CN109141399A - A kind of escape indicating means, system, computer storage medium and electronic equipment - Google Patents
A kind of escape indicating means, system, computer storage medium and electronic equipment Download PDFInfo
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Abstract
The invention discloses a kind of escape indicating means and systems, this method comprises: obtaining current rescue information；Obtain the mobile message of rescue information carrier；Mobile message based on rescue information carrier adjusts current rescue information, so that the current rescue information of projection does not change in time-space domain with the movement of its carrier, to be more advantageous to instruction trapped person's escape.
Description
Technical Field
The invention belongs to the technical field of rescue, and particularly relates to an escape indication method, an escape indication system, a computer storage medium and electronic equipment.
Background
With the progress of science and technology, modern buildings are rich in functions and complex in structure, but the large-scale buildings bring high-quality experience to people and have many potential safety hazards. For example: people are evacuated when a disaster occurs, the problem that people are trapped is solved, and the escape indication method and the escape indication system are necessary to establish. The implementation process of the rescue method in the prior art specifically comprises the following steps: the planned escape path is irradiated on the ground in a laser projection mode, escapers can evacuate according to the laser projection mark, and the escape direction is generally projected on the ground through a laser projector of the gas mask.
Although the prior art can well make the escaper see the escape direction and guide the escaper to escape, the following problems still exist: when the rescue indication image is projected on a wall or the ground, the rescue indication image is not static but changes along with the movement of the rescue indication image carrier, and in the rescue operation, the rescue personnel inevitably move to know the surrounding situation, at this time, the rescue indication image changes, such as the projection position, the image size, the indication direction and the like, and even the situation of transmitting wrong escape information to the trapped person is possibly caused, and the result that the trapped person misses the optimal escape time is caused.
Therefore, it is necessary to establish an escape indication method and system capable of stabilizing the projection image with respect to the projection device.
Disclosure of Invention
Objects of the invention
The invention aims to provide an escape indication method and an escape indication system which can automatically adjust the projection mode of a rescue indication image and corresponding projection video information, so that the rescue indication image is projected on an escape route and cannot be changed along with the movement of a carrier in a certain time-space domain.
(II) technical scheme
In order to solve the above problems, a first aspect of the present invention provides an escape indication method, including: obtaining current rescue information; acquiring mobile information of a rescue information carrier; and adjusting the current rescue information based on the movement information of the rescue information carrier so that the projected current rescue information does not change along with the movement of the carrier in the time-space domain.
Further, the step of adjusting the rescue information based on the movement information of the rescue information carrier includes: calculating compensation information based on the movement information of the rescue information carrier; and compensating the current rescue information based on the compensation information.
Further, the step of calculating a compensation information based on the movement information of the rescue information carrier comprises: calculating projected image compensation information to compensate for changes in shape, size and/or direction of the projected current rescue information; and/or calculating a projected attitude compensation information to compensate for a change in the position of the projected current rescue information.
Further, the movement information of the rescue information carrier comprises change information of at least two dimensions; the method comprises the following steps: calculating attitude adjustment parameters of at least two dimensions based on the change information of the at least two dimensions; and compensating the current rescue information of the corresponding dimensionality based on the attitude adjustment parameters of at least two dimensionalities.
Further, the escape indication method further comprises the following steps: comparing the size or shape of the current rescue information with preset rescue information; if the size of the current rescue information is reduced relative to the preset rescue information, the projected image compensation information is used for amplifying the current rescue information so as to keep the size of the current rescue information unchanged; if the size of the current rescue information is enlarged relative to the preset rescue information, the projected image compensation information is to reduce the current rescue information so as to keep the size of the current rescue information unchanged; and if the shape of the current rescue information is distorted relative to the preset rescue information, performing distortion processing on the current rescue information by adopting a distortion control algorithm to keep the shape of the current rescue information unchanged.
Further, the escape indication method further comprises the following steps: acquiring environmental parameters of the positions of one or more of trapped people, rescuers and rescue equipment; and calculating to obtain the current rescue information based on the environmental parameters.
Further, the current rescue information includes at least one of an escape route, rescue instruction information, and a projection position.
Further, the escape indication method further comprises the following steps: generating a rescue indication image based on the rescue indication information; and projecting the rescue indication image to a projection position.
Further, the projection position is calculated by the following method: acquiring spatial position information of a rescue information carrier; and calculating according to the spatial position information of the rescue information carrier and the rescue indication image.
Further, the escape indication method further comprises the following steps: acquiring an actual escape route of the trapped person; calculating whether the trapped person escapes along the escape route based on the actual escape route; and when the trapped person is calculated to escape along the escape route, sending a reminding message to remind the trapped person.
Further, the escape indication method further comprises the following steps: acquiring current position information of trapped people; comparing the current position information of the trapped person with the position information acquired last time; when the two are not consistent, the latest projection position is calculated based on the current position information of the trapped person.
Further, the escape indication method further comprises the following steps: comparing the movement information of the rescue information carrier with a maximum movement threshold; if the movement information of the rescue information carrier is larger than the maximum movement threshold, adjusting the current rescue information; and if the movement information of the rescue information carrier is not larger than the maximum movement threshold, not adjusting the current rescue information.
According to another aspect of the embodiments of the present invention, there is also provided an escape indication system including: the acquisition module is used for acquiring current rescue information and acquiring mobile information of a rescue information carrier; and the holder module is used for adjusting the rescue information based on the movement information of the rescue information carrier so as to ensure that the projected current rescue information does not change along with the movement of the carrier in a space-time domain.
Further, the pan-tilt module comprises: the compensation information calculation module is used for calculating compensation information based on the mobile information of the rescue information carrier; and the compensation module is used for compensating the current rescue information based on the compensation information.
Further, the compensation information calculation module includes: the image compensation calculation module is used for calculating projection image compensation information so as to compensate the change of the shape, the size and/or the direction of the projected current rescue information; and/or the attitude compensation calculation module is used for calculating projection attitude compensation information so as to compensate the change of the projection position of the projected current rescue information.
Further, the movement information of the rescue information carrier comprises change information of at least two dimensions; the compensation information calculation module is further used for calculating attitude adjustment parameters of at least two dimensions based on the change information of the at least two dimensions; and the compensation module is further used for compensating the current rescue information of the corresponding dimensionality based on the attitude adjustment parameters of at least two dimensionalities.
Further, the image compensation calculating module comprises: the comparison submodule is used for comparing the size or the shape of the current rescue information with the preset rescue information, and if the size of the current rescue information is reduced relative to the preset rescue information, the holder module amplifies the current rescue information to enable the size of the current rescue information to be unchanged; if the current rescue information is amplified relative to the preset rescue information, the holder module reduces the current rescue information to enable the size of the current rescue information not to be changed; if the shape of the current rescue information is distorted relative to the preset rescue information, the holder module adopts a distortion control algorithm to perform distortion processing on the current rescue information, so that the shape of the current rescue information is unchanged.
Further, the escape indication system further comprises a calculation module: the acquisition module is further used for acquiring environmental parameters of the positions of one or more of the trapped people, the rescuers and the rescue equipment; and the calculation module is used for calculating to obtain the current rescue information based on the environmental parameters.
Further, the current rescue information includes at least one of an escape route, rescue instruction information, and a projection position.
Further, the escape indication system further comprises: the image generation module is used for generating a rescue indication image based on the rescue indication information; and the control projection module is used for controlling the rescue indication image to be projected to the projection position.
Further, the obtaining module is further configured to obtain spatial position information of the rescue information carrier; and the calculation module is also used for calculating according to the spatial position information of the rescue information carrier and the rescue indication image.
Further, the escape indication system further comprises a reminding module: the acquisition module is also used for acquiring the actual escape route of the trapped people; the calculation module is also used for calculating whether the trapped person escapes along the escape route based on the actual escape route; and the reminding module is used for sending a reminding message to remind the trapped people when the trapped people calculated are not escaping along the escape route.
Further, the escape indication system further comprises a position comparison module: the acquisition module is also used for acquiring the current position information of the trapped personnel; and the position comparison module is used for comparing the current position information of the trapped person with the position information acquired last time, and when the current position information of the trapped person is inconsistent with the position information acquired last time, the holder module calculates the latest projection position based on the current position information of the trapped person so as to adjust the current projection position.
Further, the escape indication system further comprises: the mobile information comparison module is used for comparing the mobile information of the rescue information carrier with a maximum mobile threshold value; if the movement information of the rescue information carrier is larger than the maximum movement threshold, adjusting the current rescue information; and if the movement information of the rescue information carrier is not larger than the maximum movement threshold, not adjusting the current rescue information.
According to another aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform any one of the methods described above.
According to another aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform any of the methods described above.
(III) advantageous effects
The technical scheme of the invention has the following beneficial technical effects: according to the invention, the current rescue information and the mobile information of the rescue information carrier are obtained, and the current rescue information is adjusted based on the mobile information of the rescue information carrier, so that the rescue information does not change in size, shape or projection position along with the movement of the carrier in a space-time domain, trapped people can be favorably separated from a dangerous situation, the trapped people can obtain stable rescue indication information in the escape process, and the trapped people are prevented from being influenced by the change of the rescue indication information and being unfavorable for escaping.
Drawings
Fig. 1 is a flowchart of an escape indication method according to a first embodiment of the present invention;
FIG. 2 is a flow chart of an escape indication method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of an escape indication method according to a third embodiment of the present invention;
FIG. 4 is a flow chart of an escape indication method according to a fourth embodiment of the present invention;
fig. 5 is a flowchart of an escape indication method according to a fifth embodiment of the present invention;
FIG. 6 is a flowchart of an escape indication method according to a sixth embodiment of the present invention;
fig. 7 is a flowchart of an escape indication method according to a seventh embodiment of the present invention;
fig. 8 is a flowchart of an escape indication method according to an eighth embodiment of the present invention;
fig. 9 is a flowchart of an escape indication method according to a ninth embodiment of the present invention;
fig. 10 is a flowchart of an escape indication method according to a tenth embodiment of the present invention;
fig. 11 is a flowchart of an escape indication method according to an eleventh embodiment of the present invention;
fig. 12 is a flowchart of an escape indication method according to a twelfth embodiment of the present invention;
fig. 13 is a schematic structural view of an escape indicating system according to a first embodiment of the present invention;
fig. 14 is a schematic structural view of an escape indicating system according to a second embodiment of the present invention;
fig. 15 is a schematic structural view of an escape indicating system according to a third embodiment of the present invention;
fig. 16 is a schematic structural view of an escape indicating system according to a fourth embodiment of the present invention;
fig. 17 is a schematic structural view of an escape indicating system according to a fifth embodiment of the present invention;
fig. 18 is a schematic structural view of an escape indicating system according to a sixth embodiment of the invention;
fig. 19 is a schematic structural view of an escape indicating system according to a seventh embodiment of the present invention;
fig. 20 is a schematic structural view of an escape indicating system according to an eighth embodiment of the present invention;
fig. 21 is a schematic structural view of an escape indicating system according to a ninth embodiment of the present invention;
fig. 22 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Technical terms:
the holder: a support device to mount or fix the camera;
the cradle head module: used for controlling the holder.
A classical application scenario of the embodiments of the present invention is: a plurality of sensors, a calculation module, an image generation module, a control projection module and a holder module are integrated on intelligent wearable equipment, an intelligent unmanned aerial vehicle or an intelligent robot, and then the intelligent wearable equipment, the intelligent unmanned aerial vehicle or the intelligent robot is applied to a rescue scene. For example: rescue personnel wear the intelligent helmet and enter a fire scene for rescue. Specifically, the sensors are used for collecting some parameters of the positions of one or more of trapped people, rescuers and rescue equipment, and the calculation module is used for receiving the parameters collected by the sensors, performing calculation analysis and generating the optimal projection positions comprising the planned optimal escape route, rescue indication information and rescue indication images. The image generation module generates accurate and clear rescue indication images according to results obtained by calculation and analysis of the calculation module, and the control projection module is used for generating holder control parameters for controlling the rescue indication images to be projected to the optimal projection position. The cradle head module controls the projection device to project onto a wall or the ground through cradle head control parameters and a built-in algorithm.
Referring to fig. 1, fig. 1 is a flowchart of an escape indication method according to a first embodiment of the present invention, which includes the following steps:
s1, acquiring current rescue information;
wherein, the rescue information is information for indicating escape to the trapped people; the current rescue information refers to rescue information presented to trapped people at the current moment;
s2, acquiring the mobile information of the rescue information carrier;
the carrier is a device/apparatus for carrying rescue information, such as: intelligent wearable equipment, an intelligent unmanned aerial vehicle or an intelligent robot and the like;
the movement information of the carrier refers to position change information of the carrier during movement, and the movement information of the carrier may be movement information of the projection device.
And S3, adjusting the current rescue information based on the movement information of the rescue information carrier, so that the projected current rescue information does not change along with the movement of the carrier in the space-time domain.
Specifically, in step S3, the projection mode and/or the projected image information of the current rescue information is adjusted according to the escape route location parameter.
As an embodiment, the projection mode includes: the shape, size, direction and projection position of the projected image, the shape, size, direction and/or projection position of the rescue information to be projected at present are adjusted based on the movement information of the rescue information carrier in step S3.
The invention is illustrated below by way of a complete example:
in this example, a robot is used to rescue a trapped person, the robot is first provided with the escape system, the robot senses whether the trapped person exists around the robot through a plurality of sensors such as a life detection instrument during a search and rescue process, when sensing that the trapped person exists in a certain place, the escape system is triggered to start working, the sensors collect environmental parameters and the like in the space-time domain, for example, the sensors collect that the trapped person should walk along the right front direction and have a relatively flat wall surface on the right hand side, the computing module calculates rescue indication information as an arrow indicating forward walking according to the received information, and the optimal projection position is on the wall surface on the right hand side of the trapped person, and then the projection module is controlled to project the arrow indicating forward walking generated by the image generation module onto the wall surface on the right hand side of the trapped person, and the tripod head system can control the direction and the size of the arrow which is forwards moved and the position of the projection to be not changed along with the movement of the robot in a certain time-space domain through various built-in compensation algorithms, when the trapped person leaves a space domain which can be covered by the system according to a preset optimal escape route, the robot can track the trapped person according to the data of the infrared sensor and the like, and then the trapped person carries out rescue indication again according to the steps, so that the trapped person can get out of a dangerous situation step by step, and the rescue work is completed.
Referring to fig. 2, fig. 2 is a flowchart of an escape indication method according to a second embodiment of the present invention, which includes the following steps:
s21, calculating compensation information based on the movement information of the rescue information carrier;
and S22, compensating the current rescue information based on the compensation information.
Since the change of the rescue information is caused by the movement of the carrier, based on the calculation of the movement information of the carrier, a compensation information can be obtained, and the current rescue information can be compensated by the compensation information, so that the rescue information can not be changed due to the movement of the carrier.
Further, since the movement of the rescue information carrier may cause a change in the shape of the projected image and/or a change in the projected position of the projected image, step S21 may include the following two cases:
when the movement of the relief information carrier causes the change in the shape of the projected image, the implementation of step S21 is: calculating projected image compensation information to compensate for changes in shape, size and/or direction of the projected current rescue information;
when the movement of the relief information carrier causes a change in the projection position of the projected image, the implementation of step S21 is: calculating projection attitude compensation information to compensate for the position change of the projected current rescue information. In particular, it may be compensated by an attitude-adjustable head.
As an embodiment, the movement information of the rescue information carrier comprises change information in at least two dimensions. Specifically, the movement information of the rescue information carrier may be two-dimensional variation information or three-dimensional variation information. For example: and the change information in the directions of the x coordinate axis and the y coordinate axis, or the change information in the directions of the x coordinate axis, the y coordinate axis and the z coordinate axis.
Further, when the movement information of the rescue information carrier includes change information of two dimensions, as shown in fig. 3, fig. 3 is a flowchart of an escape indication method according to a third embodiment of the present invention, in which the embodiments of step S21 and step S22 are:
s21a, calculating posture adjustment parameters of the two dimensions based on the change information of the two dimensions;
and S22a, compensating the rescue information of the corresponding dimension based on the posture adjustment parameters of the two dimensions.
Further, when the movement information of the rescue information carrier includes variation information of three dimensions, as shown in fig. 4, fig. 4 is a flowchart of an escape indication method according to a fourth embodiment of the present invention, in which the embodiments of step S21 and step S22 are:
s21b, calculating posture adjustment parameters of the three dimensions based on the change information of the three dimensions;
and S22b, compensating the rescue information of the corresponding dimension based on the posture adjustment parameters of the three dimensions.
Taking three dimensions as an example, step S22b is: and respectively adjusting the components of the current rescue information in the x direction, the y direction and the z direction based on the attitude adjustment parameters in the x direction, the y direction and the z direction.
Further, the embodiments shown in fig. 2, 3 and 4 above are explained in detail: assuming that the initial projection position and the projection image (rescue indication image) are obtained by projection at the time t, the projection position and the projection image (rescue indication image) can meet the requirement of proper escape indication. After the time at, the position of the projection device changes, and the position change information can be expressed as: if Δ ═ Δ x, Δ y, Δ z, and the position change can be obtained by an inertial navigation sensor, GPS, or SLAM method based on lidar, then the projected image (rescue instruction image) adjustment parameter or the projected attitude adjustment parameter can be defined based on the projection device position change information, as follows:
wherein,the attitude adjustment parameters of the three dimensions of the holder are obtained, f is a settlement formula, and a specific algorithm of f can be obtained through simple geometric transformation.
Further, the calculation of the recalculated projected image or projected position may be defined as follows:
d＝l(x，y，z，x'，y'，z'，s，Δ)；
wherein, (x, y, z) is the coordinate of the initial projection device, (x ', y ', z ') is the coordinate of the target projection position, l is the calculation function, s is the data matrix of the projected rescue indication image, and d is the data matrix of the updated rescue indication image. Through simple linear transformation, after the updated rescue indication image d is re-projected by the projection device, the projection effect is still kept unchanged from the time t, and the change of the position of the projection device after the updated rescue indication image d passes the time delta t is avoided.
Referring to fig. 5, fig. 5 is a flowchart illustrating an escape indication method according to a fifth embodiment of the present invention, which is an embodiment of adjusting a shape of a projected image, and includes the following steps:
s51, comparing the current rescue information with the preset rescue information;
s52a, if the size of the current rescue information is reduced from the preset rescue information, the projected image compensation information is to enlarge the current rescue information and to make the size of the projected current rescue information unchanged.
The invention is illustrated below by way of a complete example:
in this example, the escape system is installed on the unmanned aerial vehicle, during rescue operation, the rescue indication image changes due to changes in the height, direction and roll angle of the unmanned aerial vehicle, for example, an arrow indicating eastward changes a certain angle due to changes in these factors and turns into southeast direction, and when a trapped person receives the wrong indication information, an unpredictable result may occur, the cradle head module in the invention can control the projected rescue indication image not to change due to changes in the height, direction and roll angle of the unmanned aerial vehicle, for example, the size of the original rescue indication image is within a circle with a diameter of about 0.3m, if the height of the unmanned aerial vehicle rises, the image becomes small, if the unmanned aerial vehicle rises a certain height, the rescue indication image becomes large enough to make the trapped person unable to see the rescue indication information, the escape system is provided with the holder module and the image calculation module, so that when the height of the unmanned aerial vehicle rises, the rescue indication image can be controlled to be reduced in a certain proportion, the size of the rescue indication image is kept consistent with that of the original rescue indication image, and the escape probability of trapped people is improved.
Referring to fig. 6, fig. 6 is a flowchart illustrating an escape indication method according to a sixth embodiment of the present invention, which is another embodiment of adjusting the shape of a projected image, and includes the following steps:
s51, comparing the size of the projected current rescue information with the preset rescue information;
s52b, if the current rescue information is enlarged relative to the preset rescue information, the projected image compensation information is to reduce the current rescue information and make the size of the current rescue information unchanged.
This embodiment can calculate the projected rescue instruction image (rescue information) so that the rescue instruction image itself does not change even if the projection position is not changed. For example, if the firefighter moves vertically by 10 meters toward the projection position, the projection position of the projected rescue indication image is not changed, but the projected image itself becomes large. At this time, it is necessary to calculate a corresponding projected image according to the change of the position of the firefighter, and in this example, the calculated projected image is a rescue indication image that is reduced and currently projected, so that the size of the finally projected rescue indication image is kept unchanged.
Referring to fig. 7, fig. 7 is a flowchart illustrating an escape indication method according to a seventh embodiment of the present invention, which is another embodiment of adjusting the shape of a projected image, and includes the following steps:
s51, comparing the shape of the current rescue information with the preset rescue information;
and S52c, if the shape of the current rescue information is distorted relative to the preset projection image rescue information, the distortion control algorithm is adopted to carry out distortion processing on the current rescue information, and the shape of the projected current rescue information is not changed. The distortion control algorithm is the prior art, and is not described herein again.
This embodiment enables calculation of the projected rescue information, e.g. the rescue indication image, such that the shape of the projected rescue indication image remains unchanged. For example, when the rescue indication image is projected on some uneven wall surfaces or the ground, the rescue indication image can be distorted, for example, some inclined or unclear situations can occur, and at the moment, the rescue indication image can be processed through a distortion control algorithm, so that the rescue indication image can be accurately and clearly projected on the wall or the ground without distortion, and a larger escape opportunity is provided for trapped people.
In the embodiments shown in fig. 5, 6 and 7, the preset rescue information is calculated rescue instruction information that can be used to instruct an escape of an escaper, and may be initially calculated rescue instruction information.
Further, the projection position of the current rescue information can be adjusted based on the movement information of the rescue information carrier, specifically, the projection position of the current rescue information carrier onto the wall or the ground is controlled by the projection position parameter and the built-in algorithm thereof and the acquired position information of the rescue information carrier (for example, by a gyroscope), and the projection position of the rescue indication image at the moment is not changed along with the movement of the carrier. For example: when the body of the firefighter turns to the right by 30 degrees, correspondingly, the rescue indication image projected on the wall or the ground also deflects by a certain angle, the deflection angle of the rescue indication image is estimated according to the deflection angle of the body of the firefighter based on a preset algorithm, and then compensation is carried out, so that the projection position of the rescue indication image can be kept unchanged.
The invention is illustrated below by way of a complete example:
in this example, when a firefighter wears a helmet equipped with the escape system on a primary fire scene and enters the position of the trapped person, the escape indication system collects various environmental parameters such as temperature, smoke concentration and the like at the position through a plurality of sensors in the first time, positions the fire fighter and the real or predicted accurate position of the trapped person, and further calculates an optimal escape path and optimal projection positions of rescue indication information and rescue indication images according to data collected by a map sensor, a GPS and inertial navigation. In one embodiment, the escape path may be a reverse indication of a path when a firefighter enters a scene, for example, if the firefighter turns left to find a trapped person, the trapped person should escape in a right direction, then a right indication arrow is projected on the ground in front of the trapped person, if the trapped person walks left due to excessive tension and misreading of indication information, the sensor can timely sense that the escape direction of the trapped person is wrong, and at this time, an "x" image can be projected in front of the trapped person to remind the trapped person that the escape direction is wrong and should be adjusted in time. In one embodiment, the rescue indication information may also be set by the firefighter via a human-machine interface in the head-mounted device, for example, the firefighter sets a projection position via an augmented reality display device and indicates that it is the projection position. In this process, the fire fighter can remove the condition of looking over elsewhere, the pan-tilt module will predict the deflection angle that rescue instruction image produced because the fire fighter removes through its built-in algorithm this moment, and compensate through compensation algorithm, thereby make the projection position and the direction and the size of rescue instruction image can not change along with the fire fighter's removal, and then make stranded personnel can see rescue instruction image clearly and this rescue instruction image keeps stable in certain time and space, consequently stranded personnel obtain the chance of surviving according to its instruction is promoted greatly.
The adjustment of the projection position may be performed simultaneously with the adjustment of the shape, size, or direction, or may be performed independently.
In the foregoing embodiments, adjustment is performed based on the acquired rescue information, however, the present invention further includes acquiring other information, and calculating rescue information based on the information, and the specific implementation process refers to the description of the following embodiments:
referring to fig. 8, fig. 8 is a flowchart of an escape indication method according to an eighth embodiment of the present invention, the escape indication method includes:
s81, acquiring environmental parameters of the positions of one or more of trapped people, rescue personnel and rescue equipment;
specifically, a plurality of sensors may be provided for collecting some parameters of the location of one or more of the trapped person, the rescue person, and the rescue equipment, the sensors include GPS, inertial navigation, distance radar, a map, infrared, thermoelectric thermometers, smoke concentration indicators, and the like, for example, the GPS and the inertial navigation can provide navigation information, the thermoelectric thermometers can provide temperature data in the current space, the smoke concentration indicators can provide smoke concentration of the current location, the map sensor can provide route information of the current location, and the like, and the distance radar, for example, laser radar, millimeter wave radar, can obtain distance information and generate a three-dimensional scene map.
And S82, calculating current rescue information based on the environmental parameters.
Specifically, data collected by a plurality of sensors, such as temperature data collected by a thermoelectric sensor, positioning navigation data collected by a GPS, inertial navigation, and the like, are received, and then the received data are analyzed and calculated through a built-in algorithm to obtain rescue information, which includes an optimal escape route and rescue indication information, and an optimal projection position of a rescue indication image corresponding to the rescue indication information, where the rescue indication information includes various direction arrows indicating an escape direction of a trapped person, including arrows in directions of forward, backward, left, right, left, and the like, or an identifier appearing with an exclamation mark when the trapped person is about to touch a dangerous object is obtained to remind the trapped person not to touch the dangerous object, or an identifier appearing to guide the trapped person to escape in what posture is present, such as when a fire occurs, the center of gravity should be as low as possible, and cover the mouth and nose to prevent the inhalation of toxic gas, the rescue indicating information can be an image of a squat person at the moment, and the like.
Referring to fig. 9, fig. 9 is a flowchart of an escape indication method according to a ninth embodiment of the present invention, the escape indication method includes:
s91, generating a rescue instruction image based on the current rescue instruction information;
and S92, projecting the rescue indication image to the projection position.
Specifically, a corresponding rescue indication image is generated according to rescue indication information in the current rescue information obtained through calculation, the generated rescue indication image is transmitted to the control projection module, and the control projection module projects the rescue indication image according to the best projection position obtained through calculation of the calculation module. For example, the calculation module calculates that the optimal escape path according to the sensors is that the trapped person walks 100 meters forward, the optimal projection position is on the ground 5 meters forward of the trapped person, the rescue indication information is an arrow indicating forward walking, the image generation module generates an arrow indicating forward direction at the moment, and the projection module is controlled to project the arrow indicating forward direction onto the ground 5 meters forward of the trapped person.
Preferably, the best position of the rescue indication image is a wall or a ground with better light and smoother surface, so that trapped people can easily find the rescue indication image.
Referring to fig. 10, fig. 10 is a flowchart of an escape indication method according to a tenth embodiment of the present invention, wherein the projection position is calculated by the following method:
s101, acquiring spatial position information of a rescue information carrier;
and S102, calculating according to the spatial position information of the rescue information carrier and the rescue indication image. Specifically, the projection position may be calculated from the spatial position information of the projection apparatus itself and the projected rescue instruction image.
As an embodiment, the escape method further comprises: acquiring an actual escape route of the trapped person; calculating whether the trapped person escapes along the escape route based on the actual escape route; when the trapped person does not escape along the escape route, a reminding message is sent to remind the trapped person. For example: if the trapped person does not escape along the calculated optimal escape route, a reminding message needs to be generated in time to remind the trapped person of an error, for example, a symbol of "x" is projected at the moment. When whether the trapped person escapes along the escape route is calculated based on the actual escape route, the actual escape route is compared with the position coordinates of the calculated escape route.
Referring to fig. 11, fig. 11 is a flowchart of an escape indication method according to an eleventh embodiment of the present invention, the method further includes:
s111, acquiring current position information of the trapped people;
s112, comparing the current position information of the trapped person with the position information acquired in the previous time;
s113, when the two are inconsistent, calculating the latest projection position based on the current position information of the trapped person to adjust the current projection position;
optionally, the method further includes: and S114, if the two are consistent, no adjustment is performed.
When the rescue indication image is controlled to keep the projection position, the size and the direction of the rescue indication image unchanged along with the movement of the carrier, particularly in a certain space and time domain, when the trapped person moves to a new position according to the rescue indication information (obtained by sensing the accurate position of the trapped person by a sensor), the updated rescue indication image is projected to a new optimal projection position again according to the previous embodiment, and the projection position, the direction and the size of the rescue indication information are still controlled to be unchanged along with the movement of the carrier in the space and time domain.
Further, since the firefighter walks around frequently, if updated frequently, the amount of calculation is too large for the system, and thus it is possible to stabilize the projected rescue indication image at one location by setting when the firefighter moves within a certain range. Only when the firefighter moves a long distance, the pan-tilt and the calculation module cannot guarantee that the image still maintains the previous position, and at the moment, adjustment is performed once. With particular reference to figure 12 of the drawings,
fig. 12 is a flowchart of an escape indication method according to a twelfth embodiment of the present invention, further including:
s120, comparing the movement information of the rescue information carrier with a maximum movement threshold value;
s121a, if the movement information of the rescue information carrier is larger than the maximum movement threshold, adjusting the current rescue information;
and S121b, if the movement information of the rescue information carrier is not larger than the maximum movement threshold, not adjusting the current rescue information.
As an embodiment, the current rescue information may be obtained by calculating environmental information obtained by a sensor, or may be obtained by a rescuer through a human-machine interaction interface, for example: the firefighter sets a projection position through the augmented reality display device and indicates that it is the projection position.
Fig. 13 is a schematic structural view of an escape indication system according to a first embodiment of the present invention.
As shown in fig. 13, the escape indication system includes:
the acquisition module is used for acquiring current rescue information and acquiring mobile information of a rescue information carrier;
and the holder module is used for adjusting the rescue information based on the movement information of the rescue information carrier so as to ensure that the projected current rescue information does not change along with the movement of the carrier in a space-time domain.
Fig. 14 is a schematic structural view of an escape indication system according to a second embodiment of the present invention.
As shown in fig. 14, the pan-tilt module includes:
the compensation information calculation module is used for calculating compensation information based on the mobile information of the rescue information carrier;
and the compensation module is used for compensating the current rescue information based on the compensation information.
Fig. 15 is a schematic structural view of an escape indication system according to a third embodiment of the present invention.
As shown in fig. 15, the compensation information calculation module includes:
the image compensation calculation submodule is used for calculating projection image compensation information so as to compensate the change of the shape, the size and/or the direction of the projected current rescue information; and/or
And the attitude compensation calculation submodule is used for calculating projection attitude compensation information so as to compensate the change of the projection position of the projected current rescue information.
Wherein the movement information of the rescue information carrier comprises change information of at least two dimensions;
further, the compensation information calculation module is further used for calculating the posture adjustment parameters of the at least two dimensions based on the change information of the at least two dimensions; the compensation module is further used for compensating the rescue information of the corresponding dimension based on the posture adjustment parameters of at least two dimensions.
Fig. 16 is a schematic structural view of an escape indication system according to a fourth embodiment of the present invention.
As shown in fig. 16, the image compensation calculation sub-module includes:
the comparison unit is used for comparing the current rescue information with the preset rescue information in size or shape, and if the current rescue information is reduced relative to the preset rescue information in size, the holder module is used for amplifying the current rescue information to enable the size of the current rescue information to be unchanged; if the current projected rescue information is amplified relative to the preset rescue information, the holder module reduces the current projected rescue information to enable the size of the projected rescue information to be unchanged; if the current projection image information is distorted relative to the preset projection image information, the holder module adopts a distortion control algorithm to perform distortion processing on the current rescue information, so that the shape of the current rescue information is unchanged.
Fig. 17 is a schematic structural view of an escape indication system according to a fifth embodiment of the present invention.
As shown in fig. 17, the escape indication system further includes a calculation module:
the acquisition module is further used for acquiring environmental parameters of the positions of one or more of the trapped people, the rescuers and the rescue equipment;
and the calculation module is used for calculating and obtaining rescue information based on the environmental parameters.
The rescue information at least comprises an escape route, rescue indication information and a projection position.
Fig. 18 is a schematic structural view of an escape indication system according to a sixth embodiment of the invention.
As shown in fig. 18, the escape indication system further includes:
the image generation module is used for generating a rescue indication image based on the rescue indication information;
and the control projection module is used for controlling the rescue indication image to be projected to the projection position.
In one embodiment, the obtaining module is further configured to obtain spatial position information of the rescue information carrier; and the calculation module is also used for calculating according to the spatial position information of the rescue information carrier and the rescue indication image.
Fig. 19 is a schematic structural view of an escape indication system according to a seventh embodiment of the present invention.
As shown in fig. 19, the escape indication system further includes a reminding module:
the acquisition module is also used for acquiring the actual escape route of the trapped people;
the calculation module is also used for calculating whether the trapped person escapes along the escape route based on the actual escape route;
and the reminding module is used for sending a reminding message to remind the trapped people when the trapped people calculated are not escaping along the escape route.
Fig. 20 is a schematic structural view of an escape indication system according to an eighth embodiment of the present invention.
As shown in fig. 20, the escape indication system further includes a position comparison module:
the acquisition module is also used for acquiring the current position information of the trapped personnel;
and the position comparison module is used for comparing the current position information of the trapped person with the position information acquired last time, and when the current position information of the trapped person is inconsistent with the position information acquired last time, the holder module calculates the latest projection position based on the current position information of the trapped person so as to adjust the current projection position.
Fig. 21 is a schematic structural view of an escape indication system according to a ninth embodiment of the present invention.
As shown in fig. 21, the escape indication system further includes:
the mobile information comparison module is used for comparing the mobile information of the rescue information carrier with a maximum mobile threshold value; if the movement information of the rescue information carrier is larger than the maximum movement threshold, adjusting the current rescue information; and if the movement information of the rescue information carrier is not larger than the maximum movement threshold, not adjusting the current rescue information.
It should be noted that an escape indication system of the present invention is a system corresponding to an escape indication method related to a computer program flow, and since the step flow of an escape indication method has been described in detail in the foregoing, the implementation process of an escape indication system is not described again here.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute an escape indication method according to any of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
As shown in fig. 22, an electronic device for performing the foregoing method includes one or more processors 2201, one processor being exemplified in fig. 22, and a memory 2202 communicatively connected to the one or more processors.
The electronic device may further include: an input device 2203 and an output device 2204, wherein the input device 2203 is used for inputting the acquired at least one image, and the output device 2204 is used for outputting the matched task.
The processor 2201, the memory 2202, the input device 2203, and the output device 2204 may be connected by a bus or by other means, as exemplified by a bus in fig. 22.
The memory 2202 is one type of non-transitory computer-readable storage medium. The method can be used for storing non-transitory software programs, non-transitory computer executable programs, such as software programs, instructions and modules corresponding to the escape indication method in the embodiment of the invention. The processor 2201 executes various functional applications of an escape indication system and data processing, i.e. implementing the method steps of the above-described method embodiments, by running non-transitory software programs, instructions and modules stored in the memory 2202.
The memory 2202 may include a storage program area that may store an operating system, an application program required for at least one function, and a storage data area; the storage data area may store data created according to use of an escape indication system, and the like. Further, the memory 2202 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 2202 optionally includes memory remotely located from processor 2201, which may be connected to an escape indication system via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 2203 may receive at least one image inputted and generate key signal inputs related to user settings and function control of the escape indication system of the inputted image. The input device 2203 may include a touch screen, a keyboard, etc., and may also include a wired interface, a wireless interface, etc. The output device 2204 may include a display device such as a display screen.
One or more software programs, instructions, are stored in memory 2202, which when executed by the one or more processors 2201, perform a method of indicating an escape in any of the method embodiments described above.
In an embodiment of the invention, the one or more processors are capable of: an escape indicating method of any of the preceding embodiments is performed.
The invention aims to protect an escape indication method and an escape indication system, and has the following beneficial effects:
(1) the projection mode of the rescue indication image and the corresponding image information can be automatically adjusted according to the escape route position parameters, so that the rescue indication image is projected on the escape route and the image cannot change along with the movement of a system carrier in a certain time-space domain, and trapped people can be more favorably separated from a dangerous situation.
(2) When the trapped person does not escape along the calculated optimal escape path, the person can be timely reminded of making mistakes.
(3) The optimal projection position of the rescue indication image is selected from a wall or a ground with good light and flatness, so that trapped people can easily find the rescue indication image.
(4) The rescue personnel can appoint a projection position, and when the carrier moves, the calculation module can recalculate the projected rescue indication information according to the appointed projection position and project the rescue indication information at the appointed projection position, so that the situation that the position of the projected image or the projected image changes due to the movement of the carrier to cause error indication to the escaper is avoided.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (26)
1. An escape indication method, comprising:
obtaining current rescue information;
acquiring mobile information of a rescue information carrier;
and adjusting the current rescue information based on the movement information of the rescue information carrier so that the projected current rescue information does not change along with the movement of the carrier in the time-space domain.
2. The escape indication method according to claim 1, wherein the step of adjusting the rescue information based on the movement information of the rescue information carrier comprises:
calculating compensation information based on the movement information of the rescue information carrier;
compensating the current rescue information based on the compensation information.
3. The escape indication method according to claim 2, wherein the step of calculating a compensation information based on the movement information of the rescue information carrier comprises:
calculating projected image compensation information to compensate for changes in shape, size and/or direction of the projected current rescue information; and/or
Calculating a projection attitude compensation information to compensate for a change in the projected position of the current rescue information.
4. The escape indication method according to claim 2, wherein the movement information of the rescue information carrier includes variation information of at least two dimensions;
wherein the method comprises the following steps:
calculating attitude adjustment parameters of at least two dimensions based on the change information of the at least two dimensions;
compensating the current rescue information of the corresponding dimension based on the attitude adjustment parameters of the at least two dimensions.
5. The escape indication method of claim 3, further comprising:
comparing the size or shape of the current rescue information with preset rescue information;
if the size of the current rescue information is reduced relative to the preset rescue information, the projected image compensation information is used for amplifying the current rescue information so as to keep the size of the projected current rescue information unchanged;
if the size of the current rescue information is enlarged relative to the preset rescue information, the projected image compensation information is used for reducing the current rescue information so as to keep the size of the projected current rescue information unchanged;
and if the shape of the current rescue information is distorted relative to the preset rescue information, performing distortion processing on the current rescue information projection image by adopting a distortion control algorithm so as to keep the shape of the projection image unchanged.
6. The escape indication method of claim 1, further comprising:
acquiring environmental parameters of the positions of one or more of trapped people, rescuers and rescue equipment;
and calculating to obtain the current rescue information based on the environmental parameters.
7. The escape indication method according to claim 1 or 6, wherein the current rescue information includes at least one of an escape route, rescue indication information, and a projection position.
8. The escape indication method of claim 7, further comprising:
generating a rescue indication image based on the rescue indication information;
projecting the rescue indication image to the projection position.
9. The escape indication method according to claim 8, wherein the projection position is calculated by the following method:
acquiring spatial position information of a rescue information carrier;
and calculating according to the spatial position information of the rescue information carrier and the rescue indication image.
10. The escape indication method of claim 7, further comprising:
acquiring an actual escape route of the trapped person;
calculating whether the trapped person escapes along the escape route based on the actual escape route;
and when the trapped person is calculated to be not escaped along the escape route, sending a reminding message to remind the trapped person.
11. The escape indication method of claim 7, further comprising:
acquiring current position information of trapped people;
comparing the current position information of the trapped person with the position information acquired last time;
when the two are inconsistent, calculating the latest projection position based on the current position information of the trapped person to adjust the current projection position.
12. The escape indication method of claim 1, further comprising:
comparing the movement information of the rescue information carrier with a maximum movement threshold;
if the movement information of the rescue information carrier is larger than the maximum movement threshold, adjusting the current rescue information;
and if the movement information of the rescue information carrier is not greater than the maximum movement threshold, not adjusting the current rescue information.
13. An escape indication system, comprising:
the acquisition module is used for acquiring current rescue information and acquiring mobile information of a rescue information carrier;
the holder module is used for adjusting the current rescue information based on the movement information of the rescue information carrier so that the projected current rescue information does not change along with the movement of the carrier in a space-time domain.
14. The escape indication system of claim 13 wherein said pan and tilt module comprises:
the compensation information calculation module is used for calculating compensation information based on the movement information of the rescue information carrier;
and the compensation module is used for compensating the current rescue information based on the compensation information.
15. The escape indication system of claim 14, wherein the compensation information calculation module comprises:
the image compensation calculation module is used for calculating projection image compensation information so as to compensate the change of the shape, size and/or direction of the projected current rescue information; and/or
And the attitude compensation calculation module is used for calculating projection attitude compensation information so as to compensate the change of the projection position of the projected current rescue information.
16. The escape indication system of claim 14 wherein the movement information of the rescue information carrier includes change information in at least two dimensions;
the compensation information calculation module is further used for calculating attitude adjustment parameters of at least two dimensions based on the change information of the at least two dimensions;
the compensation module is further configured to compensate the current rescue information of the corresponding dimension based on the attitude adjustment parameters of the at least two dimensions.
17. The system of claim 15, wherein the image compensation calculating module comprises:
the comparison submodule is used for comparing the size or the shape of the current rescue information with preset rescue information, and if the size of the current rescue information is reduced relative to the preset rescue information, the holder module enlarges the current rescue information so as to keep the size of the projected current rescue information unchanged; if the current rescue information is enlarged relative to the preset rescue information, the holder module reduces the current rescue information to keep the size of the projected current rescue information unchanged; if the shape of the current rescue information of the current projection image is distorted relative to the preset rescue projection image information, the pan-tilt module adopts a distortion control algorithm to perform distortion processing on the current rescue information, so that the shape of the current rescue information is not changed.
18. The escape indication system of claim 13, further comprising a computing module:
the acquisition module is further used for acquiring environmental parameters of the positions of one or more of trapped people, rescuers and rescue equipment;
and the calculation module is used for calculating to obtain the current rescue information based on the environment parameters.
19. The escape indication system of claim 13 or 18 wherein the current rescue information includes at least one of an escape route, rescue indication information, and a projected location.
20. The escape indication system of claim 19, further comprising:
the image generation module is used for generating a rescue indication image based on the rescue indication information;
and the control projection module is used for controlling the rescue indication image to be projected to the projection position.
21. The escape indication system of claim 20, wherein,
the acquisition module is also used for acquiring the spatial position information of the rescue information carrier;
the calculation module is further used for calculating according to the spatial position information of the rescue information carrier and the rescue indication image.
22. The escape indication system of claim 19, further comprising a reminder module:
the acquisition module is also used for acquiring the actual escape route of the trapped person;
the calculation module is also used for calculating whether the trapped people escape along the escape route based on the actual escape route;
and the reminding module is used for sending a reminding message to remind the trapped people when the trapped people calculated are not escaping along the escape route.
23. The escape indication system of claim 19, further comprising a position comparison module:
the acquisition module is also used for acquiring the current position information of the trapped personnel;
the position comparison module is used for comparing the current position information of the trapped person with the position information acquired last time, and when the current position information of the trapped person is inconsistent with the position information acquired last time, the holder module calculates the latest projection position based on the current position information of the trapped person so as to adjust the current projection position.
24. The escape indication system of claim 13, further comprising:
the mobile information comparison module is used for comparing the mobile information of the rescue information carrier with a maximum mobile threshold value; and if the movement information of the rescue information carrier is greater than a maximum movement threshold, adjusting the current rescue information; and if the movement information of the rescue information carrier is not greater than the maximum movement threshold, not adjusting the current rescue information.
25. A computer storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-12.
26. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1-12 when executing the program.
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