TWI652557B - Evacuation route guiding device and method thereof - Google Patents

Abstract

An escape guiding device comprises a processing module, an unmanned vehicle, a detecting module, a communication interface and a projection component. The detection module scans a plurality of objects around the unmanned vehicle to obtain a plurality of distances from the block in which the object is located to the unmanned vehicle. The communication interface is configured to receive an escape trigger signal and a preset three-dimensional model of the designated area. After receiving the escape trigger signal, the processing module drives the unmanned vehicle to move in the designated area to determine the instantaneous position of the human body image in the preset three-dimensional model, and generates an escape image of the human body image leaving the designated area according to the preset three-dimensional model and the instantaneous position. The moving line and the indication image that follows the vivid line. The projection component projects the indication image.

Description

Escape guiding device and method thereof

The present invention relates to disaster evacuation, and more particularly to an escape guiding device.

When a disaster occurs unpredictably, such as a fire or an earthquake, if a disaster detection module and an alarm module are provided in the vicinity of the disaster source, the disaster detection module can detect the source of the disaster around it and the alarm module can Warnings have a source of disaster around them to evacuate people near the source of the disaster. However, if the people are unable to escape from the scene of the disaster and escape from the scene of the disaster, they can only passively wait for the rescue. During this period, the rescuers and disaster relief equipment arrived at the disaster site and the trapped people were still in a dangerous situation before the trapped people safely fled the disaster site.

Even if the search and rescue personnel and disaster relief equipment arrive at the disaster site, the search and rescue personnel will use a life detector such as sound waves, vibration, optics, carbon dioxide, infrared, radar and other life detectors at the disaster site to confirm the location of the trapped people and then start the rescue. Trapped people. However, if the disaster site does not have enough space for the search and rescue personnel to carry disaster relief equipment (such as a collapse of a building), or if the disaster site is likely to endanger the safety of the search and rescue personnel (such as a fire scene), the search and rescue personnel can operate from outside the disaster relief site. After the disaster relief robot has eliminated the above situation, it will go to rescue the trapped people.

Due to the current disaster relief robot, it is impossible to capture the image from the disaster site, construct a three-dimensional model of the disaster site, and identify the human body image from it, so as to plan a human body image and the escaped vivid line of the adjacent safe space and the image to escape the vivid line. The direction of movement.

In view of the above problems, an embodiment of the present invention provides an escape guiding device. The escape guiding device includes a processing module, an unmanned vehicle, a detection module, a communication interface, and a projection assembly. Unmanned vehicles are used to move in a designated area. The detection module is disposed on the unmanned vehicle for scanning a plurality of objects around the unmanned vehicle, and obtaining a plurality of distances from the block where the objects are located to the unmanned vehicle. The communication interface is disposed on the unmanned vehicle for receiving an escape trigger signal and a preset three-dimensional model of the designated area. The projection assembly is disposed on the unmanned vehicle. The processing module is disposed on the unmanned vehicle, and is electrically connected to the unmanned vehicle, the detecting module and the projection component. The processing module is configured to drive the unmanned vehicle to move in the designated area after receiving an escape trigger signal. According to the distances, an instant three-dimensional model is continuously constructed, and then the difference between the preset three-dimensional model and the instant three-dimensional model is compared to identify a human body image in the instant three-dimensional model, and the human body image is determined in the preset three-dimensional model. The position, according to the preset three-dimensional model and the instantaneous position, plan an escape image of the human body image leaving the designated area and the indication image following the escaped vivid line, and the projection component is used for projecting the indication image. Therefore, when the escape guiding device receives an escape trigger signal, the image guiding personnel can be automatically generated to escape from the disaster site in time.

In another embodiment, an escape guiding method is used for guiding escape in a designated area, and the escape guiding method comprises the steps of: receiving an escape trigger signal, loading a preset three-dimensional model of the designated area, and driving an unmanned vehicle. Moving in a designated area; scanning a plurality of objects around the unmanned vehicle, obtaining a plurality of distances from the block where the objects are located to the unmanned vehicle; and continuously constructing an instant three-dimensional model according to the distances; comparing the preset three-dimensional models Differentiating from the real-time three-dimensional model to identify a human body image in the real-time three-dimensional model, and determining the instantaneous position of the human body image in the preset three-dimensional model; generating an escape of the human body image from the designated area according to the instantaneous position and the preset three-dimensional model a moving line and an indication image that follows the vivid line; and a projection indication image. Therefore, when the escape guiding device receives an escape trigger signal, the indicator image can be automatically generated to guide the human body image to escape from the disaster site in time.

The detailed features and advantages of the present invention are set forth in the Detailed Description of the Detailed Description of the <RTIgt; </ RTI> <RTIgt; </ RTI> </ RTI> </ RTI> <RTIgt; The objects and advantages associated with the present invention can be readily understood by those skilled in the art.

1 is a perspective view showing the appearance of an escape guiding device 1 according to a first embodiment of the present invention, and FIG. 2 is a hardware block diagram of a first embodiment of the escape guiding device 1.

As shown in Figures 1 and 2, the escape guiding device 1 is used to guide escape in a designated area. The escape guiding device 1 includes an unmanned vehicle 10, a detection module 30, a processing module 50, a projection assembly 60, and a communication interface 70. The unmanned vehicle 10 is an object carrying the detection module 30, the processing module 50, the projection assembly 60, and the communication interface 70. The processing module 50 controls the movement of the unmanned vehicle 10 and electrically connects the detection module 30, the projection assembly 60, and the communication interface 70.

As shown in Figures 1 and 2, the unmanned vehicle 10 is controlled by the processing module 50 for movement in a designated area. The unmanned vehicle 10 can be a flying vehicle (such as a quadcopter), a ground vehicle, or a vehicle that has both flight capability and ground mobility.

As shown in FIG. 2, the detecting module 30 is disposed on the unmanned vehicle 10 for scanning a plurality of objects around the unmanned vehicle 10, and obtaining a plurality of distances from the block where the objects are located to the unmanned vehicle 10; The distance data can be used to create a three-dimensional model of each object. The detection module 30 can be, but not limited to, a Stereo Camera (such as a Time of Flight (TOF) camera), or other optical and acoustic ranging devices, as long as the distance can be detected. The measuring component can be.

As shown in FIG. 2, the communication interface 70 is disposed on the unmanned vehicle 10 for receiving a preset three-dimensional model of the escape trigger signal and the designated area, and transmitting the same to the processing module 50. The communication interface 70 may include a wireless interface, such as Global System for Mobile Communications (GSM)/General Packet Radio Service (GPRS), 3G, 4G, 5G, etc., or support regional wireless such as Wi-Fi wireless network, Bluetooth, etc. Communication technology is connected to other networkable devices. Through the wireless interface, the communication interface 70 can receive the remotely saved preset three-dimensional model and transmit it to the processing module 50. The preset three-dimensional model may be a parameter of one or more structural structures (such as floor plan and three-dimensional structure) in the designated area, for example, the length, height or depth of the beam, column, entrance and exit in the building, plus not belonging to Objects of the structure of the building. The preset 3D model can be received and loaded remotely and updated after loading according to the status of the specified area.

As shown in FIG. 2 , the processing module 50 is disposed on the unmanned vehicle 10 and electrically connected to the unmanned vehicle 10 , the detection module 30 , and the communication interface 70 . The processing module 50 loads the preset three-dimensional model from the communication interface 70, and designs a route to control the unmanned vehicle 10 to move in the designated area, and performs the scanning operation by the detecting module 30.

After the processing module 50 receives the escape trigger signal, the processing module 50 drives the unmanned vehicle 10 to start moving in the designated area, and continues to obtain the plurality of blocks of the object to the unmanned vehicle 10 through the detection module 30. Distance to continuously construct an instant three-dimensional model based on multiple distances.

Then, the processing module 50 compares the difference between the preset three-dimensional model and the instant three-dimensional model, so as to find out the difference objects that exist in the instant three-dimensional model but do not exist in the preset three-dimensional model. If the difference object is a person in the designated area, the processing module 50 can recognize a human body image.

When the processing module 50 recognizes that the difference object is a human body image, that is, the person located in the designated area is found, the processing module 50 can determine the instantaneous position of the human body image in the preset three-dimensional model, that is, the instant of the person in the designated area. position. The processing module 50 then designs an escape line that leaves the human body image away from the designated area according to the preset three-dimensional model and the instantaneous position. Finally, the processing module 50 generates an indication image that follows the vivid line according to the instantaneous position.

As shown in FIG. 2 , the projection assembly 60 is located on the unmanned vehicle 10 and is electrically connected to the processing module 50 . The projection component 60 projects an indication image for indicating the direction of movement of the escape line. Projection assembly 60 can be, but is not limited to, one or more laser projection cameras. Furthermore, the laser projection camera can also adjust the projection image parameters such as the direction, brightness, and size of the projection image. For example, when the processing module 50 generates an indication image that escapes the vivid line and follows the vivid line, the laser projection camera can project the indication image, for example, a straight direction, a turning direction, a stop movement, and the like.

The indication image can be a simple arrow, the direction is toward the direction of the vivid line, and the escape line can be from the instantaneous position of the human body image in the preset three-dimensional model to the departure from the preset three-dimensional model route, that is, the person can leave the designated place. The route to escape the vivid line can usually point to the escape ladder position or the descending ladder. Therefore, when the human body image (ie, the person) moves, the processing module 50 can control the unmanned vehicle 10 to follow according to the moving human body image, and continuously update the instantaneous position of the human body image, thereby continuously changing the indication image to conform to the vivid line. The direction of travel is projected through the projection assembly 60 to direct the person to follow the direction of travel of the escape line.

In another embodiment, the communication interface 70 may also include a wired interface, and when the unmanned vehicle 10 stays on a base for charging, and simultaneously connected to the base by a wired interface, the escape trigger signal is received from the base. The escape trigger signal may be automatically sent by the fire monitoring system of the designated area according to the detection result, or the management may manually send an escape trigger signal by the security management system.

For example, when the smoke detector in the designated area is triggered by a smoke, the smoke detector can transmit a trigger event (such as a smoke-triggered signal and video information around the smoke detector) to the fire monitoring system, and then fire. The monitoring system will determine the occurrence of the disaster and send an escape trigger signal through the communication loop; or the fire monitoring system transmits the disaster warning signal and related information (such as live video) to the security management system, and the manager decides whether the security management system manually An escape trigger signal is issued.

In another embodiment, referring to FIG. 2, the escape guiding device 1 further includes an image capturing module 20 disposed on the unmanned vehicle 10 to capture an instant image around the unmanned vehicle 10. In one embodiment, the image capturing module 20 can be an RGB camera. The processing module 50 can transmit the instant location of the person and the instant image through the communication interface 70, so that the rescuer can grasp the situation for assistance. That is, the distress information includes the immediate location of the person and an instant image of the person's surroundings.

In another embodiment, referring to FIG. 2, the escape guiding device 1 further includes a manual switch 80. The manual switch 80 is electrically connected to the processing module 50 for manually generating an escape trigger signal. That is to say, even if the processing module 50 does not receive the escape trigger signal from the outside, the person can activate the escape guiding device 1 as long as the person determines that a disaster has occurred.

In another embodiment, referring to FIG. 2, the escape guiding device 1 further includes a storage module 40 disposed on the unmanned vehicle 10 to store a predetermined three-dimensional model of the designated area. Therefore, in the case that the wireless signal is not good, the preset three-dimensional model can be directly read from the storage module 40 carried by the unmanned vehicle 10.

Referring to FIG. 2 and FIG. 3, FIG. 3 is a flow chart of the first embodiment of the escape guiding device 1, and includes the following steps.

First, the processing module 50 receives an escape trigger signal through the communication interface 70, and loads a preset three-dimensional model of the specified area by the storage module 40, thereby driving an unmanned vehicle 10 to move in the designated area, as shown in step S110. .

Then, the detecting module 30 scans the plurality of objects of the unmanned vehicle 10 to obtain a plurality of distances from the block where the objects are located to the unmanned vehicle 10, as shown in step S120.

After continuously obtaining a plurality of distances, the processing module 50 continuously constructs an instant three-dimensional model according to the plurality of distances, as shown in step S130.

In the state where no one, no specific event occurs, the instant 3D model will conform to a certain part of the preset 3D model, so it can be judged according to which position the instant 3D model is obtained; if it is roughly related to the preset 3D model Some of them are consistent, and when there are small differences, the difference may be personnel or new objects.

Therefore, the processing module 50 then compares the difference between the preset three-dimensional model and the instant three-dimensional model to identify a human body image in the instant three-dimensional model, as shown in step S140. If no human body image is found, the processing module 50 continuously controls the movement of the unmanned vehicle 10 and continuously scans by the detecting module 30.

If the human body image is found, the processing module 50 determines the instantaneous position of the human body image in the preset three-dimensional model, as shown in step S150.

Then, the processing module 50 generates a virtual line of the human body image leaving the designated area and an indication image of the following virtual line according to the instantaneous position and the preset three-dimensional model, as shown in step S160.

Finally, the processing module 50 controls the projection component 60 to project an indication image, as by step S170.

Thereafter, the processing module 50 controls the unmanned vehicle 10 to follow the human body image, as shown in step S180, and continuously updates the instantaneous position of the human body image and updates the escape line, and changes the content of the indication image.

Please refer to FIG. 4 , which is a hardware block diagram of an escape guiding device 1 according to a second embodiment of the present invention. The second embodiment is substantially the same as the previous embodiment except that the escape guiding device 1 further includes a speaker 90.

As shown in FIG. 4 , the speaker 90 is disposed on the unmanned vehicle 10 and electrically connected to the processing module 50 . The processing module 50 group produces an audible indication that follows the live line, and the speaker 90 is operative to issue the audible indication. For example, when the processing module 50 determines that the instantaneous position of the human body image is close to the next fork or reaches the next fork, the processing module 50 points to the right turn with the escaped line projected by the projection component 60, and will need to turn right. The line is converted into an audible indication, and the speaker 90 can play an audible indication, that is, the human body image can hear a meter of any value from the fork, or hear an audible indication of turning right at the fork to follow the vivid line.

In another embodiment, referring to FIG. 4, the unmanned vehicle 10 further includes a flying power unit 11 and a ground moving unit 12. The flying power unit 11 and the ground moving unit 12 can drive the unmanned vehicle 10 to move in a flight mode and a ground moving mode, respectively. For example, the unmanned vehicle 10 can be, but is not limited to, a quadrotor unmanned aircraft having a flight power unit 11 and a ground moving unit 12. The flying power unit 11 may be a propeller assembly (including a propeller and a drive) or an injection engine assembly (including a turbine assembly) to drive the escape guide 1 to fly in the air. The ground moving unit 12 can be a power component, such as a wheel assembly (including a drive member and a transmission assembly), and drives the plurality of wheels to rotate via the power assembly to drive the escape guiding device 1 to move on land.

The processing module 50 is for selectively controlling one of the flying power unit 11 and the ground moving unit 12 to drive the unmanned vehicle 10 to move. Generally, when the unmanned vehicle 10 moves, the processing module 50 preferentially controls the flying power unit 11 to drive the unmanned vehicle 10. During the flight, the processing module 50 continuously analyzes the data captured by the detection module 30 and the image capturing module 20 to determine whether the flight path of the unmanned vehicle 10 is blocked; for example, because of a disaster event The falling object blocks the flight path, or the flight path is full of smoke, so that the detecting module 30 and the image capturing module 20 cannot function. At this time, the processing module 50 controls the flying power unit 11 to make the unmanned vehicle 10 It falls to the ground and switches to drive the unmanned vehicle 10 with the ground moving unit 12.

Please refer to FIG. 4 and FIG. 5. FIG. 5 is a flow chart of the second embodiment of the escape guiding device 1. The flow of the second embodiment is mainly based on the steps of the first embodiment, and the following description is only for the differences, and the same steps are not described again.

As shown in FIG. 5, after step S150 or S180, the processing module 50 continues to determine whether the person can move. The processing module 50 continuously monitors the moving state of the human body image, as shown in step S181. If the human body image does not move within a time threshold, the processing module 50 transmits a help information through the communication interface 70, as shown in step S182.

The help information includes the instant location of the human body image in the preset three-dimensional model to instruct the rescuer to assist the rescued person who is trapped or disabled.

As shown in FIG. 5, in step S150, the real-time position of the human body image in the preset three-dimensional model is determined, and the processing module 50 simultaneously compares the difference between the preset three-dimensional model and the instant three-dimensional model, and recognizes that the human image is not belonging to the human body image. Obstacle, as shown in step S151, if there is, for example, an object formed by a collapsed object or a displayed object, or even an obstacle formed by a disaster source (such as a fire or smoke), the processing module updates the escape of step S160. The moving line, so that the escape line does not pass the obstacle, and the obstacle is prevented from obstructing the person to escape, as shown in step S152.

If the processing module 50 is unable to generate a virtual line that does not pass the obstacle, so that the processing module 50 cannot update the live line, in step S153, a help message is sent by the communication interface 70, as shown in step S182. As described above, the help information includes the instantaneous position of the human body image in the preset three-dimensional model, and may also include the instant image of the unmanned vehicle 10 captured by the image capturing module 20.

When determining the instantaneous position of the human body image, if the processing module 50 determines that the human body image has left the range of the preset three-dimensional model, that is, the guided person has left the designated area, the processing module 50 controls the unmanned vehicle 10 Return to the designated area, and start searching for other people (that is, identify the human body image) from step S120.

When the escape trigger signal is not received, the processing module 50 can also periodically control the unmanned vehicle 10 to move in the designated area to obtain an instant three-dimensional model according to a schedule, so as to update the preset three-dimensional model, so that the preset three-dimensional model is more consistent. The actual status of the specified area.

The escape guiding device and the corresponding method according to one or more of the embodiments disclosed above can capture images from the disaster site, construct a three-dimensional space model of the disaster site, and identify the human body image therefrom, thereby planning a human body image. And the escape from the safe space and the live image of the live line.

1‧‧‧Escape guidance device

10‧‧‧No-man vehicle

11‧‧‧Flight Power Unit

12‧‧‧Terrestrial mobile unit

20‧‧‧Image capture module

30‧‧‧Detection module

40‧‧‧ storage module

50‧‧‧Processing module

60‧‧‧Projection components

70‧‧‧Communication interface

80‧‧‧Manual switch

90‧‧‧ Speaker

S110~S182‧‧‧Steps

Fig. 1 is a perspective view showing the appearance of an escape guiding device according to a first embodiment of the present invention. Figure 2 is a hardware block diagram of the first embodiment of the escape guiding device of Figure 1. Figure 3 is a flow chart of the first embodiment of the escape guiding device of Figure 1. Figure 4 is a hardware block diagram of the escape guiding device of the second embodiment of the present invention. Figure 5 is a flow chart of a second embodiment of the escape guiding device of Figure 4.

Claims (10)

An escape guiding device for guiding escape in a designated area, the escape guiding device comprising: a processing module; an unmanned vehicle for moving in the designated area; a detecting module disposed on the unmanned carrier The utility model is configured to scan a plurality of objects around the unmanned vehicle, and obtain a plurality of distances from the block where the object is located to the unmanned vehicle; a communication interface is disposed on the unmanned vehicle for receiving an escape trigger a signal and a predetermined three-dimensional model of the designated area; and a projection component disposed on the unmanned vehicle; wherein the processing module is disposed on the unmanned vehicle and electrically connected to the unmanned vehicle, the detection module And the projection component; the processing module is configured to drive the unmanned vehicle to move in the designated area after receiving the escape trigger signal, and continue to construct an instant three-dimensional model according to the equal distance, and then compare Determining a difference between the three-dimensional model and the instant three-dimensional model to identify a human body image in the instant three-dimensional model, and determining an immediate position of the human body image in the preset three-dimensional model, According to the predetermined three-dimensional model of the real-time location and generating the image away from the body to escape a traffic line on the specified area of the image and follows the escape indicates a movable line; projection unit for projecting the image of the indication. The escape guiding device of claim 1, further comprising a manual switch electrically connected to the processing module for manually generating the escape trigger signal. The escape guide device of claim 1 further includes an image capture module disposed on the unmanned vehicle and electrically connected to the processing module for capturing an instant image of the unmanned vehicle. And the help information also includes the instant image. The escape guide device of claim 1, wherein the unmanned vehicle has a flight power unit and a ground mobile unit, and is disposed on the unmanned vehicle and electrically connected to the processing module, wherein the processing module is used for One of the flight power unit and the ground moving unit is selectively controlled to drive the unmanned vehicle to move. The escape guiding device of claim 1, further comprising a speaker disposed on the unmanned vehicle and electrically connected to the processing module, configured to send a sound indication generated by the processing module to follow the escape line . The escape guide device of claim 1, further comprising a storage module disposed on the unmanned vehicle and electrically connected to the processing module for storing the preset three-dimensional model of the designated area. The escape guiding device of claim 1, wherein the processing module is configured to recognize that the human body image does not move within a time threshold or when the virtual line that does not pass an obstacle is not generated, the processing The module transmits a help information by using the communication interface, the help information includes an instant location of the human body image in the preset three-dimensional model; and/or the processing module is configured to compare the preset three-dimensional model with the instant three-dimensional model When the difference between the model and the obstacle that does not belong to the human body image is recognized, the processing module updates the escape vivid line so that the escape vivid line does not pass the obstacle; and/or the processing module is used according to A schedule for periodically controlling the unmanned vehicle to move within the designated area to obtain the instant three-dimensional model to update the preset three-dimensional model. An escape guiding method for guiding escape in a designated area, the escape guiding method comprising the steps of: receiving an escape trigger signal, loading a preset three-dimensional model of the designated area, driving an unmanned vehicle in the designated area Moving; scanning a plurality of objects around the unmanned vehicle to obtain a plurality of distances from the block in which the object is located to the unmanned vehicle; and continuously constructing an instant three-dimensional model according to the equal distance; comparing the preset three-dimensional model Differentiating from the instant three-dimensional model to identify a human body image existing in the objects, and determining a real position of the human body image in the preset three-dimensional model; generating the current image according to the instantaneous position and the preset three-dimensional model The human body image leaves an escape line of the designated area and an indication image following the escaped vivid line; and the indication image is projected. The escape guiding method according to claim 8, wherein the human body image transmits a help information when the mobile phone image does not move within a time threshold, or when the virtual line that does not pass an obstacle is not generated, the help information is sent. The information includes the instant location of the human body image in the preset three-dimensional model. The escape guiding method according to claim 8, wherein when the difference between the preset three-dimensional model and the instant three-dimensional model is recognized, and an obstacle that does not belong to the human body image is recognized, the escape vivid line is updated. The escape line does not pass the obstacle.