSTM):It is a kind of time cycle nerve net
Network, paper are published in 1997 for the first time.Due to unique design structure, LSTM is suitable among processing and predicted time sequence
Every the critical event very long with delay.
Pole joins Iterative classification algorithm Ada Boost:Its core concept is to train different classification for the same training set
Device (Weak Classifier), then gets up these weak classifier sets, constitutes a stronger final classification device (strong classifier).
Filter Wave filtering:It is by the operation that specific band frequency filters out in signal, is to inhibit and prevent from interfering
An important measures.Filtering is divided into classical filter and modern filtering.
Waveform is to waveform analysis Beat-to-beat:It is one kind of ambulatory ECG analysis verification method, above lead
All QRS wave shapes alignment analyzed.
Analyzing and diagnosing algorithm is formulated with reference to ANSI/AAMI EC57；ANSI/AAMI EC57 define electrocardiogram and automatically analyze
The evaluation criteria of algorithm.The assessment of analyzing and diagnosing algorithm：Canonical reference ecg database is analyzed using analyzing and diagnosing algorithm
Go out arithmetic result annotation, then arithmetic result annotated and is annotated using consistent comparison algorithm with reference standard ecg database,
The statistical report of algorithm indices can be reflected by finally obtaining.It is calculated due to the use of unified validation database and comparison
Method, statistical report being capable of objective assessment algorithm various aspects of performance indexs.
Reference standard ecg database
AHA：American Heart Association for evaluate ventricular arrhythmia database (totally 80 record, every 35 minutes).
MIT-BIH：Massachusetts science and engineering arrhythmia cordis database (totally 48 record, every 30 minutes).
ESC：European Society of Cardiology's ST-T databases (90 records, every time 2 hours).
NST:Noise stress test database (12 electrocardiographic recordings, every 30 minutes, it is another plus 3 are made an uproar by MIT-BIH offers
Sound).
CU：The duration ventricular arrhythmia database of Creighton Univ..
The assessment report requirement of analyzing and diagnosing algorithm
The assessment report of analyzing and diagnosing algorithm includes the essential estimation items of algorithm and algorithm optional attribute estimation items.Essential assessment
Item is that all analyzing and diagnosing algorithms necessarily participate in assessment.To optional attribute estimation items, if testing algorithm statement is supported accordingly
Characteristic must then select corresponding characteristic evaluation item.Such as detection algorithm illustrate support ST detection, then must carry out ST amplitudes,
The test that ST slopes, ST change.There are four types of testing results in assessment detection：It is true positives TP, false negative FN, false positive FP, Kidney-Yin
Property TN, and thus obtain common performance testing index：Susceptibility Se=TP/ (TP+FN) positive rate+P=TP/ (TP+FP)
The essential estimation items of analyzing and diagnosing algorithm：
Note：It is the database that choosing is surveyed that R, which is the database O that must be surveyed, in table
The optional attribute estimation items of analyzing and diagnosing algorithm
Note：It is the database that choosing is surveyed that R, which is the database O that must be surveyed, in table
Assess comparison algorithm
Assessing comparison algorithm includes：The rhythm of the heart measures assessment, HRV and RRV measurements are assessed, Beat-by-beat compares, Run-
By-run compares, VF and AF compares, ST compares
Beat-by-beat compares for deriving QRS Se, QRS+P, VEB Se, VEB+P, VEB FPR, SVEB FPR,
SVEB Se, SVEB+P.
Run-by-run compares for deriving VE couplet Se and+P, VE short run Se and+P, VE long
Run Se and+P, SVE couplet Se and+P, SVE short run Se and+P, SVE long run Se and+P.
VF and AF compare for deriving:VF/AF episode Se and+P, VF/AF duration Se and+P.
ST compares for deriving ST related evaluation items
The rhythm of the heart measures assessment
The rhythm of the heart, which measures, depends on rr interval measures, but some obtain the algorithm of these measurements for rr interval measures once in a while
Error has robustness, and other are then especially sensitive to such mistake.RMS heart rate error are such for reflecting
The characteristic of rr interval measure algorithms.
HRV and RRV measures assessment
HRV and RRV measures assessment and needs to calculate following index：Mean、SDNN、SDANN、 ASDNN NN50、pNN50、
rMSSD、VLF、LF、HF
Beat-by-beat compares
Beat-by-beat compares for calculating QRS algorithms and beat classification algorithm susceptibility and positive prediction rate.Classification
The heartbeat label of algorithm detection executes paired comparisons two-by-two with the heartbeat label of the label of standard cardioelectric database.If electrocardio
The position for the heartbeat label that algorithm detects with the label of standard database position in 150ms windows, think one in this way
Matching, if not finding a matching in this window, this candidate heartbeat may be more inspections or missing inspection.In this way
Until comparing the count matrix such as following table for terminating to generate a beat-by-beat：
Algorithm detects label (Algorithm label)
Classification and Detection algorithm susceptibility and positive rate are calculated by matrix above.
In this matrix derivation, it should keep to being marked as not in reference mark file and test mark file
Readable or VF segment is into line trace.In unreadable segment, pseudo- heartbeat is labeled as X；Other situations all mark c and are denoted as O.Joining
During examining VF segments, the beating label of generation is not counted in matrix statistics.During test is labeled as VF segments, with reference to showing as fighting
Dynamic label, is paired into O pseudo labels, and counted as the beating of other missing inspections.In principle, unreadable segment and VF segments can
Nesting starts upon start, in the software that design executes that beat-by-beat compares, is considered as the presence of this possibility.
Run-by-run compares
Run-by-run is relatively used for the ability that Measurement Algorithm detects continuous systolia ectopica.For each type of dystopy
Heartbeat (VEB and SVEB) is required for executing susceptibility run-by-run and compare and positive rate run-by-run compares.run-
By-run more finally produces a pair of of matrix and see the table below, and wherein each element value is the counting of a corresponding types.Generally
Term run refers to continuous V or F sequence labels.Couplet, short run, long run finally can be calculated according to matrix
Susceptibility and positive rate.
Run sensitivity summary matrix
Run positive predictivity summary matrix
(VF) is flutterred and atrial fibrillation room is flutterred (AF) and compared in room room of quivering
This algorithm can detect VF, the algorithm of AF for verifying.In standard cardioelectric data notes, during mark VF is carried out, such as
Fruit algorithm is also overlapped and detects VF, then the positive sensibility of VF segments detection is true, other situations are feminine gender.Each similar calculation
The segment of method label covers existing label, has been believed to satisfy the VF segment positive rates of true positives, the algorithm of other situations
It is reported by mistake labeled as falseness.
It measures the lasting susceptibility of VF and positive prediction rate needs to calculate the total duration and algorithm tag of reference
VF overlapping duration
ST compares
The algorithm that ST segments can be analyzed for statement needs to test ST sections of amplitude, ST sections of slope and ST changes.
1) for requiring the algorithms of ST section amplitudes of detection, should be all measurements and measure the generations of all lead st amplitudes with
Lower datagram：
A. the ST amplitudes of all algorithm measurements are relative to the instruction identification on the scatter plot and figure with reference to the difference of ST amplitudes
Line
B. algorithm measurement difference is relative to the scatter plot with reference to st values, and has the mean difference and standard deviation of all algorithm measurements
Index line
C. the ST amplitudes of algorithm measurement relative to reference to ST amplitudes from -200 microvolts to the scatterplot in+200 microvolt ranges
Figure.
2) it for the algorithm of detection st slope over 10, needs to draw following datagram to the measurement of all leads：
A. measure st slopes difference relative to reference to st slopes scatter plot, and have algorithm measurement st slopes mean difference and
Standard deviation index line
B. the st slopes of all algorithm measurements are relative to the scatter plot with reference to st slopes, and have instruction identification line
C. the st slopes of algorithm measurement relative to reference to st slopes scatter plot, with reference to st slopes -2.0 mV/s to+
In the range of 2.0mV/s.
In order to derive the susceptibility and positive prediction rate of ST events, the Event-by- compared similar to run-by-run
Event is relatively very important.St changes event and is spaced the ST changes of interior test of heuristics at any time and with reference to annotation text
The ST changes that part indicates have overlapping.Including extreme value or the event matches of the overlap period of at least 50% reference marker are for sensitivity
Spend purpose.Including extreme value or the event matches of the overlap period of at least 50% test of heuristics label are used for positive prediction rate purpose.
In calculating process, Threshold Analysis is carried out to key variables:1, the phase is more than 4 seconds for high-risk, 3.9- between electrocardiogram RR
3 seconds are middle danger, and 2.9-2 seconds are low danger, and 2-1 seconds are normal.2, it raises for ST sections, compared with the daily electrocardiogram of patient, ST sections of lifts
Height be more than 3mm be high-risk, 2.9-2mm be it is middle endanger, 1.9-0.5 is low danger, 0.4-0 is normal.3, it forces down for ST sections, with patient day
Normal electrocardiogram compares, single ST segment depression be more than 3mm be high-risk, 2.9-2mm be it is middle endanger, 1.9-0.5 is low danger,
0.4-0 is normal.4, it is middle danger two changes of ST segment occur, and the above ST sections of variation of three leads is high-risk.5, happen suddenly QRS
It is high-risk that wave width, which increases more than one times,.6, monitor that atrial fibrillation wave is high-risk.7, the room of monitoring quiver wave be it is high-risk.8, patient presses
Emergency help button is high-risk.
Embodiment 2
Fig. 2 is judgement processing method topological diagram of the AI analysis modules of the present invention to diagnostic result, as shown in Fig. 2, of the invention
A kind of judgement processing method of diagnostic result is provided, is included the following steps：
Step 1 AI analysis modules judge whether diagnostic result is normal, if it is judged that being yes, then terminate a judgement
Period；If it is judged that being no, then diagnosis report is sent to manual control module from AI analysis modules according to the preset frequency；
Such as：Usual diagnostic result be divided into normal, low danger, in jeopardize high-risk four class, rear three kinds of results are abnormal results.
Normal data are diagnosed as, then terminates one and judges that period, diagnostic result are the data of low danger, system is set as analyzing mould by AI
Block sends a diagnosis report in every 12~24 hours to manual control module, and the monitoring data of patient are examined by duty doctor, and
Instruct patient's diagnosis and treatment；Diagnostic result is the data of middle danger, and system is set as from every 4~12 hours of AI analysis modules to manual control
Module sends a diagnosis report, and the monitoring data of patient are examined by duty doctor, and guide patient's diagnosis and treatment；Diagnostic result is height
The data of danger will be immediately sent to manual control module.
Step 2 AI analysis modules judge whether abnormity diagnosis result needs to start unmanned plane first aid, if it is judged that being
Otherwise terminate, if it is judged that being yes, then send alarm signal and patient location data, order nothing to unmanned aerial vehicle (UAV) control module
It is man-machine to take off, terminate.
Such as：System is set as will be deemed as high-risk abnormity diagnosis result and is judged as needing to start unmanned plane first aid.
Embodiment 3
The routeing of unmanned plane is a vital part in execution system in first-aid system.Routeing refer to
Under the conditions of particular constraints, searching meets the optimal movement locus of certain performance indicator from initial point to target point.Routeing must
The flight characteristics of unmanned plane must be considered, such as：Min. turning radius, the angle of climb, practical ceiling etc.；Environmental factor, such as：Ground
Shape, threat radar source, no-fly zone, thunder storm belt, link coverage area, link interference etc.；Mission payload factor：Visual field scope,
Operating distance, Duplication etc..
Efficient Route Planning Algorithm can greatly improve efficiency and safety that unmanned plane independently executes task.The present invention
Using the three-dimensional Route planner based on Quick Extended random tree, which can quickly and effectively search for rule according to current environment
Space is drawn, search is oriented to by white space by stochastical sampling point, three-dimensional routeing is made to can be used in real-time trajectory planning.Base
In RRT (Quick Extended random tree) method routeing using the planning starting point in state space as root node, by random
The mode that sampling gradually increases leaf node generates Stochastic propagation tree.When containing target point or target in the leaf node of random tree
When the point in region, the extension of random tree stops, being found in random tree one with root node form slave starting point to mesh
The path of punctuate.The extended mode of RRT is as shown in Figure 3.
Based on the Route planner that control parameter calculates, include the following steps：
Step 1 is using unmanned plane current location as planning starting point qstart, initialization search tree T；
Step 2 is randomly choosed in entirely planning window with probability 1-p and is adopted using Probability p selection target point as sampled point
Sampling point qrand；
Step 3 passes through stochastical sampling point qrand, find in the tree node q of existing expansion tree T with a distance from stochastical sampling point
A nearest tree node qnear, in qnearAnd qrandLine on, calculate from qnearIt is reached most with minimum flight path segment length L
New point qnew；
Step 4 judges qnewWhether avoidance and unmanned plane self performance constraint are met, if satisfied, then by qnewIt is added to expansion
Exhibition is set in T, otherwise return to step 2；
Step 5 judges | qnew-qgoal| ＜ ＜ L, if satisfied, then carry out step 6, otherwise return to step 2；
Step 6 is obtained by the expansion tree T of formation from starting point qstartTo terminal qnearFeasible path；
Step 7 is cut out redundancy flight path node, obtains final flight path.
Unmanned aerial vehicle (UAV) control parameter calculating is carried out using the real-time Route planners of RRT, unmanned plane is according to the control received
Parameter information controls unmanned plane during flying by automatic pilot.Because RRT is real-time Route planner, then there are preferable rule
Obstacle avoidance object ability.The factor for influencing remote handle control effect is more, and the effect of manual control is poor.
Embodiment 4
Unmanned plane flies automatically, and Fig. 4 is the method topology of the unmanned aerial vehicle (UAV) control module control unmanned plane first aid in embodiment
Figure, as shown, the method for long distance monitoring first-aid system control unmanned plane first aid, includes the following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the alarm signal of AI analysis modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module selectes unmanned plane according to patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, nobody
Real time information is returned to unmanned aerial vehicle (UAV) control module by machine, and real time information includes but not limited to：GPS positioning information is used to group information, position
It sets, posture, velocity information, lodar information, camera photographing information etc.；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and by parameter
By network transmission to unmanned plane；
Step 5 unmanned plane carries out control flight by automatic pilot；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at according to the location information of unmanned plane, and judging result is
It is no, then return to step three；
Step 7 judging result is yes, and unmanned plane landing, unmanned aerial vehicle (UAV) control module sends to manual control module and reaches letter
Number, system could be provided as doctor after manual control module end receives the signal, be contacted in time with patient and family members, guidance
It is anxious to send an end after attendant physician determines to have completed the drug delivery work of unmanned plane to unmanned aerial vehicle (UAV) control module for first aid
The signal rescued；
Step 8 unmanned aerial vehicle (UAV) control module judges whether end first aid, and judging result is no, return to step six, judging result
It is yes, enters step nine, the confirmation that system could be provided as receiving the transmission of manual control module in unmanned plane module terminates letter
It is judged as YES after number, is otherwise judged as NO；
Step 9 unmanned aerial vehicle (UAV) control module controls unmanned plane auto-returned base station, terminates.
Embodiment 5
Artificial manipulation is intervened in unmanned plane during flying, Fig. 5 is the unmanned aerial vehicle (UAV) control module control unmanned plane in another embodiment
The method topological diagram of first aid, as shown, the method for long distance monitoring first-aid system control unmanned plane first aid, includes the following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the flight directive of AI analysis modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module selectes unmanned plane according to patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, nobody
Real time information is returned to unmanned aerial vehicle (UAV) control module by machine；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and by parameter
By network transmission to unmanned plane；
Step 5 unmanned plane is controlled by automatic pilot and is flown；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at, and judging result is no, then return to step three；
Step 7 judging result is yes, and unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, automatic to report patient's letter
Breath, unmanned aerial vehicle (UAV) control module send arriving signal to manual control module；
Step 8 judges whether manual control needs to intervene, and for judging result to be to enter step nine, judging result is no
Then enter step ten；
Step 9 manual control module manipulates unmanned plane during flying；
Step 10 unmanned aerial vehicle (UAV) control module judges whether end first aid, and judging result is no, return to step seven, judging result
It is yes, enters step 11；
Step 11 unmanned aerial vehicle (UAV) control module controls unmanned plane auto-returned base station, terminates.
In step 7, to realizing that the technological means of the automatic information broadcast function on unmanned plane is not limited, the present invention
Any type method in the prior art can be used, such as Chinese invention patent number is 201510757022.7, it is entitled：
The voice reporting system and the voice broadcast method disclosed in voice broadcast method of a kind of intelligence software, voice broadcast function is by setting
The voice broadcast unit set on unmanned plane is completed, and the text information of set form will be synthesized after the patient information received, and
Export the voice document through phonetic synthesis, played by loudspeaker, voice broadcast can cause unmanned plane nearby people's note that help
Implement salvaging.
Doctor can carry out voice with patient monitoring modules or video is logical after manual control module receives arriving signal
Words, commander patient or Field Force carry out first aid using suitable drug or equipment, and preciousness is won before ambulance arrival
Therapeutic time.
In step 9, after intervening manual control, the permission for manipulating unmanned plane during flying is obtained by manual control module, on duty
Doctor receives the unmanned plane real time information by unmanned aerial vehicle (UAV) control module transfer in manual control module end, and being capable of manually handle
Unmanned plane during flying can control unmanned plane during flying to patient at one's side or personnel's close quarters such as entrance guard room, square, or land
When condition limits, first-aid apparatus is directly dropped.
Unmanned plane hovers in low latitude reports patient information, can cause family members and surrounding people note that obtaining their side
It helps, after attendant physician confirms that there is personnel's assistance at scene by video, attendant physician can manipulate unmanned plane landing or air-drop first aid
Equipment, landing place it is as nearest from patient as possible, by Field Force carry first-aid apparatus to patient at one's side first aid.
In step 10, system could be provided as sending a confirmation knot from manual control module to unmanned aerial vehicle (UAV) control module
The signal of beam first aid, unmanned aerial vehicle (UAV) control module then judge to terminate first aid after receiving this signal.
Embodiment 6
Unmanned plane accesses the control of manual control module after arriving at, Fig. 6 is the unmanned plane control in another embodiment
Molding block controls the method topological diagram of unmanned plane first aid, as shown, the side of long distance monitoring first-aid system control unmanned plane first aid
Method includes the following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the alarm signal of AI analysis modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module selectes unmanned plane according to patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, nobody
Real time information is returned to unmanned aerial vehicle (UAV) control module by machine, real time information including but not limited to：GPS positioning information is used to group information, position
It sets, posture, velocity information, lodar information, camera photographing information etc.；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and by parameter
By network transmission to unmanned plane；
Step 5 unmanned plane carries out control flight by automatic pilot；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at according to the location information of unmanned plane, and judging result is
It is no, then return to step three；
Step 6 a：Judging result is yes, then judges whether manual control module is controlled, if it is judged that be it is yes,
Then unmanned plane carries out artificial speech report, and manually manipulates unmanned plane during flying by the doctor of manual control module, subsequently into being
The no judgement for terminating first aid, judging result is no, then continues artificial speech and report and manually manipulate unmanned plane during flying by doctor
Step then enters step nine until judging result is yes；The judging result whether manual control module carries out manual control is
No, unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, reports patient information automatically；
Step 6 b：Unmanned aerial vehicle (UAV) control module judges whether patient gets help, and judging result is no, then returns to unmanned plane
Control module assigns phonetic order to unmanned plane, the step of reporting patient information；
Step 7 judging result is yes, and unmanned plane landing, unmanned aerial vehicle (UAV) control module sends to manual control module and reaches letter
Number；
Step 8 unmanned aerial vehicle (UAV) control module judges whether end first aid, and judging result is no, return to step seven, judging result
It is yes, enters step nine；
Step 9 unmanned aerial vehicle (UAV) control module controls unmanned plane or unmanned plane auto-returned base station, terminates.
In step 6 b, if the judgement to get help can be arbitrarily arranged by system, could be provided as automatic speech and broadcasts
Report is judged as getting help after reaching the certain predetermined time, a button can also be arranged on unmanned plane, voice broadcast content carries
Show the people for picking up unmanned plane by lower button, unmanned aerial vehicle (UAV) control module is judged as getting help when a button is depressed, or can set
It is set to from manual control module to unmanned aerial vehicle (UAV) control module and sends the signal to get help, doctor obtains with patient monitoring modules
After contact, confirm that unmanned plane reaches at patient, doctor sends one to unmanned aerial vehicle (UAV) control module in manual control module end and obtains
The signal of help after unmanned aerial vehicle (UAV) control module receives the signal, is judged as getting help.Here, not done to the judgment method
Restrictive regulation.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the normal technician of this field,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
It encloses.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of long distance monitoring first-aid system, including patient monitoring modules, AI analysis modules, manual control module, unmanned plane control
Molding block and unmanned plane, which is characterized in that the patient monitoring modules obtain the monitoring data and location data of patient, and in real time
It is transmitted to AI analysis modules；
The data that the AI analysis modules receive, storage is transmitted by patient monitoring modules generate certainly after analyzing patient monitoring data
Dynamic diagnostic result, judges automatic diagnostic result, and alarm signal and patient's location data are sent to unmanned aerial vehicle (UAV) control module,
Order unmanned plane takes off；Diagnosis report is sent to manual control module, and the monitoring data of storage are transmitted to manual control mould
Block；
The unmanned plane is interacted by wireless network with unmanned aerial vehicle (UAV) control module and is communicated, and is carried for anxious on the unmanned plane
Rescue the drug and equipment of patient, the unmanned aerial vehicle (UAV) control module control unmanned plane patient position that flies to carries out first aid；
Two-way communication between the manual control module and unmanned aerial vehicle (UAV) control module, manual control module obtain unmanned aerial vehicle (UAV) control mould
The control authority of block manually manipulates unmanned plane during flying, and can receive real by the unmanned plane of unmanned aerial vehicle (UAV) control module transfer
When information data；The two-way communication of video or voice, and energy can be carried out between manual control module and patient monitoring modules
It is enough to receive the diagnosis report transmitted by AI analysis modules and patient monitoring data.
2. long distance monitoring first-aid system according to claim 1, which is characterized in that attendant physician is in manual control module end
After the patient's thundering observed data for receiving the transmission of AI analysis modules, it is believed that when necessary, ambulance is sent to leave at patient carrying out
Treatment, the unmanned plane are equipped with instantaneous speech power.
3. long distance monitoring first-aid system according to claim 1, which is characterized in that patient monitoring modules can also be to described
AI analysis modules send distress signal, and the AI analysis modules send to unmanned aerial vehicle (UAV) control module after receiving distress signal and warn
The number of notifying and patient location data, order unmanned plane fly to patient position carry out first aid.
4. it is a kind of according to long distance monitoring first-aid system AI analysis modules described in right 1 to the judgement processing method of diagnostic result,
It is characterized in that, includes the following steps：
Step 1 AI analysis modules judge whether diagnostic result is normal, if it is judged that being yes, then terminate one and judge week
Phase；If it is judged that being no, then diagnosis report is sent to manual control module from AI analysis modules according to the preset frequency；
Step 2 AI analysis modules judge whether abnormity diagnosis result needs to start unmanned plane first aid, if it is judged that being no
Then terminate, if it is judged that being yes, then sends alarm signal and patient location data to unmanned aerial vehicle (UAV) control module, order nobody
Machine takes off, and terminates.
5. the method for long distance monitoring first-aid system control unmanned plane first aid according to claim 4, which is characterized in that including
Following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the flight directive of AI control modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module selectes unmanned plane according to patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, and unmanned plane will
Real time information returns to unmanned aerial vehicle (UAV) control module；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and parameter is led to
Network transmission is crossed to unmanned plane；
Step 5 unmanned plane carries out control flight by automatic pilot；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at according to the location information of unmanned plane, judging result be it is no,
Then return to step three；
Step 7 judging result is yes, and unmanned plane landing, unmanned aerial vehicle (UAV) control module sends arriving signal to manual control module；
Step 8 unmanned aerial vehicle (UAV) control module judges whether that end first aid, judging result are no return to step seven, and judging result is
It is to enter step nine；
Step 9 unmanned aerial vehicle (UAV) control module controls unmanned plane or unmanned plane auto-returned base station, terminates.
6. the method for long distance monitoring first-aid system control unmanned plane first aid according to claim 4, which is characterized in that including
Following steps：
Step 1 unmanned aerial vehicle (UAV) control module receives the flight directive of AI analysis modules, starts；
Step 2 unmanned aerial vehicle (UAV) control module selectes unmanned plane according to patient position destination information；
Step 3 unmanned aerial vehicle (UAV) control module is taken off to unmanned plane transmission destination information and patient information, unmanned plane, and unmanned plane will
Real time information returns to unmanned aerial vehicle (UAV) control module；
The control parameter that step 4 unmanned aerial vehicle (UAV) control module carries out routeing according to the information of passback calculates, and parameter is led to
Network transmission is crossed to unmanned plane；
Step 5 unmanned plane is controlled by automatic pilot and is flown；
Step 6 unmanned aerial vehicle (UAV) control module judges whether to arrive at, and judging result is no, then return to step three；
Step 7 judging result is yes, and unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, reports patient information automatically,
Unmanned aerial vehicle (UAV) control module sends arriving signal to manual control module；
Step 8 judges whether manual control needs to intervene, judging result be to enter step nine, judging result be otherwise into
Enter step 10；
Step 9 manual control module manipulates unmanned plane during flying；
Step 10 unmanned aerial vehicle (UAV) control module judges whether end first aid, and judging result is no, return to step seven, and judging result is
It is to enter step 11；
Step 11 unmanned aerial vehicle (UAV) control module controls unmanned plane auto-returned base station, terminates.
7. the method for control unmanned plane first aid according to claim 5, which is characterized in that between step 6 and seven, also
Including step 6 a：Judging result is yes, then judges whether manual control module is controlled, if it is judged that be it is yes, then without
Man-machine carry out artificial speech report, and unmanned plane during flying is manually manipulated by manual control module, subsequently into whether terminating first aid
Judgement, judging result is no, then continues artificial speech and report and the step of by manually manipulating unmanned plane during flying, until judging to tie
Fruit is yes, then enters step nine；The judging result whether manual control module is controlled is no, and unmanned aerial vehicle (UAV) control module is to nothing
It is man-machine to assign phonetic order, patient information is reported automatically；
Step 6 b：Unmanned aerial vehicle (UAV) control module judges whether patient gets help according to sensor back information, and judging result is
It is no, then return to the step of unmanned aerial vehicle (UAV) control module assigns phonetic order to unmanned plane, reports patient information.
8. the method for control unmanned plane first aid according to claim 5, which is characterized in that the real time information includes GPS
Location information is used to group information, position, posture, velocity information, lodar information, camera photographing information.
9. the Route planner that a kind of control parameter according to claim 5 calculates, which is characterized in that including following step
Suddenly：
Step 1 is using unmanned plane current location as planning starting point qstart, initialization search tree T；
Step 2 randomly chooses sampled point using Probability p selection target point as sampled point, with probability 1-p in entirely planning window
qrand；
Step 3 is found nearest with a distance from stochastical sampling point in the tree node q of existing expansion tree T by stochastical sampling point qrand
A tree node qnear, on the line of qnear and qrand, calculate from qnear with minimum flight path segment length L reach most
New point qnew；
Step 4 judges whether qnew meets avoidance and the constraint of unmanned plane self performance, if satisfied, qnew is then added to expansion tree
In T, otherwise return to step 2；
Step 5 judges, if satisfied, then carry out step 6, otherwise return to step 2；
Step 6 is obtained by the expansion tree T of formation from starting point qstart to the feasible path of terminal qnear；
Step 7 is cut out redundancy flight path node, obtains final flight path.
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| CN114171181A (en) | 2022-03-11 |
| CN108417264B (en) | 2021-11-02 |
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