CN104700575A - Safe water rescue system and method - Google Patents
Safe water rescue system and method Download PDFInfo
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- CN104700575A CN104700575A CN201510137432.1A CN201510137432A CN104700575A CN 104700575 A CN104700575 A CN 104700575A CN 201510137432 A CN201510137432 A CN 201510137432A CN 104700575 A CN104700575 A CN 104700575A
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- wing unmanned
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- unmanned aerial
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a safe water rescuing system and method. The system is that two fixed-wing unmanned aerial vehicles and two multi-rotor unmanned aerial vehicles are combined to perform water rescue; the fixed-wing unmanned aerial vehicle having the advantage of long endurance time is used for polling and monitoring and observing the water state; the multi-rotor unmanned aerial vehicle having the characteristics of being flexible and stable to suspend and stop can be used for performing some special and flexible action during rescue; the two unmanned aerial vehicles are combined to achieve the purpose of quick rescuing.
Description
Technical field
The present invention relates to a kind of rescue system and method thereof, specifically a kind of waters safe rescue system and method thereof.
Background technology
The mode of current water surface rescue is all more traditional, generally that rescue personnel receives emergency and goes rescue or drowning person initiatively to go emergency, these are all based on passive emergency, often delay rescue time, incur loss through delay rescue time, fixed-wing unmanned plane has long high-time advantage, and many rotor wing unmanned aerial vehicles have the advantage of hovering flexibly, there is no the report of the two implementation water surface rescue that combines at present, be the promising gesture warning bracelet of swimming player and providing at present, this kind of bracelet error rate is high, and necessary water resistance is good, and cost is higher.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of waters safe rescue system and method rescue efficiency high.
To achieve these goals, the technical solution used in the present invention is: a kind of waters safe rescue system and method thereof, comprises two frame fixed-wing unmanned planes, the many rotor wing unmanned aerial vehicles of two framves and is positioned at the console on ground;
Two described frame fixed-wing unmanned planes have navigation module: for the flight line of the fixed-wing unmanned plane that navigates;
Locating module, for locating geographic position;
Image capture module, for gathering real-time water surface image information;
Wireless transport module, for wireless transmission and the information of reception;
Color sensor is installed, for water surface color distortion in pickup area;
The described many rotor wing unmanned aerial vehicles of two framves include: locating module, navigation module, wireless transport module and deliverance apparatus;
Console comprises wireless module;
By the color draw ring that rescue personnel wears.
Described console also has the server of a criterion behavior database, server is by analyzing the physiologic information of swimmer and positional information, judge whether to occur drowning, if be tentatively judged as drowning incident, then call the video data of camera, and carry out template matches with criterion behavior database and be confirmed whether really for drowning incident.
Described console has display, for observing water surface situation.
Handle ring have coloring agent or can be floating dyeing floccus.
Described coloring agent is vegetable dyeing agent.
The present invention also provides a kind of waters safe rescue method, comprises the following steps: (1), user wear the handle ring being equipped with and having and can dye, fixed-wing unmanned plane A and B makes an inspection tour in water surface overhead, (2) user falls into the water and runs into drowning danger, pull open bracelet, the overboard field color of user changes rapidly, fixed-wing unmanned plane A and B color sensor identification water surface color distortion, water surface color indifference, fixed-wing unmanned plane continues to cruise, water surface color distortion is obvious, fixed-wing unmanned plane flies to color distortion region, fixed-wing unmanned plane sends Surface Picture information to server by information acquisition module, if without exception, then return step (1) and continue through fixed-wing unmanned plane A and the B monitoring water surface, if fixed-wing unmanned plane A finds that there is personnel 1 and appears at the water surface, then drowned/the state of treading that judges that these personnel 1 are in, then enter step (3), (3), server gathers video information according to the information acquisition module of fixed-wing unmanned plane, monitors these personnel 1, (4), server extracts profile, the key poses of personnel 1 from monitoring image, then carries out template matches with criterion behavior database, (5), server judges whether these personnel 1 are in drowned state, if less than drowned, then continue monitoring, if drowned state, then enter step (6), (6), geography information is sent to many rotor wing unmanned aerial vehicles 1 by server, many rotor wing unmanned aerial vehicles 1 according to positioning system fly to drowned personnel 1 overhead and throw under with regard to generating apparatus, if the image that fixed-wing unmanned plane B transmits in this process has personnel 2 to appear at the water surface, drowned/the state of treading that then judges that these personnel 2 are in, then enter step (3), (3), server gathers video information according to the information acquisition module of fixed-wing unmanned plane, monitors these personnel 2, (4), server extracts profile, the key poses of these personnel 2 from monitoring image, then carries out template matches with criterion behavior database, (5), server judges whether these personnel 2 are in drowned state, if not drowned, then return step (1) and continues monitoring, if drowned state, then enter step (7), (7) server judges the distance of personnel 2 and the many rotor wing unmanned aerial vehicles 1 flown and many rotor wing unmanned aerial vehicles 2 of being parked in enclave aloft, if personnel 2 and the many rotor wing unmanned aerial vehicles 1 aloft flown are apart near, the geography information that many rotor wing unmanned aerial vehicles 1 of airflight directly accept personnel 2 flies top to personnel 2 and with regard to generating apparatus under throwing, if personnel 2 are near with the distance of the many rotor wing unmanned aerial vehicles 2 being parked in enclave, then many rotor wing unmanned aerial vehicles 2 directly accept the top that geography information flies to personnel 2, and many rotor wing unmanned aerial vehicles 2 confirm the final water-drop point of personnel 2 by image capture module, and with regard to generating apparatus under throwing.
Described criterion behavior database is set up according to the following steps: 1), gather the action video sequence completed by several experimenter, everyone completes multiple natural action, and comprise normal stroke and tread stroke, amount of action is determined according to actual needs; 2), according to gathered action video sequence carry out template training, Criterion behavior database, criterion behavior database comprises swimming attitude and attitude of treading.
The present invention utilize two frame fixed-wing unmanned planes and the many rotor wing unmanned aerial vehicles of two framves combined the water surface rescue, the long-endurance advantage of fixed-wing unmanned plane is utilized to carry out supervision of cruising, the state of the water surface is supervised through row, and many rotor wing unmanned aerial vehicles have the feature of hovering flexibly, can to the completing of flexible movements of some specificity of rescue, combined by the two, reach the object of Quick rescue.Utilize database to determine whether drowned personnel, decrease the situation of rescue by mistake, and differentiate drowning person by server and automatic transmission geography information rotor wing unmanned aerial vehicle at the most, and go rescue, greatly reduce rescue time, color draw ring has been worn by rescue personnel, when running into drowning danger, open changing on hand, drowned region will show the color being different from surrounding body, the color sensor of fixed-wing unmanned plane will be responded to, and improves the speed of rescue; When there is the different waters of many people and drowning, can by geographic distance by other, select to start the nearer many rotor wing unmanned aerial vehicles of distance to rescue, greatly save rescue time, handle ring has dyeing floccus that can be floating simultaneously, convenient salvaging, free from environmental pollution, can also utilize recovery by secondary, color bracelet price is cheap.
Embodiment
The invention will be further described below.
A kind of waters safe rescue system and method thereof, comprise two frame fixed-wing unmanned planes, the many rotor wing unmanned aerial vehicles of two framves and be positioned at the console on ground;
Two described frame fixed-wing unmanned planes have navigation module: for the flight line of the fixed-wing unmanned plane that navigates;
Locating module, for locating geographic position;
Image capture module, for gathering real-time water surface image information;
Wireless transport module, for wireless transmission and the information of reception;
Color sensor is installed, for water surface color distortion in pickup area;
The described many rotor wing unmanned aerial vehicles of two framves include: locating module, navigation module, wireless transport module and deliverance apparatus;
Console comprises wireless module;
By the color draw ring that rescue personnel wears.
Described console also has the server of a criterion behavior database, server is by analyzing the physiologic information of swimmer and positional information, judge whether to occur drowning, if be tentatively judged as drowning incident, then call the video data of camera, and carry out template matches with criterion behavior database and be confirmed whether really for drowning incident.
Described console has display, for observing water surface situation.
Handle ring have coloring agent or can be floating dyeing floccus.
Described coloring agent is vegetable dyeing agent.
The built-in pigment of described hand draw ring or floating colored floccus, these are known technology, by opening bracelet build-in cavities, just can waft in water by coloring agent or floccus, reach the object changing surrounding water color.
The present invention also provides a kind of waters safe rescue method, comprises the following steps: (1), user wear the handle ring being equipped with and having and can dye, fixed-wing unmanned plane A and B makes an inspection tour in water surface overhead, (2) user falls into the water and runs into drowning danger, pull open bracelet, the overboard field color of user changes rapidly, fixed-wing unmanned plane A and B color sensor identification water surface color distortion, water surface color indifference, fixed-wing unmanned plane continues to cruise, water surface color distortion is obvious, fixed-wing unmanned plane flies to color distortion region, fixed-wing unmanned plane sends Surface Picture information to server by information acquisition module, if without exception, then return step (1) and continue through fixed-wing unmanned plane A and the B monitoring water surface, if fixed-wing unmanned plane A finds that there is personnel 1 and appears at the water surface, then drowned/the state of treading that judges that these personnel 1 are in, then enter step (3), (3), server gathers video information according to the information acquisition module of fixed-wing unmanned plane, monitors these personnel, (4), server extracts profile, the key poses of personnel 1 from monitoring image, then carries out template matches with criterion behavior database, (5), server judges whether these personnel are in drowned state, if less than drowned, then continue monitoring, if drowned state, then enter step (6), (6), geography information is sent to many rotor wing unmanned aerial vehicles 1 by server, many rotor wing unmanned aerial vehicles 1 according to positioning system fly to drowned personnel overhead and throw under with regard to generating apparatus, if the image that fixed-wing unmanned plane B transmits in this process has personnel 2 to appear at the water surface, drowned/the state of treading that then judges that these personnel 2 are in, then enter step (3), (3), server gathers video information according to the information acquisition module of fixed-wing unmanned plane, monitors these personnel 2, (4), server extracts profile, the key poses of these personnel 2 from monitoring image, then carries out template matches with criterion behavior database, (5), server judges whether these personnel 2 are in drowned state, if not drowned, then return step (1) and continues monitoring, if drowned state, then enter step (7), (7) server judges the distance of personnel 2 and the many rotor wing unmanned aerial vehicles 1 flown and many rotor wing unmanned aerial vehicles 2 of being parked in enclave aloft, if personnel 2 and the many rotor wing unmanned aerial vehicles 1 aloft flown are apart near, the geography information that many rotor wing unmanned aerial vehicles 1 of airflight directly accept personnel 2 flies top to personnel 2 and with regard to generating apparatus under throwing, if personnel 2 are near with the distance of the many rotor wing unmanned aerial vehicles 2 being parked in enclave, then many rotor wing unmanned aerial vehicles 2 directly accept the top that geography information flies to personnel 2, and many rotor wing unmanned aerial vehicles 2 confirm the final water-drop point of personnel 2 by image capture module, and with regard to generating apparatus under throwing.
Described criterion behavior database is set up according to the following steps: 1), gather the action video sequence completed by several experimenter, everyone completes multiple natural action, and comprise normal stroke and tread stroke, amount of action is determined according to actual needs; 2), according to gathered action video sequence carry out template training, Criterion behavior database, criterion behavior database comprises swimming attitude, attitude of treading and drowned attitude.
The present invention utilize two frame fixed-wing unmanned planes and the many rotor wing unmanned aerial vehicles of two framves combined the water surface rescue, the long-endurance advantage of fixed-wing unmanned plane is utilized to carry out supervision of cruising, the state of the water surface is supervised through row, and many rotor wing unmanned aerial vehicles have the feature of hovering flexibly, can to the completing of flexible movements of some specificity of rescue, combined by the two, reach the object of Quick rescue.Utilize database to determine whether drowned personnel, decrease the situation of rescue by mistake, and differentiate drowning person by server and automatic transmission geography information rotor wing unmanned aerial vehicle at the most, and go rescue, greatly reduce rescue time, color draw ring has been worn by rescue personnel, when running into drowning danger, open changing on hand, drowned region will show the color being different from surrounding body, the color sensor of fixed-wing unmanned plane will be responded to, and improves the speed of rescue; When there is the different waters of many people and drowning, can by geographic distance by other, select to start the nearer many rotor wing unmanned aerial vehicles of distance to rescue, greatly save rescue time, handle ring has dyeing floccus that can be floating simultaneously, convenient salvaging, free from environmental pollution, can also utilize recovery by secondary, color bracelet price is cheap.
Claims (7)
1. a waters safe rescue system, comprises two frame fixed-wing unmanned planes, the many rotor wing unmanned aerial vehicles of two framves and is positioned at the console on ground;
Two described frame fixed-wing unmanned planes have navigation module: for the flight line of the fixed-wing unmanned plane that navigates;
Locating module, for locating geographic position;
Image capture module, for gathering real-time water surface image information;
Wireless transport module, for wireless transmission and the information of reception;
Color sensor is installed, for water surface color distortion in pickup area;
The described many rotor wing unmanned aerial vehicles of two framves include: locating module, navigation module, image capture module, wireless transport module and deliverance apparatus;
Console comprises wireless module;
By the color draw ring that rescue personnel wears.
2. a kind of waters according to claim 1 safe rescue system, it is characterized in that, described console also has the server of a criterion behavior database, server is by analyzing the physiologic information of swimmer and positional information, judge whether to occur drowning, if be tentatively judged as drowning incident, then call the video data of camera, and carry out template matches with criterion behavior database and be confirmed whether really for drowning incident.
3. a kind of waters according to claim 1 safe rescue system, it is characterized in that, described console has display, for observing water surface situation.
4. a kind of waters according to claim 1 safe rescue system, is characterized in that, handle ring have coloring agent or can be floating dyeing floccus.
5. a kind of waters according to claim 1 safe rescue system, it is characterized in that, described coloring agent is vegetable dyeing agent.
6. a waters safe rescue method, is characterized in that, comprises the following steps: (1), user wear the handle ring being equipped with and having and can dye, fixed-wing unmanned plane A and B makes an inspection tour in water surface overhead, (2) user falls into the water and runs into drowning danger, pull open bracelet, the overboard field color of user changes rapidly, fixed-wing unmanned plane A and B color sensor identification water surface color distortion, water surface color indifference, fixed-wing unmanned plane continues to cruise, water surface color distortion is obvious, fixed-wing unmanned plane flies to color distortion region, fixed-wing unmanned plane sends Surface Picture information to server by information acquisition module, if without exception, then return step (1) and continue through fixed-wing unmanned plane A and the B monitoring water surface, if fixed-wing unmanned plane A finds that there is personnel 1 and appears at the water surface, then drowned/the state of treading that judges that these personnel 1 are in, then enter step (3), (3), server gathers video information according to the information acquisition module of fixed-wing unmanned plane, monitors these personnel, (4), server extracts profile, the key poses of personnel 1 from monitoring image, then carries out template matches with criterion behavior database, (5), server judges whether these personnel are in drowned state, if less than drowned, then continue monitoring, if drowned state, then enter step (6), (6), geography information is sent to many rotor wing unmanned aerial vehicles 1 by server, many rotor wing unmanned aerial vehicles 1 according to positioning system fly to drowned personnel overhead and throw under with regard to generating apparatus, if the image that fixed-wing unmanned plane B transmits in this process has personnel 2 to appear at the water surface, drowned/the state of treading that then judges that these personnel 2 are in, then enter step (3), (3), server gathers video information according to the information acquisition module of fixed-wing unmanned plane, monitors these personnel 2, (4), server extracts profile, the key poses of these personnel 2 from monitoring image, then carries out template matches with criterion behavior database, (5), server judges whether these personnel 2 are in drowned state, if not drowned, then return step (1) and continues monitoring, if drowned state, then enter step (7), (7) server judges the distance of personnel 2 and the many rotor wing unmanned aerial vehicles 1 flown and many rotor wing unmanned aerial vehicles 2 of being parked in enclave aloft, if personnel 2 and the many rotor wing unmanned aerial vehicles 1 aloft flown are apart near, the geography information that many rotor wing unmanned aerial vehicles 1 of airflight directly accept personnel 2 flies top to personnel 2 and with regard to generating apparatus under throwing, if personnel 2 are near with the distance of the many rotor wing unmanned aerial vehicles 2 being parked in enclave, then many rotor wing unmanned aerial vehicles 2 directly accept the top that geography information flies to personnel 2, and many rotor wing unmanned aerial vehicles 2 confirm the final water-drop point of personnel 2 by image capture module, and with regard to generating apparatus under throwing.
7. a kind of waters according to claim 6 safe rescue method, it is characterized in that, described criterion behavior database is set up according to the following steps: 1), gather the action video sequence completed by several experimenter, everyone completes multiple natural action, comprise normal stroke and tread stroke, amount of action is determined according to actual needs; 2), according to gathered action video sequence carry out template training, Criterion behavior database, criterion behavior database comprises swimming attitude and attitude of treading.
Priority Applications (1)
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| CN201510137432.1A CN104700575A (en) | 2015-03-27 | 2015-03-27 | Safe water rescue system and method |
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| CN201510137432.1A CN104700575A (en) | 2015-03-27 | 2015-03-27 | Safe water rescue system and method |
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| CN105678289A (en) * | 2016-03-07 | 2016-06-15 | 谭圆圆 | Control method and device of unmanned aerial vehicle |
| CN106254733A (en) * | 2016-08-09 | 2016-12-21 | 成都联众智科技有限公司 | A kind of image identification system for rescue at sea |
| CN110321775A (en) * | 2019-04-08 | 2019-10-11 | 武汉理工大学 | A kind of drowning man's autonomous classification method waterborne based on multi-rotor unmanned aerial vehicle |
| CN110569772A (en) * | 2019-08-30 | 2019-12-13 | 北京科技大学 | Method for detecting state of personnel in swimming pool |
| CN112527004A (en) * | 2020-10-22 | 2021-03-19 | 泰州镭昇光电科技有限公司 | Speed and direction integrated regulation and control system |
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