CN109101040A - A kind of unmanned plane for assisting rescuing - Google Patents
A kind of unmanned plane for assisting rescuing Download PDFInfo
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- CN109101040A CN109101040A CN201811006271.2A CN201811006271A CN109101040A CN 109101040 A CN109101040 A CN 109101040A CN 201811006271 A CN201811006271 A CN 201811006271A CN 109101040 A CN109101040 A CN 109101040A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of for assisting the unmanned plane of rescue, which obtains emergency task information, make corresponding alarm according to the urgency level of the emergency task information；According to the location information of the emergency task acquisition of information emergency task destination, plan current location to the route for rescuing destination；The traffic information in preset range is obtained in real time, and optimal route is selected according to the traffic information；The optimal path information is sent to ambulance terminal in real time, and keeps certain reaction distance with the ambulance, and alarm is kept to guide the ambulance to destination direction running；After arriving at the destination, alarm is closed.Even if in rescuing road in the case where congestion in road, unmanned plane can be travelled in preceding guidance ambulance and itself capable of emitting alarm signal road vehicle is avoided, ambulance travel speed can be improved, greatly shorten the time used to destination, can more effectively be rescued.
Description
Technical field
It is more specifically to a kind of for assisting the unmanned plane of rescue the present invention relates to emergency rescue technique field.
Background technique
Ambulance, as its name suggests, ambulance are exactly the car for succouring patient.AMBULANCE on ambulance is in turn
It writes, this is the Ambulance word in order to allow the driver of front to be immediately seen by rearview mirror positive direction, thus rapidly
It gives way.The best vehicles of the car market transport wounded are given first aid to, above without there are the first-aid apparatuses such as distress machine, defibrillator, there are also anxious
It rescues doctor to accompany and attend to, valuable time can be fought for for rescue life.Emergency occurs, farther out and is in a bad way, should dial from hospital
Make a call to 120 ambulance calls.Along with the flashing of ambulance warning lamp and the sound that whistles of alarm device, unquestionably, an ambulance is just
It rushes for the scene of the accident an of urgent call or just rushes for hospital from emergency calls scene.It all traffic main arteries all can evil spirit
As unreal for it let pass, driver can be travelled on driveway edge, pavement or even opposite direction it is Anywhere all right, as long as rescuing
Shield vehicle can pass through.Can no matter rescue personnel received how good training, rapidly reach scene it is often all highly difficult, especially exist
In crowded urban transportation, the travel speed of ambulance is very fast, and road vehicle does not know that the traveling of ambulance is specific
Direction and destination have little time lane change and give way and influence ambulance and execute task.
Summary of the invention
The purpose of the invention is to ambulances during execution task, and due to traffic jam, the vehicle on lane is not
Driving direction and the destination of ambulance can be known in time, and lane change in advance does not give way and influences ambulance and execute asking for task
Topic.Provide the method and unmanned plane of a kind of unmanned plane cooperation rescue.
The purpose of the present invention is achieved through the following technical solutions:
A kind of method of unmanned plane cooperation rescue is provided, the method includes the steps:
Emergency task information is obtained, corresponding alarm is made according to the urgency level of the emergency task information；
According to the location information of the emergency task acquisition of information emergency task destination, plan current location to rescue mesh
Ground route；
The traffic information in preset range is obtained in real time, and optimal route is selected according to the traffic information；
The optimal path information is sent to ambulance terminal in real time, and with the ambulance keep it is certain react away from
From, and alarm is kept to guide the ambulance to destination direction running；After reaching rescue destination, alarm will be closed.
Preferably, the acquisition emergency task information makes corresponding alarm according to the emergency task message urgency
Include:
Task grade is divided according to the urgency level, and ad eundem alarm is made according to the task grade；Described
Business grade includes emergency task, urgent service, extra urgent task, and the emergency task corresponds to primary alarm, urgent service corresponding two
Grade alarm, extra urgent task correspond to three-level alarm.
Preferably, the destination locations information according to the emergency task acquisition of information emergency task, planning are current
The route of position to destination includes:
First-aid centre is received to the located sites information of rescue destination, and the route for inquiring its rescue destination of arrival is total
Item number, and according to road number of lines, obtain the distance for reaching every route of rescue destination.
Preferably, the real-time traffic information obtained in preset range, and optimal road is selected according to the traffic information
Line includes:
The traffic information includes at least category of roads information, road pass blocking situation；
Category of roads information is obtained, determines pre-selection road set；
According to the road pass blocking situation, the shortest route, the cost are selected in pre-selection road set
Time, shortest route was then optimal route.
Preferably, the traffic information in preset range is obtained in real time, and optimal route packet is selected according to the traffic information
It includes:
After determining optimal route, and the route information is sent to ambulance terminal, request executes.
Preferably, if the route information that unmanned plane is sent receives through ambulance terminal and after rescuer agreement execution,
Unmanned plane, which receives, to be agreed to execute instruction and is ambulance open circuit flight by its route；
Preferably, if the route information that unmanned plane is sent is rejected execution, unmanned plane receives refusal and executes instruction, and obtains
The fixed route information for taking ambulance to send, and be ambulance open circuit flight according to rescuer fixed route.
Preferably, the real-time traffic information obtained in preset range, selects to spend the time according to the traffic information
Shortest route further include:
The E.T.A for reaching rescue destination is calculated according to selected route and current driving speed, and will
E.T.A is sent to ambulance terminal.
Preferably, the optimal path information is sent to ambulance terminal in real time, and keeps certain with the ambulance
Reaction distance, and alarm is kept to guide the ambulance to include: to destination direction running
Unmanned plane and ambulance remain certain communication distance, and keep alarm, and signal road vehicle is kept away
It allows, the direction of the unmanned plane during flying is the direction of ambulance traveling.
The method of another unmanned plane cooperation rescue is also provided, which comprises
Emergency task information is obtained, corresponding alarm is issued according to the urgency level of the emergency task information；
Obtain rescue personnel's voluntarily fixed course information, using the fixed course as flight path, and with the rescue
Vehicle keeps certain reaction distance, and alarm is kept to guide the ambulance to destination direction running, reaches rescue destination
Afterwards, alarm will be closed.
Preferably, emergency task information is obtained, corresponding alarm is made according to the emergency task message urgency and is also wrapped
It includes:
Task grade is divided according to the urgency level, and ad eundem alarm is made according to the task grade；Described
Business grade includes emergency task, urgent service, extra urgent task, and the emergency task corresponds to primary alarm, urgent service corresponding two
Grade alarm, extra urgent task correspond to three-level alarm.
A kind of unmanned plane for assisting rescuing also is provided, the unmanned plane includes: memory, processor, communication device
And alarm device, wherein the memory is for storing executable program code and data, and the processor is for calling institute
The executable program code of memory storage is stated, following steps are executed:
Emergency task information is obtained, the alarm device is controlled according to the urgency level of the emergency task information and makes phase
Answer alarm；
According to the location information of the emergency task acquisition of information emergency task destination, plan current location to rescue mesh
Ground route；
The traffic information in preset range is obtained in real time, and optimal route is selected according to the traffic information；
Control the communication device and the optimal route information be sent to ambulance terminal in real time, and control it is described nobody
Machine and the ambulance keep certain reaction distance, and control the alarm device and alarm is kept to guide the ambulance to mesh
Ground direction running；
After arriving at the destination, alarm is closed.
Preferably, the processor obtains emergency task information, controls the alarm device and is believed according to the emergency task
The mode that the urgency level of breath makes corresponding alarm includes:
Task grade is divided according to the urgency level, and controls the alarm device and is made together according to the task grade
Grade alert；The task grade includes emergency task, urgent service, extra urgent task, the emergency task correspond to primary alarm,
Urgent service corresponds to second-level alarm, extra urgent task corresponds to three-level alarm.
Preferably, location information of the processor according to the emergency task acquisition of information emergency task destination, rule
Current location, which is drawn, to the mode of route for rescuing destination includes:
It controls the communication device and receives first-aid centre to the located sites information of rescue destination, and inquire arrival it is rescued
Help the road number of lines of destination；
According to road number of lines, the distance for reaching every route of rescue destination is obtained.
Preferably, the traffic information includes at least category of roads information, road pass blocking situation；The processor obtains in real time
The traffic information in preset range is taken, the mode for selecting optimal route according to the traffic information includes:
Category of roads information is obtained, determines pre-selection road set；
According to the road pass blocking situation, the shortest route, the cost are selected in pre-selection road set
Time, shortest route was then optimal route.
Preferably, the processor controls the communication device and the optimal route information is sent to ambulance end in real time
The mode at end includes:
After determining optimal route, controls the communication device and the optimal route information is sent to ambulance end in real time
End, and request to execute.
Preferably, the processor is also used to call the executable program code of the memory storage, executes following step
It is rapid:
If the optimal route information sent after ambulance terminal receives and rescuer is agreed to execute, controls institute
It states communication device and receives and agree to execute instruction and be ambulance open circuit flight by the optimal route；
If the optimal route information sent is rejected execution, controls the communication device reception refusal execution and refer to
It enables, and obtains the fixed route information of ambulance transmission, and be ambulance open circuit flight according to rescuer fixed route.
Preferably, the processor obtains the traffic information in preset range in real time, most according to traffic information selection
After major path, the processor is also used to call the executable program code of the memory storage, executes following steps:
The E.T.A for reaching rescue destination is calculated according to selected optimal route and current driving speed,
And it controls the communication device and will be sent to ambulance terminal E.T.A.
Preferably, the processor controls the unmanned plane and the ambulance keeps certain reaction distance, and controls
The alarm device keeps alarm to guide the ambulance to include: to the mode of destination direction running
It controls the unmanned plane and the ambulance remains certain communication distance, and control the alarm device and keep
Alarm, signal road vehicle are avoided, and the direction of the unmanned plane during flying is the direction of ambulance traveling.
Another unmanned plane for assisting rescuing also is provided, the unmanned plane includes: memory, processor, communication dress
It sets and alarm device, wherein the memory is for storing executable program code and data, and the processor is for calling
The executable program code of the memory storage, executes following steps:
Emergency task information is obtained, the alarm device is controlled according to the urgency level of the emergency task information and issues phase
Answer alarm；
It controls the communication device and obtains rescue personnel's voluntarily fixed course information, using the fixed course as flight road
Line, and control the unmanned plane and keep certain reaction distance with the ambulance, and control the alarm device and keep alarm
Guide the ambulance to destination direction running；
After arriving at the destination, alarm is closed.
Preferably, the processor obtains emergency task information, controls the alarm device and is believed according to the emergency task
The mode that the urgency level of breath issues corresponding alarm includes:
Task grade is divided according to the urgency level, and controls the alarm device and is made together according to the task grade
Grade alert；The task grade includes emergency task, urgent service, extra urgent task, the emergency task correspond to primary alarm,
Urgent service corresponds to second-level alarm, extra urgent task corresponds to three-level alarm.
For bring of the present invention the utility model has the advantages that completing to rescue by unmanned plane cooperation, ambulance can be by unmanned plane before setting out
Optimal travel route, the road that ambulance also can voluntarily be planned by rescue personnel by route running provided by its unmanned plane are provided
Line traveling, even if in rescuing road in the case where road very congestion, unmanned plane can be travelled in preceding guidance ambulance and itself
Capable of emitting alarm signal road vehicle is avoided, and ambulance travel speed can be improved, and greatly shortens arrival rescue purpose
It the time used on ground, can more effectively be rescued.
Detailed description of the invention
Fig. 1 is the implement scene schematic diagram of the embodiment of the present invention；
Fig. 2 is the method flow diagram of the embodiment of the present invention；
Fig. 3 is the matching flow chart of the embodiment of the present invention；
Fig. 4 is the another method flow chart of the embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of unmanned plane for assisting rescue of the embodiment of the present invention；
Fig. 6 is the structural schematic diagram that the another kind of the embodiment of the present invention is used to assist the unmanned plane of rescue.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Not
In the case where conflict, the feature in following embodiment and embodiment be can be combined with each other.
Provide a kind of method of unmanned plane cooperation rescue.
As shown in Figure 1, the invention for clearer description this programme is intended to, first implement scene of the invention is set
It sets, implement scene of the present invention includes round-trip two implement scenes, and the first implement scene includes: hospital 1, the rescue in hospital 1
Vehicle 3 and unmanned plane 4 go to course line 5 and rescue site 7；Second implement scene include: rescue site 7, ambulance 3 and nobody
Machine 4, back course 6 and hospital 1.
Unmanned plane 4 may be provided on its ambulance 3, receive first-aid centre 2 transmission emergency task information just with rescue
Vehicle 3 is gone on a journey together；Or hospital 1 is provided with the unmanned plane 4 for specially executing this task, receives itself and ambulance after execution task
3 trip rescues.When this unmanned plane 4 is gone on a journey, certain distance is kept to go together with ambulance 3, consistent with trip when return, unmanned plane 4
Also certain distance will be kept to go together with ambulance 3.
As a kind of possible implement scene, 4 control centre of a unmanned plane, 1 insider of hospital can be set in hospital 1
Member can fly to unmanned plane 4 and control.Certainly, in order to more easily control unmanned plane 4, control centre is built
Making position can flexibly select, to optimize the implement scene.
Certainly, as another possible implement scene, the controller of unmanned plane 4 can also be set in ambulance 3, rescued
Ambulance 3 keeps going together in certain distance with unmanned plane 4 during helping, i.e., unmanned plane 4 is guided in the visual field of rescue personnel and rescued
It protects vehicle 3 to travel, can also be more convenient easier to control unmanned plane 4 in this way.
As alternatively possible implement scene, ambulance 3 described in the invention can be exchanged with fire fighting truck, and hospital 1 is just
Fire-fighting portion, the unmanned plane 4 may be provided on fire fighting truck, receive fire-fighting portion sending emergency task information after just with fire-fighting
Vehicle goes together rush for rescue site 7 together.
The purpose of the present invention is achieved through the following technical solutions:
As described in Figure 2, the method includes the steps:
S100, emergency task information is obtained, corresponding alarm is made according to the urgency level of the emergency task information.
Specifically, before setting out and rescuing, the corresponding personnel in rescue destination are that sick and wounded patient is issued to hospital 1 by phone and rescues
It helps, after 1 first-aid centre 2 of hospital receives the help information that rescue destination is issued, corresponding note is done to its patient basis
Record simultaneously analysing patient's condition situation.
Further, the patient basis includes the type etc. of patient age, gender, age and illnesses,
Prepare corresponding Medical Devices and drug etc. according to the essential information, and this rescue task etc. is marked off according to conditions of patients
Grade situation, is sent to unmanned plane 4 for task class information.
Further, after unmanned plane 4 divides task grade according to the urgency level received, and according to the task
Grade makes ad eundem alarm；The task grade includes emergency task, urgent service, extra urgent task, the emergency task pair
Answer that primary alarm, urgent service correspond to second-level alarm, extra urgent task corresponds to three-level alarm.The ambulance also receives phase simultaneously
Ad eundem alarm is made with task class information, and according to the task grade, rescue personnel receives the alarm level just
It can know rescue task situation, sufficient rescue can be carried out.
S101, according to the location information of the emergency task acquisition of information emergency task destination, plan that current location is arrived
Rescue the route of destination.
Specifically, need the position to rescue destination to search and locate after first-aid centre 2 receives relief information,
And then the location information of rescue destination is sent to unmanned plane 4 with task class information, unmanned plane 4 can receive its phase at once
Answer information state go forward side by side row information analysis search emergency place.
Further, it is provided with signal dispatcher module and global position system on the unmanned plane 4, passes through information transmit-receive
Module can receive the mission bit stream that first-aid centre 2 sends, then issue corresponding alarm；Naturally, the global position system can
The position of Query Location rescue destination, wherein the transmitting-receiving of the emergency task information needs to hold using mechanics of communication
Row during this, carries out information using GPRS mechanics of communication and sends and receives, and WIFI and wireless can also be used without limitation
Bluetooth etc. carries out sending and receiving for information.
Further, unmanned plane 4 Query Location and search go to rescue destination route while, might have a plurality of
It can travel route to occur, unmanned plane 4 can find out one by one its all route according to positioning system, calculate and reach rescue destination
Route total number, and according to road number of lines, obtain the distance for reaching every route of rescue destination.
In an embodiment of the present invention, unmanned plane can also inquire the position of rescue destination by existing map APP
Information positions unmanned plane current location, and opens navigation feature, calculates the road number of lines occurred on the map APP, and
Obtain the distance of every route；The map APP can be existing Baidu map, Amap, Tencent's map etc..
S102, the in real time traffic information in acquisition preset range, and optimal route is selected according to the traffic information.
Specifically, if gone under the more situation of the number of lines of rescue destination, certainly, every route it is far and near away from
From may be different, and the pavement behavior of every route will be big variant, and rescue personnel is difficult to select road from guild
Line is gone to, however, the unmanned plane 4 can be realized and be judged automatically and filter information, obtained line information is compared one by one, is
Its rescue personnel provides a best travel route.
In embodiments of the present invention, the traffic information includes at least: category of roads information and road pass blocking situation；
Category of roads information is obtained, determines pre-selection road set；According to the road pass blocking situation, flower is selected in pre-selection road set
Time-consuming shortest route, the shortest route is then optimal route；The road pass blocking situation includes: road
No thoroughfare in road caused by landslide, vehicle traffic accident occurs on road cause congestion in road and wagon flow quantitative change more and caused by road
Congestion etc..That is in several routes for leading to rescue destination, several good routes and high-quality by this several are selected
Route determination is a set, then the line that a surface conditions are best, distance rescue destination is nearest is selected from this set
Road is as going to route.
Further, the category of roads includes: urban road, national highway, secondary road and rural hill path etc., for vehicle
For, road there is no under congestion, the speed travelled on different brackets road all can difference, therefore it is existing to reach rescue
The time of field 7 also can be impacted therewith.Wherein, the preferred route of the unmanned plane 4 can be urban road or be secondary road, and
Under no congestion serious conditions, feasible speed is relatively large, can strive for significantly for urban road and secondary road road surface spaciousness
Reach the time of rescue site 7.
Further, after unmanned plane 4 determines the line of flight, and it is calculated by airline distance information and reaches rescue site 7
Scheduled time, selected route information and E.T.A are sent to 3 terminal of ambulance.It should be noted that
The scheduled time cannot function as reaching the correct time of rescue site 7, due to the 3 travel shape of ambulance during going to
Condition may frequent changes, will affect the travel speed of ambulance 3, however cannot accurately calculate arrive at the destination it is accurate
Time.
As a kind of possible embodiment, the traffic information can also include the daily information of vehicle flowrate of road, wagon flow
Amount is also the factor for influencing Vehicle Speed, if meeting the special time such as festivals or holidays or weekend, vehicle flowrate can be greatly increased, be led
The case where causing traffic congestion occurs, for this purpose, rescue personnel then can separately select other corresponding travel routes to go to rescue site 7.
S103, the optimal path information is sent to 3 terminal of ambulance in real time, and keeps certain with the ambulance 3
Reaction distance, and alarm is kept to guide the ambulance 3 to destination direction running.
Specifically, being also correspondingly provided with signal dispatcher module on the ambulance 3, unmanned plane is received by its mechanics of communication
4 screen after the best route that obtains, wherein the ambulance 3 can also be carried out by GPRS mechanics of communication or wireless blue tooth etc.
Receipt routing information.
In the present embodiment, the line of flight of unmanned plane 4 is also used as 3 vehicle line of ambulance, goes to 7 process of rescue site
In, unmanned plane 4 will be in preceding flight, and ambulance 3 and unmanned plane 4 keep certain distance in rear traveling, before reaching rescue destination,
The speed of unmanned plane 4 matches with 3 speed of ambulance always, and transformation amplitude cannot be excessive, and the rescue people in its ambulance 3
The flight within sweep of the eye of member, must not arbitrarily drift off the course.
Further, unmanned plane 4 and ambulance 3 keep certain distance to move ahead, and extractable road surface ahead and vehicle row
Situation is sailed, and is sent to 3 terminal of ambulance, the rescue personnel in ambulance 3 can learn road surface by received information of road surface
Situation, if there are the fortuitous events such as traffic congestion, road construction, road collapsing；If road surface exists since vehicle flowrate is excessive
Congestion, unmanned plane 4 can it is preceding flight and sound an alarm, prompting vehicle be ambulance 3 give way, and guide its ambulance 3 move ahead catch up with
Toward rescue site 7.
As shown in figure 3, in embodiments of the present invention, obtaining the traffic information in preset range in real time, and according to the road
Condition information selects optimal route further include:
S110, after determining optimal route, and the route information is sent to 3 terminal of ambulance, request executes.
If the route information that S111, unmanned plane 4 are sent is rejected execution, unmanned plane 4 is executed instruction refusal is received, and
The fixed route information that ambulance 3 is sent is obtained, and is the open circuit flight of ambulance 3 according to rescuer fixed route.
Specifically, rescue personnel is not excluded for when selecting travel route can voluntarily plan the possibility of more preferably route running,
If rescue personnel searches out more preferably route in advance, rescue personnel, which is also rejected by, executes travel route transmitted by unmanned plane 4
Information, and the driving line that refusal executes instruction and rescue personnel has voluntarily planned is sent to unmanned plane 4 by 3 terminal of ambulance
Road information, unmanned plane 4 just fly by its route after receiving new travel routes information, and ambulance 3 and unmanned plane 4 are rushing for rescue now
During field 7, remain that certain communication distance, unmanned plane 4 move ahead in preceding flight guidance ambulance 3, meanwhile, unmanned plane
4 will also issue corresponding alarm, and the alarm can illustrate the driving vehicle in 4 front of unmanned plane to give way, guarantee the energy after of ambulance 3
Smooth traveling.
As a kind of possible embodiment, the rescue personnel refuses to execute the line information of the offer of unmanned plane 4 and not have
When preferred programme path, unmanned plane 4 receives refusal instruction, and the second preferred traveling road can also be then provided for rescue personnel
Line, if rescue personnel agree to execute this route information, 4 flight forward of unmanned plane and be its 3 channeling direction of ambulance.
If the route information that S112, unmanned plane 4 are sent receives through 3 terminal of ambulance and after rescuer agreement execution,
Unmanned plane 4, which receives, to be agreed to execute instruction and is the open circuit flight of ambulance 3 by its route.
Specifically, rescue personnel receives travel route information transmitted by unmanned plane 4 by 3 terminal of ambulance, if thinking
Extraction scheme is desirable, then using this scheme as 3 travel route of ambulance, sends and agree to execute instruction to unmanned plane 4, unmanned plane 4
Will be in preceding flight, and ambulance 3 and unmanned plane 4 keep certain distance in rear traveling, before reaching rescue destination, unmanned plane 4
Speed matches with 3 speed of ambulance always, and transformation amplitude cannot be excessive, and the visual field of the rescue personnel in its ambulance 3
Flight, must not arbitrarily drift off the course in range.Unmanned plane 4 is in preceding flight and can sound an alarm, and prompting vehicle is that ambulance 3 allows
Row, and guide its ambulance 3 to move ahead and rush for rescue site 7.
As a kind of possible embodiment, also settable image capture module on the unmanned plane 4, unmanned plane 4 flies preceding
Row can acquire road surface ahead information state, and be sent to 3 terminal of ambulance, and rescue personnel can be received by 3 terminal of ambulance
Information of road surface learn pavement behavior, if there are abnormal conditions, if road has construction, or the fortuitous event to collapse, then gives first aid to
Vehicle 3 can carry out deceleration in advance and prepare, and prevent accident.
As a kind of possible embodiment of the present invention, also settable speech prompting system on the unmanned plane 4, unmanned plane 4
Extractable 3 essential information of ambulance, the essential information include at least 3 license board information of 3 vehicle model information of ambulance and ambulance,
If encountering under traffic jam environment, since unmanned plane 4 and ambulance 3 are maintained in certain distance and move ahead, driving vehicle on road surface
Car owner can not see its ambulance 3 travel, when unmanned plane 4 sounds an alarm, can not rule out the car owner of driving vehicle on its road surface
It can pay no attention to the possibility of the alarm of its sending, however the speech prompting system is when unmanned plane 4 sounds an alarm, while can also
To prompt car owner to give way as ambulance 3 by voice, the voice content issued can be made according to the essential information of ambulance 3
Corresponding voice prompting.
As a kind of possible embodiment, the settable control device to unmanned plane 4, is rescued going in the ambulance 3
During helping, to can flying speed, the flying height of unmanned plane 4 will be controlled accordingly.Wherein, the flight of unmanned plane 4
Speed regulates and controls according to the travel speed of ambulance 3, and in flight course, unmanned plane 4 can be maintained in 50-100 meters with ambulance 3
Colleague, to ensure that unmanned plane 4 flies in the rescue personnel visual field, to facilitate the control to its unmanned plane 4.
As alternatively possible embodiment, the charge position of also settable unmanned plane 4, is rescued going on the ambulance 3
During the entire process of the scene of helping 7, unmanned plane 4, which remains, to be sounded an alarm, this will greatly reduce the cruise duration of unmanned plane 4, institute
Charging can be carried out for unmanned plane 4 to continue task by stating charge position, and after rushing for rescuing now, unmanned plane 4 can be parked in rescue
It charges on vehicle 3, it is ensured that having sufficient electricity continuation of the journey when returning to First aid station is that ambulance 3 is opened a way.
As described in Figure 4, as a kind of possible embodiment, a kind of method of unmanned plane cooperation rescue, the method are provided
Further include:
S120, emergency task information is obtained, corresponding alarm is issued according to the urgency level of the emergency task information.
Further, task grade is divided according to the urgency level, and ad eundem police is made according to the task grade
Report；The task grade includes emergency task, urgent service, extra urgent task, and the emergency task corresponds to primary alarm, urgent
Corresponding second-level alarm, the extra urgent task of being engaged in correspond to three-level alarm.
S121, obtain rescue personnel's voluntarily fixed course information, using the fixed course as flight path, and with it is described
Ambulance 3 keeps certain reaction distance, and alarm is kept to guide the ambulance 3 to destination direction running, reaches rescue
Behind destination, alarm will be closed.
Specifically, rescue personnel can voluntarily provide travel route, and its route information is sent to unmanned plane 4, unmanned plane 4
It receives travel routes information and presses its flight line, and ambulance 3 and unmanned plane 4 keep certain distance in rear traveling, unmanned plane 4
It in preceding flight and can sound an alarm, prompting vehicle is that ambulance 3 gives way, and guides its ambulance 3 to move ahead and rush for rescue site 7,
After reaching rescue destination, alarm will be closed.Reach rescue destination before, the speed of unmanned plane 4 always with 3 speed of ambulance
Match, transformation amplitude cannot be excessive, and the flight within sweep of the eye of the rescue personnel in its ambulance 3, must not arbitrarily partially
From course line.
As alternatively possible embodiment, present invention may also apply to execute fire-fighting task, wherein the hospital 1 can be more
Become fire-fighting portion, ambulance 3 can more become fire fighting truck, likewise, the travel route that rescue personnel can be provided by its unmanned plane 4
Rescue site 7 is gone to, can also voluntarily plan that route moves ahead, during going to, unmanned plane 4 will be in preceding flight, and fire fighting truck and nothing
Man-machine 4 keep certain distance in rear traveling, unanimously with the rescue of above-mentioned unmanned plane 4 cooperation ambulance, before reaching rescue destination, nothing
Man-machine 4 speed also matches with fire-fighting vehicle speed always, and the flight within sweep of the eye of the rescue personnel in its fire fighting truck.
Unmanned plane 4 is in preceding flight and can sound an alarm, and prompting vehicle gives way for fire fighting truck, and guides its fire fighting truck to move ahead and rush for rescue now
Field 7.After reaching rescue destination, alarm will be closed.
The embodiment of the invention also provides a kind of for assisting the unmanned plane of rescue, can be used to implement previous embodiment and mentions
All or part of the steps in the method for the unmanned plane cooperation rescue of confession.As shown in figure 5, the unmanned plane at least may include: to deposit
Reservoir 510, at least one processor 520, such as CPU (Central Processing Unit, central processing unit), at least one
A communication device 530 carries out communication interaction, at least one alarm dress for the unmanned plane and other equipment (such as ambulance terminal)
540 are set, for sounding an alarm.Wherein, memory 510, processor 520, communication device 530 and alarm device 540 can lead to
One or more bus is crossed to be communicatively coupled.It will be understood by those skilled in the art that the structure of unmanned plane shown in Fig. 5 is simultaneously
Do not constitute the restriction to the embodiment of the present invention, it is also possible to hub-and-spoke configuration either busbar network, can also include than
More or fewer components are illustrated, certain components or different component layouts are perhaps combined.
Wherein, memory 510 can be high speed RAM memory, be also possible to non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.It is remote that memory 510 optionally can also be that at least one is located at
Storage device from aforementioned processor 520.Memory 510 can be used for storing executable program code and data, and the present invention is real
Example is applied to be not construed as limiting.
In unmanned plane shown in Fig. 5, processor 520 can be used for calling the executable program generation of the storage of memory 510
Code executes following steps:
Emergency task information is obtained, control alarm device 540 is made accordingly according to the urgency level of the emergency task information
Alarm；
According to the location information of the emergency task acquisition of information emergency task destination, plan current location to rescue purpose
The route on ground；
The traffic information in preset range is obtained in real time, and optimal route is selected according to the traffic information；
Optimal route information is sent to ambulance terminal in real time by control communication device 530, and controls unmanned plane and rescue
Vehicle keeps certain reaction distance, and controls alarm device 540 and alarm is kept to guide ambulance to destination direction running；
After arriving at the destination, alarm is closed.
Optionally, processor 520 obtains emergency task information, controls alarm device 540 according to the emergency task information
The mode that urgency level makes corresponding alarm may include:
Task grade is divided according to urgency level, and controls alarm device 540 and ad eundem police is made according to the task grade
Report；The task grade may include emergency task, urgent service, extra urgent task, and emergency task corresponds to primary alarm, urgent service
Corresponding second-level alarm, extra urgent task correspond to three-level alarm.
Optionally, processor 520 is worked as according to the location information of the emergency task acquisition of information emergency task destination, planning
The mode of route of front position to rescue destination may include:
Control communication device 530 receive first-aid centre to rescue destination located sites information, and inquire arrival its rescue
Help the road number of lines of destination；
According to road number of lines, the distance for reaching every route of rescue destination is obtained.
Optionally, which at least may include category of roads information, road pass blocking situation；Processor 520 is real-time
The traffic information in preset range is obtained, the mode for selecting optimal route according to the traffic information may include:
Category of roads information is obtained, determines pre-selection road set；
According to road pass blocking situation, the shortest route is selected in pre-selection road set, spends the time most short
Route be then optimal route.
Optionally, processor 520 controls the side that optimal route information is sent to ambulance terminal by communication device 530 in real time
Formula may include:
After determining optimal route, optimal route information is sent to ambulance terminal in real time by control communication device 530, and is asked
Ask execution.
Optionally, processor 520 can be also used for the executable program code for calling memory 510 to store, and execute following
Step:
If the optimal route information sent is after ambulance terminal receives and rescuer is agreed to execute, control communication dress
530 receptions agreement is set to execute instruction and be ambulance open circuit flight by optimal route；
If the optimal route information sent is rejected execution, control communication device 530 receives refusal and executes instruction, and obtains
The fixed route information for taking ambulance to send, and be ambulance open circuit flight according to rescuer fixed route.
Optionally, processor 520 obtains the traffic information in preset range in real time, selects optimal road according to the traffic information
After line, processor 520 can be also used for the executable program code for calling memory 510 to store, and execute following steps:
The E.T.A for reaching rescue destination is calculated according to selected optimal route and current driving speed,
And it controls communication device 530 and will be sent to ambulance terminal E.T.A.
Optionally, processor 520 controls unmanned plane and ambulance keeps certain reaction distance, and controls alarm device
540 holding alarms guidance ambulances to the mode of destination direction running may include:
Control unmanned plane and ambulance remain certain communication distance, and control alarm device 540 and keep alarm, signal
Road vehicle is avoided, and the direction of unmanned plane during flying is the direction of ambulance traveling.
Implement unmanned plane shown in fig. 5, complete to rescue by unmanned plane cooperation, ambulance can be mentioned before setting out by unmanned plane
For optimal travel route, route that ambulance also can voluntarily be planned by rescue personnel by route running provided by its unmanned plane
Traveling, even if in rescuing road in the case where road very congestion, unmanned plane can travel in preceding guidance ambulance and itself can
It sounds an alarm signal road vehicle to be avoided, ambulance travel speed can be improved, greatly shorten arrival rescue destination
Time used, can more effectively be rescued.
The embodiment of the invention also provides another for assisting the unmanned plane of rescue, can be used to implement previous embodiment
All or part of the steps in the method for the unmanned plane cooperation rescue of offer.As shown in fig. 6, the unmanned plane at least may include:
Memory 610, at least one processor 620, such as CPU (Central Processing Unit, central processing unit), at least
One communication device 630 carries out communication interaction, at least one alarm for the unmanned plane and other equipment (such as ambulance terminal)
Device 640, for sounding an alarm.Wherein, memory 610, processor 620, communication device 630 and alarm device 640 can be with
It is communicatively coupled by one or more bus.It will be understood by those skilled in the art that the structure of unmanned plane shown in Fig. 6
The restriction to the embodiment of the present invention is not constituted, it is also possible to hub-and-spoke configuration either busbar network, can also include
Than illustrating more or fewer components, certain components or different component layouts are perhaps combined.
Wherein, memory 610 can be high speed RAM memory, be also possible to non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.It is remote that memory 610 optionally can also be that at least one is located at
Storage device from aforementioned processor 620.Memory 610 can be used for storing executable program code and data, and the present invention is real
Example is applied to be not construed as limiting.
In unmanned plane shown in Fig. 6, processor 620 can be used for calling the executable program generation of the storage of memory 610
Code executes following steps:
Emergency task information is obtained, control alarm device 640 issues corresponding according to the urgency level of the emergency task information
Alarm；
It controls communication device 630 and obtains rescue personnel's voluntarily fixed course information, using the fixed course as flight path,
And control unmanned plane and ambulance keeps certain reaction distance, and control alarm device 640 keep alarm guide ambulance to
Destination direction running；
After arriving at the destination, alarm is closed.
Optionally, processor 620 obtains emergency task information, controls alarm device 640 according to the emergency task information
The mode that urgency level issues corresponding alarm may include:
Task grade is divided according to the urgency level, and controls alarm device 640 and ad eundem is made according to the task grade
Alarm；The task grade may include emergency task, urgent service, extra urgent task, and emergency task corresponds to primary alarm, urgent
Corresponding second-level alarm, the extra urgent task of being engaged in correspond to three-level alarm.
Implement unmanned plane shown in fig. 6, complete to rescue by unmanned plane cooperation, ambulance can be by rescue personnel before setting out
The route running voluntarily planned, even if unmanned plane can give first aid in preceding guidance in rescuing road in the case where road very congestion
Simultaneously itself capable of emitting alarm signal road vehicle is avoided vehicle traveling, and ambulance travel speed can be improved, greatly shorten
It the time used for reaching rescue destination, can more effectively be rescued.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limited to these instructions.General technical staff of the technical field of the invention is come
It says, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this hair
Bright protection scope.
Claims (10)
1. a kind of for assisting the unmanned plane of rescue, which is characterized in that the unmanned plane includes: memory, processor, communication dress
It sets and alarm device, wherein the memory is for storing executable program code and data, and the processor is for calling
The executable program code of the memory storage, executes following steps:
Emergency task information is obtained, the alarm device is controlled according to the urgency level of the emergency task information and makes corresponding police
Report；
According to the location information of the emergency task acquisition of information emergency task destination, plan current location to rescue destination
Route；
The traffic information in preset range is obtained in real time, and optimal route is selected according to the traffic information；
Control the communication device and the optimal route information be sent to ambulance terminal in real time, and control the unmanned plane with
The ambulance keeps certain reaction distance, and controls the alarm device and alarm is kept to guide the ambulance to destination
Direction running；
After arriving at the destination, alarm is closed.
2. according to claim 1 for assisting the unmanned plane of rescue, which is characterized in that the processor obtains urgent appoint
Business information, controlling the alarm device according to the mode that the urgency level of the emergency task information makes corresponding alarm includes:
Task grade is divided according to the urgency level, and controls the alarm device and ad eundem is made according to the task grade
Alarm；The task grade includes emergency task, urgent service, extra urgent task, and the emergency task corresponds to primary alarm, urgent
Task corresponds to second-level alarm, extra urgent task corresponds to three-level alarm.
3. according to claim 1 for assisting the unmanned plane of rescue, which is characterized in that the processor is according to described tight
Anxious mission bit stream obtains the location information of emergency task destination, the mode packet of the route of planning current location to rescue destination
It includes:
It controls the communication device and receives first-aid centre to the located sites information of rescue destination, and inquire its rescue mesh of arrival
Ground road number of lines；
According to road number of lines, the distance for reaching every route of rescue destination is obtained.
4. according to claim 3 for assisting the unmanned plane of rescue, which is characterized in that the traffic information includes at least
Category of roads information, road pass blocking situation；The processor obtains the traffic information in preset range in real time, according to the road conditions
Information selection optimal route mode include:
Category of roads information is obtained, determines pre-selection road set；
According to the road pass blocking situation, the shortest route, the cost time are selected in pre-selection road set
Shortest route is then optimal route.
5. according to claim 4 for assisting the unmanned plane of rescue, which is characterized in that the processor control is described logical
The mode that the optimal route information is sent to ambulance terminal includes: by T unit in real time
After determining optimal route, controls the communication device and the optimal route information is sent to ambulance terminal in real time, and
Request executes.
6. according to claim 5 for assisting the unmanned plane of rescue, which is characterized in that the processor is also used to call
The executable program code of the memory storage, executes following steps:
If the optimal route information sent after ambulance terminal receives and rescuer is agreed to execute, controls described logical
T unit, which receives, to be agreed to execute instruction and is ambulance open circuit flight by the optimal route；
If the optimal route information sent is rejected execution, controls the communication device and receive and refuse to execute instruction, and
The fixed route information that ambulance is sent is obtained, and is ambulance open circuit flight according to rescuer fixed route.
7. -6 any unmanned plane for assisting rescuing according to claim 1, which is characterized in that the processor is real-time
The traffic information in preset range is obtained, after selecting optimal route according to the traffic information, the processor is also used to adjust
The executable program code stored with the memory executes following steps:
The E.T.A for reaching rescue destination is calculated according to selected optimal route and current driving speed, and is controlled
Ambulance terminal will be sent to E.T.A by making the communication device.
8. -6 any unmanned plane for assisting rescuing according to claim 1, which is characterized in that the processor control
The unmanned plane and the ambulance keep certain reaction distance, and control the alarm device and keep rescuing described in alarm guidance
Vehicle, which is protected, to the mode of destination direction running includes:
It controls the unmanned plane and the ambulance remains certain communication distance, and control the alarm device and keep police
Report, signal road vehicle are avoided, and the direction of the unmanned plane during flying is the direction of ambulance traveling.
9. a kind of for assisting the unmanned plane of rescue, which is characterized in that the unmanned plane includes: memory, processor, communication dress
It sets and alarm device, wherein the memory is for storing executable program code and data, and the processor is for calling
The executable program code of the memory storage, executes following steps:
Emergency task information is obtained, the alarm device is controlled according to the urgency level of the emergency task information and issues corresponding police
Report；
It controls the communication device and obtains rescue personnel's voluntarily fixed course information, using the fixed course as flight path,
And it controls the unmanned plane and keeps certain reaction distance with the ambulance, and control the alarm device and keep alarm guidance
The ambulance is to destination direction running；
After arriving at the destination, alarm is closed.
10. according to claim 9 for assisting the unmanned plane of rescue, which is characterized in that the processor obtains urgent
Mission bit stream controls the mode packet that the alarm device issues corresponding alarm according to the urgency level of the emergency task information
It includes:
Task grade is divided according to the urgency level, and controls the alarm device and ad eundem is made according to the task grade
Alarm；The task grade includes emergency task, urgent service, extra urgent task, and the emergency task corresponds to primary alarm, urgent
Task corresponds to second-level alarm, extra urgent task corresponds to three-level alarm.
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| CN110955260A (en) * | 2019-12-11 | 2020-04-03 | 久心医疗科技（苏州）有限公司 | Intelligent scheduling system and method for portable emergency medical equipment |
| CN111984031A (en) * | 2020-07-20 | 2020-11-24 | 鹏城实验室 | Unmanned aerial vehicle path planning method, unmanned aerial vehicle and storage medium |
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| CN112581733A (en) * | 2020-12-10 | 2021-03-30 | 中科芯集成电路有限公司 | Intelligent hospital monitoring and help calling platform |
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| CN117928592A (en) * | 2024-03-21 | 2024-04-26 | 四川省医学科学院·四川省人民医院 | Emergency ambulance route planning and arrival time estimating method and system |
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Application publication date: 20181228 |