CN107351992A - Rescue mode and its system under a kind of intelligent water based on unmanned plane - Google Patents
Rescue mode and its system under a kind of intelligent water based on unmanned plane Download PDFInfo
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- CN107351992A CN107351992A CN201710578342.5A CN201710578342A CN107351992A CN 107351992 A CN107351992 A CN 107351992A CN 201710578342 A CN201710578342 A CN 201710578342A CN 107351992 A CN107351992 A CN 107351992A
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- Prior art keywords
- deliverance apparatus
- unmanned plane
- processing unit
- human body
- wireless device
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 115
- 238000003860 storage Methods 0.000 claims abstract description 31
- 239000007788 liquid Substances 0.000 claims abstract description 11
- 206010003830 Automatism Diseases 0.000 claims abstract description 9
- 238000005457 optimization Methods 0.000 claims abstract description 5
- 241000251468 Actinopterygii Species 0.000 claims description 49
- 238000000034 method Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000009527 percussion Methods 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 8
- 206010013647 Drowning Diseases 0.000 claims description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 238000005211 surface analysis Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000009182 swimming Effects 0.000 description 3
- 206010010071 Coma Diseases 0.000 description 2
- 210000000746 body region Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 208000010513 Stupor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Emergency Alarm Devices (AREA)
- Alarm Systems (AREA)
- Emergency Lowering Means (AREA)
- Selective Calling Equipment (AREA)
Abstract
Rescue mode under a kind of intelligent water based on unmanned plane, comprises the following steps：Deliverance apparatus is connected with unmanned plane, unmanned plane startup optimization；When processing unit controls unmanned plane according to the route progress pre-set velocity flight pre-set, processing unit detects in water whether have human body information in real time using infrared detector；Processing unit obtains whether the region comprising human body information is safety zone if having；If otherwise whether under water processing unit detects human body using infrared detector；If controlling deliverance apparatus and attachment means to disconnect and if utilize the underwater body image of camera intake；Whether processing unit controls deliverance apparatus to travel to being automatism at image and according to image analysing computer human body according to it；If then control storage silo to open to load human body and control drainage arrangement that liquid discharge in storage silo is floated up into the water surface；Processing unit control unmanned plane flies at deliverance apparatus and controls unmanned plane to be connected with deliverance apparatus；Connection completes then control unmanned plane and flies to first-aid centre.
Description
Technical field
Rescue mode and its it is the present invention relates to underwater rescue field, under more particularly to a kind of intelligent water based on unmanned plane
System.
Background technology
With world population explosive growth, maintain human survival institute consumption of natural resources more and more, land
Resource has been petered out.And be richly stored with ocean mineral resources and food resource, therefore, ocean also just has to the mankind
Increasingly stronger attraction.With marine transportation, offshore production, the rapid development of marine fishing industry, occurred in ocean
Accident is also more and more, and the whole world has the steamer, submarine, warship of up to a hundred to be toppled sinking in big midocean every year, or even also sends out
Gave birth to the painful accident that military, civil aircraft falls into the sea.Due to it is abysmal under sea, pressure is huge, is not stranded without bright, acquisition of information
Difficulty, environmental condition is extremely severe, and the pressure that can bear along with human body and the amount of oxygen being carried by are extremely limited, water
Dive depth and duration are all difficult to the underwater rescue for supporting dangerous complexity.Even if some countries have been developed that can dive into compared with
Bathybic manned equipment, underwater operation, which is appointed, so has very high danger.
The content of the invention
Goal of the invention：The shortcomings that in order to overcome in background technology, the embodiments of the invention provide a kind of based on unmanned plane
Rescue mode and its system under intelligent water, can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：Rescue mode under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, connection dress
Put and processing unit, the described method comprises the following steps：
After deliverance apparatus is connected by attachment means with unmanned plane, the unmanned plane startup optimization；
Control the unmanned plane to carry out pre-set velocity according to the route pre-set with deliverance apparatus in the processing unit to fly
During row, the processing unit detects whether have human body letter in water in real time using the infrared detector being installed on the unmanned plane
Breath；
Obtain whether the region comprising human body information in the water is place of safety using wireless device if the processing unit if having
Domain；
It is if otherwise the processing unit detects the human body in real time using the infrared detector being installed on the unmanned plane
No position under water；
If if the processing unit control the deliverance apparatus to be disconnected with attachment means using wireless device and utilize peace
The underwater body image is absorbed loaded on the camera on the deliverance apparatus；
The processing unit according to the underwater body image of the intake by wireless device control the deliverance apparatus travel to
Whether human body is automatism at the underwater body image and according to the image analysing computer of the intake；
If then the processing unit controls the storage silo of the deliverance apparatus to open and loads the human body by wireless device
And control the drainage arrangement in the deliverance apparatus that the discharge of storage silo internal liquid is floated up into the water surface by wireless device；
The processing unit controls the unmanned plane to fly to the deliverance apparatus opening position on the water surface and control the unmanned plane to lead to
Attachment means are crossed to be connected with the deliverance apparatus；
The processing unit detects that the unmanned plane is connected by attachment means with the deliverance apparatus and completes the then processing
The device control unmanned plane flies to the first-aid centre of setting with the deliverance apparatus.
As a kind of preferred embodiment of the present invention, people is included in the processing unit obtains the water using wireless device
The region of body information is behind safety zone, methods described is further comprising the steps of：
The camera that the processing unit is installed on by wireless device control on the deliverance apparatus absorbs the body image
And whether human body drowns according to the image analysing computer of the intake；
If then the processing unit drowns human body whether on the water surface according to the drowned human body image analysing computer of the intake；
If then the processing unit controls attachment means to disconnect the unmanned plane and the deliverance apparatus by wireless device
Connect and control the deliverance apparatus to travel to the position of human body by wireless device；
The processing unit is controlled the aerating device on the deliverance apparatus to be inflated by wireless device and controls the nothing
Loudspeaker on man-machine sends rescue information.
As a kind of preferred embodiment of the present invention, the human body is analyzed according to the underwater body image of intake in processing unit
After conscious state, the processing unit includes following methods：
The processing unit controls the deliverance apparatus to drop to according to the underwater body image of the intake by wireless device
Below the human body and the aerating device on the deliverance apparatus is controlled to be inflated；
The processing unit by wireless device detect aerating device inflation complete then to control the deliverance apparatus with
The human body rises to the water surface and controls the unmanned plane to be connected by attachment means with the deliverance apparatus；
The processing unit detects that the unmanned plane is connected by attachment means with the deliverance apparatus and completes the then processing
The device control unmanned plane flies to the first-aid centre of setting with the deliverance apparatus.
As a kind of preferred embodiment of the present invention, when deliverance apparatus is rescued, methods described is further comprising the steps of：
The processing unit is controlled underwater described in the camera real time shooting being installed on the deliverance apparatus by wireless device
The environmental images of human peripheral and the whether dangerous fish of the human peripheral according to the image analysing computer of the intake；
The processing unit is installed on the camera real time shooting institute on the deliverance apparatus by wireless device control if having
State the image of dangerous fish and according in fact when analyze the nose shape of dangerous fish in the image；
The processing unit controls the deliverance apparatus to travel to the dangerous fish opening position and passes through nothing by wireless device
The percussion mechanism that line apparatus control is installed on the deliverance apparatus impacts to the nose of the dangerous fish.
As a kind of preferred embodiment of the present invention, the unmanned plane is controlled to be installed with deliverance apparatus in the processing unit
When the route pre-set carries out pre-set velocity flight, methods described is further comprising the steps of：
Flight path and the flight of the unmanned plane are controlled by the connection of wireless device and processing unit using external equipment
Speed；
The camera being installed on the deliverance apparatus is controlled by the connection of wireless device and deliverance apparatus using external equipment
Observe the environmental images around the deliverance apparatus.
Rescue system under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, attachment means and processing
Device, the unmanned plane include infrared detector, loudspeaker and buckle, the infrared detector be arranged at it is described nobody
On machine, for detecting human body information in water, the loudspeaker is arranged at the unmanned plane lower position, for sending rescue letter
Breath, the buckle is arranged at below the unmanned plane, for being attached with attachment means；The deliverance apparatus includes shooting
Head, storage silo, aerating device, percussion mechanism and drive device, the camera is arranged on the deliverance apparatus, for taking the photograph
Image is taken, the storage includes drainage arrangement, and the storage silo is used to store human body, and the drainage arrangement is used for the storage
Liquid discharge in storehouse, the aerating device is arranged on the deliverance apparatus, for the human body in water to be floated, the impact
Device is arranged at the deliverance apparatus anterior position, and for being collided to dangerous fish, the drive device is anti-water-driven
Device, the deliverance apparatus rear is set, for driving the deliverance apparatus to travel and lifting；The attachment means include connecting
Splicing and junction button, the connecting rope respectively with snapping connection below junction button and the unmanned plane, the junction button
Set above the deliverance apparatus, the processing unit includes：
Starting module, for starting unmanned plane operation；
Navigation module, for controlling unmanned plane to be flown with deliverance apparatus according to the route pre-set；
Rate control module, for controlling unmanned plane to be flown with deliverance apparatus according to pre-set velocity；
Human detection module, for detecting the human body information in water in real time using the infrared detector being installed on unmanned plane；
Wireless device, it can be attached with network, external equipment and deliverance apparatus；
Region acquisition module, for obtaining whether the region comprising human body information in water is safety zone using wireless device；
Underwater detection module, for detecting human body whether under water position in real time using the infrared detector being installed on unmanned plane
Put；
Connection disconnects module, for controlling the connection of attachment means disconnection unmanned plane and deliverance apparatus by wireless device；
Acquisition module, for absorbing image using the camera being installed on deliverance apparatus；
Control module is travelled, for controlling deliverance apparatus to be travelled in water by wireless device；
Human body analysis module, whether it is automatism for the image analysing computer human body according to intake；
Memory module, the storage silo for being used for wireless device control deliverance apparatus are opened and load human body；
Draining control module, for controlling the drainage arrangement in deliverance apparatus to discharge storage silo internal liquid by wireless device
Float up to the water surface；
Flight control modules, for controlling unmanned plane during flying to specified location；
Link block, for controlling unmanned plane to be connected by attachment means with deliverance apparatus；
Connection detection module, for detecting whether attachment means are connected completion with unmanned plane and deliverance apparatus respectively.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Whether drowned analysis module, drown for the image analysing computer human body according to intake；
Water surface analysis module, for whether drowning human body in the water surface according to the drowned human body image analysing computer of intake
Control module is rescued, for controlling deliverance apparatus to travel and lift to specified location in water by wireless device；
Inflator module, for controlling the aerating device on deliverance apparatus to be inflated by wireless device；
Sounding module is rescued, for controlling the loudspeaker on deliverance apparatus to send rescue information by wireless device.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Detection module is inflated, for detecting whether aerating device inflates completion by wireless device.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Hazard analysis module, for the whether dangerous fish of image analysing computer human peripheral according to intake；
Fish analysis module, for analyzing the nose position of dangerous fish in the image in real time according to the dangerous fish image of intake
Put；
Impulsive control module, for being installed on nose of the percussion mechanism on deliverance apparatus to dangerous fish by wireless device control
Son is impacted.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Outside connections module, for controlling unmanned plane and deliverance apparatus and external equipment to be attached.
The present invention realizes following beneficial effect：Connected 1. being established using unmanned plane with deliverance apparatus by attachment means, institute
Pre-set velocity flight can be carried out with deliverance apparatus according to the route pre-set by stating unmanned plane, and can detect in real time in water is
It is no to have human body information, if detecting whether human body region in water is safety zone if having, if not people is then detected in safety zone
Body whether under water position, deliverance apparatus dropped to if under water it is underwater and using the storage silo below deliverance apparatus by its
Load, then control the drainage arrangement in storage silo to discharge and control deliverance apparatus to rise to the water surface water and pass through company with unmanned plane
Connection device connects, and the unmanned plane is connected completion with the deliverance apparatus and then flies to first-aid centre with the deliverance apparatus.
2. if when detecting that human body region is safety zone in water, the processing unit utilizes the shooting of deliverance apparatus
Head detects whether the human body drowns, and drowned human body is analyzed if drowned whether in the water surface, if controlling deliverance apparatus if the water surface
At traveling to the human body, then control the aerating device in the deliverance apparatus to be inflated and carried using loudspeaker
Wake up, waited for rescue with facilitating human body to rest on deliverance apparatus.
3. if after detecting underwater human body conscious state, the deliverance apparatus drops to below the human body and controlled and fills
Device of air is inflated, and by underwater human body with floating to the surface, is then connected using unmanned plane with deliverance apparatus with the people
Body flies to first-aid centre.
4. when deliverance apparatus is rescued, dangerous fish is detected whether in real time using the camera on deliverance apparatus
Class, at the nose that the dangerous fish position and the dangerous fish are detected if detecting, then control deliverance apparatus row
Sail to the opening position and the nose of dangerous fish is collided using percussion mechanism, prevent from causing casualties.
5. for that can be connected using external equipment by wireless device with processing unit or deliverance apparatus described in control
Unmanned plane during flying route and flying speed, control surrounding's ring of deliverance apparatus described in the camera Real Time Observation on deliverance apparatus
Border image.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 is the schematic diagram of rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides；Fig. 2
The flow chart of rescue mode under the intelligent water based on unmanned plane provided for the one of example of the present invention；
Fig. 3 is the flow chart for the rescue safety zone drowning man body method that the one of example of the present invention provides；
Fig. 4 is the flow chart using aerating device rescue mode that the one of example of the present invention provides；
Fig. 5 is the flow chart for the detection dangerous fish method that the one of example of the present invention provides；
Fig. 6 is the flow chart that the detection that the one of example of the present invention provides utilizes peripheral equipment control rescue system method；
Fig. 7 is the Organization Chart of rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
With reference to shown in figure 2, Fig. 2 is the stream of rescue mode under the intelligent water based on unmanned plane that the one of example of the present invention provides
Cheng Tu.
Specifically, the present embodiment provides rescue mode under a kind of intelligent water based on unmanned plane, including unmanned plane 1, rescue
Device 2, attachment means 3 and processing unit 4, the described method comprises the following steps：
S1, after deliverance apparatus 2 is connected by attachment means 3 with unmanned plane 1, the startup optimization of unmanned plane 1；
S2, in the processing unit 4 unmanned plane 1 is controlled to be preset with deliverance apparatus 2 according to the route pre-set
During speed flight, the processing unit 4 is detected in water in real time using the infrared detector 10 being installed on the unmanned plane 1 is
It is no to have human body information；
S3, if the processing unit 4 if having using wireless device 44 obtain in the water comprising human body information region whether be
Safety zone；
If S4, the otherwise processing unit 4 are using described in the infrared detector 10 being installed on the unmanned plane 1 in real time detection
Human body whether under water position；
S5, if if the processing unit 4 control the deliverance apparatus 2 to be disconnected with attachment means 3 using wireless device 44
And absorb the underwater body image using the camera 20 being installed on the deliverance apparatus 2；
S6, the processing unit 4 control the deliverance apparatus 2 according to the underwater body image of the intake by wireless device 44
Whether human body is automatism at traveling to the underwater body image and according to the image analysing computer of the intake；
If S7, the then processing unit 4 control the storage silo 21 of the deliverance apparatus 2 to open by described in by wireless device 44
Human body loads and controls the drainage arrangement 210 in the deliverance apparatus 2 to arrange the internal liquid of storage silo 21 by wireless device 44
Go out to float up to the water surface；
S8, the processing unit 4 control the unmanned plane 1 to fly to the opening position of deliverance apparatus 2 on the water surface and control the nothing
Man-machine 1 is connected by attachment means 3 with the deliverance apparatus 2；
S9, the processing unit 4 detect that the unmanned plane 1 is connected completion then institute by attachment means 3 with the deliverance apparatus 2
State the first-aid centre that processing unit 4 controls the unmanned plane 1 to fly to setting with the deliverance apparatus 2.
Wherein, the pre-set velocity is 0-200 kilometers/hour, in the present embodiment preferably 50 kilometers/hour；It is described
Safety zone refers to that swimming for setting and has lifeguard at region in safety zone；The automatism refers to the human body
For stupor, no struggle action；Connecting rope 30 in the attachment means 3 can be contracted in junction button 31, it is necessary to when can be with
Using the buckle 12 of the lower section of unmanned plane 1 pull-out is connected with connecting rope 30；Rescue system can use Yu Haiyang, lake under the intelligent water
In the water of pool, river and smaller area；The camera 20 being installed on deliverance apparatus 2 being capable of 360 ° of rotation intake shadows
Picture；The deliverance apparatus 2 is waterproof deliverance apparatus 2.
In S1, specifically the connecting rope 30 in the junction button 31 on deliverance apparatus 2 is entered with the buckle 12 below unmanned plane 1
After row connection, the startup optimization of unmanned plane 1.
In S2, specifically the unmanned plane 1 is controlled to be pressed by attachment means 3 with deliverance apparatus 2 in the processing unit 4
When carrying out 50 kilometers/hour of speed flight according to the route pre-set, the processing unit 4 utilizes and is installed on the unmanned plane
Infrared detector 10 on 1 detects in water whether include human body information in real time, i.e., described unmanned plane 1 according to 50 kilometers/it is small
When speed when the water surface enters and gone on patrol, in the water detected whether in beat whether someone, prevent someone from drowning.
In S3, specifically after human body information is included in detecting water, the processing unit 4 utilizes wireless device 44
Net obtains whether the region comprising human body information in the water is that swimming for planning and has lifeguard at region in safety zone,
Detect that someone detects whether the swimming region for government planning immediately after drowning.
It is not specifically the profit of processing unit 4 behind safety zone in the detection waters comprising human body information in S4
The whether underwater position of the human body is detected in real time with the infrared detector 10 being installed on the unmanned plane 1, is detected
Behind insecure area, detect in real time the human body whether submerged.
In S5, specifically after detecting that the human body sinks under the water, the processing unit 4 is controlled using wireless device 44
The deliverance apparatus 2 is disconnected with attachment means 3, and the deliverance apparatus 2 is fallen into water after disconnecting, the processing unit
4 absorb the underwater body image by wireless device 44 using the camera 20 being installed on the deliverance apparatus 2.
In S6, the underwater body image that is specifically absorbed in the processing unit 4 according to the camera 20 passes through wireless
After device 44 controls the deliverance apparatus 2 to travel under water to the underwater body image, the processing unit 4 is according to described
Whether human body described in the image analysing computer of intake is automatism, that is, detects whether the human body is comatose state.
Carry in S7, specifically after detecting that the human body is comatose state, the processing unit 4 is controlled by wireless device 44
The storage silo 21 for making the deliverance apparatus 2 is opened in human body loading vehicle window storehouse, is then passed through wireless device 44 and is controlled institute
The internal liquid of storage silo 21 is discharged and controls the deliverance apparatus 2 to be deposited with described by the drainage arrangement 210 stated in deliverance apparatus 2
Warehouse 21 floats up to the water surface；It is if after detecting human body conscious state, that is, detecting the human body and struggling under water, then described
Processing unit 4 controls the deliverance apparatus 2 to drop to the human body according to the underwater body image of intake by wireless device 44
Body image lower position, it is inflated using aerating device 22, then holds up the human body to above the water surface from underwater.
In S8, specifically the unmanned plane 1 is controlled to fly to the deliverance apparatus to float on the surface in the processing unit 4
After 2 opening positions, the processing unit 4 controls connecting rope 30 and institute of the buckle 12 of the lower section of unmanned plane 1 by attachment means 3
The junction button 31 stated on deliverance apparatus 2 is attached.
In S9, specifically detect that the unmanned plane 1 is filled by attachment means 3 and the rescue in the processing unit 4
After the completion of putting 2 connections, the processing unit 4 controls the unmanned plane 1 to fly to the first aid of minimum distance with the deliverance apparatus 2
Rescued at center, avoid casualties in morning.
Embodiment two
With reference to shown in figure 3, Fig. 3 is the flow for the rescue safety zone drowning man body method that the one of example of the present invention provides
Figure.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, at the place
Reason device 4 obtains the region that human body information is included in the water using wireless device 44 as behind safety zone, methods described is also wrapped
Include following steps：
S30, the processing unit 4 control the camera 20 being installed on the deliverance apparatus 2 to absorb institute by wireless device 44
State body image and whether human body drowns according to the image analysing computer of the intake；
If S31, the then processing unit 4 are drowned according to the drowned human body image analysing computer of the intake, whether human body is in water
On face；
If S32, the then processing unit 4 control attachment means 3 to disconnect the unmanned plane 1 and rescued with described by wireless device 44
The connection of shaking apparatus 2 simultaneously controls the deliverance apparatus 2 to travel to the position of human body by wireless device 44；
S33, the processing unit 4 control the aerating device 22 on the deliverance apparatus 2 to be inflated simultaneously by wireless device 44
The loudspeaker 11 on the unmanned plane 1 is controlled to send rescue information.
Specifically, it is using the networking acquisition of wireless device 44 waters comprising human body information in the processing unit 4
Behind safety zone, the processing unit 4 controls the camera 20 being installed on the deliverance apparatus 2 to absorb by wireless device 44
The body image simultaneously analyzes whether the human body is drowned state according to the body image of the intake, i.e., struggled in water,
Cry for help and water of choking, if the processing unit 4 is analyzed after the human body is drowned state, the processing unit 4 is according to described
Whether human body of being drowned described in the drowned human body image analysing computer of intake struggles in the water surface, if the processing unit 4 analyzes described drown
For water human body after water surface struggle, the processing unit 4 controls the connecting rope 30 and unmanned plane of attachment means 3 by wireless device 44
1 buckle 12 is disconnected and controlled in the junction button 31 that the connecting rope 30 is retracted on the deliverance apparatus 2, then described
Processing unit 4 controls the deliverance apparatus 2 to sail on the water to the position of human body by wireless device 44, the processing
Device 4 controls the aerating device 22 in the deliverance apparatus 2 to be inflated by wireless device 44, then controls the unmanned plane
Loudspeaker 11 on 1 reminds drowned personnel to catch deliverance apparatus 2 and the aerating device 22 full of gas in the deliverance apparatus 2 of lying prone
On wait for rescue.
Embodiment three
With reference to shown in figure 4, Fig. 4 is the flow chart using aerating device rescue mode that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the basis of processing unit 4
The underwater body image of intake analyzes the human body as after conscious state, the processing unit 4 includes following methods：
S60, the processing unit 4 control the deliverance apparatus according to the underwater body image of the intake by wireless device 44
2 drop to below the human body and control the aerating device 22 on the deliverance apparatus 2 to be inflated；
S61, the processing unit 4 detect that the inflation of aerating device 22 is completed then to control the rescue by wireless device 44
Device 2 rises to the water surface with the human body and controls the unmanned plane 1 to be connected by attachment means 3 with the deliverance apparatus 2；
S62, the processing unit 4 detect that the unmanned plane 1 is connected completion by attachment means 3 then with the deliverance apparatus 2
The processing unit 4 controls the unmanned plane 1 to fly to the first-aid centre of setting with the deliverance apparatus 2.
Specifically, after processing unit 4 analyzes the human body as waking state according to the underwater body image of intake, it is described
Processing unit 4 according to the underwater body image of the intake by wireless device 44 control the deliverance apparatus 2 to downward driving extremely
The human body lower position, the aerating device 22 on the deliverance apparatus 2 is then controlled to be inflated to can be the people
For body around firmly, the processing unit 4 detects the inflation by wireless device 44 using the camera 20 on the deliverance apparatus 2
After device 22 is inflated to specified size, the processing unit 4 controls the deliverance apparatus 2 to rise human body by wireless device 44
Around living, then on the water surface, i.e., as water wing entangles the human body, the top of storage silo 21 is stepped down under human foot；So
The processing unit 4 controls the buckle 12 of the lower section of unmanned plane 1 and the connecting rope 30 in the junction button 31 of deliverance apparatus 2 afterwards
It is attached, the processing unit 4 detects that the unmanned plane 1 connects with the connecting rope 30 in the junction button 31 of deliverance apparatus 2
After the completion of connecing, the processing unit 4 controls the unmanned plane 1 to fly to storage with the deliverance apparatus 2 by attachment means 3
The first-aid centre of minimum distance carries out first aid.
Example IV
With reference to shown in figure 5, Fig. 5 is the flow chart for the detection dangerous fish method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, is rescued in deliverance apparatus
When helping, methods described is further comprising the steps of：
S10, the processing unit 4 control the camera 20 being installed on the deliverance apparatus 2 to take the photograph in real time by wireless device 44
Take the environmental images of the underwater human peripheral and the whether dangerous fish of the human peripheral according to the image analysing computer of the intake
Class；
S11, the processing unit 4 controls the camera 20 being installed on the deliverance apparatus 2 by wireless device 44 if having
The image of dangerous fish described in real time shooting and according in fact when analyze the nose shape of dangerous fish in the image；
S12, the processing unit 4 control the deliverance apparatus 2 to travel to the dangerous fish opening position by wireless device 44
And the percussion mechanism 23 being installed on the deliverance apparatus 2 is controlled to carry out the nose of the dangerous fish by wireless device 44
Impact.
Specifically, when the deliverance apparatus 2 is rescued in water, the processing unit 4 is controlled by wireless device 44
Make the environmental images for the human peripheral that drowned described in the real time shooting of camera 20 being installed on the deliverance apparatus 2 and according to described
The whether dangerous fish of human peripheral described in the image analysing computer of intake, i.e. larger fish, eat meat fish and have attack to human body
Property fish, it is described to be judged as that dangerous fish refers to be contrasted with the fish information stored, then analyze as dangerous fish,
If analyze dangerous fish in the image of the intake, the processing unit 4 controls described take the photograph by wireless device 44
As first 20 real-time tracing absorbs the image of the dangerous fish and analyzes the dangerous fish in real time according to the image of the intake
Nose shape, then the processing unit 4 fast running of deliverance apparatus 2 is controlled to the danger by wireless device 44
The opening position of fish simultaneously controls the percussion mechanism 23 being installed on the deliverance apparatus 2 to the dangerous fish by wireless device 44
The nose of class is impacted, and prevents dangerous fish from causing injures and deaths to the drowned human body.
Embodiment five
With reference to shown in figure 6, Fig. 6 is that the detection that the one of example of the present invention provides utilizes peripheral equipment control rescue system method
Flow chart.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the processing unit 4
When controlling the unmanned plane 1 with deliverance apparatus 2 according to the route progress pre-set velocity flight pre-set, methods described is also wrapped
Include following steps：
S13, the flight path using external equipment by wireless device 44 and the connection control unmanned plane 1 of processing unit 4
And flying speed；
S14, it is installed on by the connection control of wireless device 44 and deliverance apparatus 2 on the deliverance apparatus 2 using external equipment
Camera 20 observe environmental images around the deliverance apparatus 2.
Specifically, carried out in the route that the processing unit 4 controls the unmanned plane 1 to be pre-set with deliverance apparatus 2
50 kilometers/hour when carrying out flight patrol, user can utilize external equipment pass through the connection of wireless device 44 and processing unit 4
Control the flight path and flying speed of the unmanned plane 1, user can also utilize external equipment by wireless device 44 with
The camera 20 that the connection control of deliverance apparatus 2 is installed on the deliverance apparatus 2 observes the environment around the deliverance apparatus 2
Image.
Embodiment six
With reference to shown in figure 1, Fig. 7, Fig. 1 is rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides
Schematic diagram；Fig. 7 is the Organization Chart of rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides.
Specifically, the present embodiment provides rescue system under a kind of intelligent water based on unmanned plane, including unmanned plane 1, rescue
Device 2, attachment means 3 and processing unit 4, the unmanned plane 1 include infrared detector 10, loudspeaker 11 and buckle
12, the infrared detector 10 is arranged on the unmanned plane 1, and for detecting human body information in water, the loudspeaker 11 is set
The lower position of unmanned plane 1 is placed in, for sending rescue information, the buckle 12 is arranged at the lower section of unmanned plane 1, is used for
It is attached with attachment means 3；The deliverance apparatus 2 includes camera 20, storage silo 21, aerating device 22, percussion mechanism 23
And drive device 24, the camera 20 are arranged on the deliverance apparatus 2, for absorbing image, the storage includes row
Water installations 210, the storage silo 21 are used to store human body, and the drainage arrangement 210 is used for the liquid in the storage silo 21
Discharge, the aerating device 22 is arranged on the deliverance apparatus 2, for the human body in water to be floated, the percussion mechanism 23
The anterior position of deliverance apparatus 2 is arranged at, for being collided to dangerous fish, the drive device 24 fills for anti-water-driven
24 are put, the rear of deliverance apparatus 2 is set, for driving the deliverance apparatus 2 to travel and lift；The attachment means 3 are wrapped
Include connecting rope 30 and junction button 31, the connecting rope 30 respectively with junction button 31 and the buckle 12 of the lower section of the unmanned plane 1
Connection, the junction button 31 set the top of deliverance apparatus 2, and the processing unit 4 includes：
Starting module 40, run for starting unmanned plane 1；
Navigation module 41, for controlling unmanned plane 1 to be flown with deliverance apparatus 2 according to the route pre-set；
Rate control module 42, for controlling unmanned plane 1 to be flown with deliverance apparatus 2 according to pre-set velocity；
Human detection module 43, for detecting the human body in water in real time using the infrared detector 10 being installed on unmanned plane 1
Information；
Wireless device 44, it can be attached with network, external equipment and deliverance apparatus 2；
Region acquisition module 45, for obtaining whether the region comprising human body information in water is place of safety using wireless device 44
Domain；
Underwater detection module 46, for detected in real time using the infrared detector 10 being installed on unmanned plane 1 human body whether
Submarine site；
Connection disconnects module 47, for controlling the company of the disconnection unmanned plane 1 of attachment means 3 and deliverance apparatus 2 by wireless device 44
Connect；
Acquisition module 48, for absorbing image using the camera 20 being installed on deliverance apparatus 2；
Control module 49 is travelled, for controlling deliverance apparatus 2 to be travelled in water by wireless device 44；
Human body analysis module 50, whether it is automatism for the image analysing computer human body according to intake；
Memory module 51, it was used for wireless device 44 and controls the storage silo 21 of deliverance apparatus 2 to open and load human body；
Draining control module 52, for controlling the drainage arrangement 210 in deliverance apparatus 2 by wireless device 44 by storage silo 21
Portion's liquid discharge floats up to the water surface；
Flight control modules 53, for controlling unmanned plane 1 to fly to specified location；
Link block 54, for controlling unmanned plane 1 to be connected by attachment means 3 with deliverance apparatus 2；
Connection detection module 55, for detecting whether attachment means 3 are connected completion with unmanned plane 1 and deliverance apparatus 2 respectively.
As a kind of preferred embodiment of the present invention, the processing unit 4 also includes：
Whether drowned analysis module 56, drown for the image analysing computer human body according to intake；
Water surface analysis module 57, for whether drowning human body in the water surface according to the drowned human body image analysing computer of intake
Control module 58 is rescued, for controlling deliverance apparatus 2 to travel and lift to specific bit in water by wireless device 44
Put place；
Inflator module 59, for controlling the aerating device 22 on deliverance apparatus 2 to be inflated by wireless device 44；
Sounding module 60 is rescued, for controlling the loudspeaker 11 on deliverance apparatus 2 to send rescue information by wireless device 44.
As a kind of preferred embodiment of the present invention, the processing unit 4 also includes：
Detection module 61 is inflated, for detecting whether aerating device 22 inflates completion by wireless device 44.
As a kind of preferred embodiment of the present invention, the processing unit 4 also includes：
Hazard analysis module 62, for the whether dangerous fish of image analysing computer human peripheral according to intake；
Fish analysis module 63, for analyzing the nose of dangerous fish in the image in real time according to the dangerous fish image of intake
Position；
Impulsive control module 64, for controlling the percussion mechanism 23 being installed on deliverance apparatus 2 to danger by wireless device 44
The nose of fish is impacted.
As a kind of preferred embodiment of the present invention, the processing unit 4 also includes：
Outside connections module 65, for controlling unmanned plane 1 and deliverance apparatus 2 to be attached with external equipment.
It should be understood that in embodiment six, the specific implementation process of above-mentioned modules (can be implemented with above method embodiment
Example one is to embodiment five) description it is corresponding, be not described in detail herein.
The system that above-described embodiment six is provided, only carried out with the division of above-mentioned each functional module for example, actual should
In, it can will appeal function distribution as needed and be completed by different functional modules, i.e., divide the internal structure of system
Into different functional modules, to complete all or part of function described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
1. rescue mode under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, attachment means and processing dress
Put, it is characterised in that the described method comprises the following steps：
After deliverance apparatus is connected by attachment means with unmanned plane, the unmanned plane startup optimization；
Control the unmanned plane to carry out pre-set velocity according to the route pre-set with deliverance apparatus in the processing unit to fly
During row, the processing unit detects whether have human body letter in water in real time using the infrared detector being installed on the unmanned plane
Breath；
Obtain whether the region comprising human body information in the water is place of safety using wireless device if the processing unit if having
Domain；
It is if otherwise the processing unit detects the human body in real time using the infrared detector being installed on the unmanned plane
No position under water；
If if the processing unit control the deliverance apparatus to be disconnected with attachment means using wireless device and utilize peace
The underwater body image is absorbed loaded on the camera on the deliverance apparatus；
The processing unit according to the underwater body image of the intake by wireless device control the deliverance apparatus travel to
Whether human body is automatism at the underwater body image and according to the image analysing computer of the intake；
If then the processing unit controls the storage silo of the deliverance apparatus to open and loads the human body by wireless device
And control the drainage arrangement in the deliverance apparatus that the discharge of storage silo internal liquid is floated up into the water surface by wireless device；
The processing unit controls the unmanned plane to fly to the deliverance apparatus opening position on the water surface and control the unmanned plane to lead to
Attachment means are crossed to be connected with the deliverance apparatus；
The processing unit detects that the unmanned plane is connected by attachment means with the deliverance apparatus and completes the then processing
The device control unmanned plane flies to the first-aid centre of setting with the deliverance apparatus.
2. rescue mode under a kind of intelligent water based on unmanned plane according to claim 1, it is characterised in that at the place
Device is managed to obtain after the region comprising human body information in the water is safety zone using wireless device, methods described also include with
Lower step：
The camera that the processing unit is installed on by wireless device control on the deliverance apparatus absorbs the body image
And whether human body drowns according to the image analysing computer of the intake；
If then the processing unit drowns human body whether on the water surface according to the drowned human body image analysing computer of the intake；
If then the processing unit controls attachment means to disconnect the unmanned plane and the deliverance apparatus by wireless device
Connect and control the deliverance apparatus to travel to the position of human body by wireless device；
The processing unit is controlled the aerating device on the deliverance apparatus to be inflated by wireless device and controls the nothing
Loudspeaker on man-machine sends rescue information.
3. rescue mode under a kind of intelligent water based on unmanned plane according to claim 1, it is characterised in that filled in processing
Put and the human body is analyzed as after conscious state, the processing unit includes following methods according to the underwater body image of intake：
The processing unit controls the deliverance apparatus to drop to according to the underwater body image of the intake by wireless device
Below the human body and the aerating device on the deliverance apparatus is controlled to be inflated；
The processing unit by wireless device detect aerating device inflation complete then to control the deliverance apparatus with
The human body rises to the water surface and controls the unmanned plane to be connected by attachment means with the deliverance apparatus；
The processing unit detects that the unmanned plane is connected by attachment means with the deliverance apparatus and completes the then processing
The device control unmanned plane flies to the first-aid centre of setting with the deliverance apparatus.
4. rescue mode under a kind of intelligent water based on unmanned plane according to claim 1, it is characterised in that filled in rescue
Put when being rescued, methods described is further comprising the steps of：
The processing unit is controlled underwater described in the camera real time shooting being installed on the deliverance apparatus by wireless device
The environmental images of human peripheral and the whether dangerous fish of the human peripheral according to the image analysing computer of the intake；
The processing unit is installed on the camera real time shooting institute on the deliverance apparatus by wireless device control if having
State the image of dangerous fish and according in fact when analyze the nose shape of dangerous fish in the image；
The processing unit controls the deliverance apparatus to travel to the dangerous fish opening position and passes through nothing by wireless device
The percussion mechanism that line apparatus control is installed on the deliverance apparatus impacts to the nose of the dangerous fish.
5. rescue mode under a kind of intelligent water based on unmanned plane according to claim 1, it is characterised in that at the place
When the route that reason device controls the unmanned plane to be pre-set with deliverance apparatus installation carries out pre-set velocity flight, methods described
It is further comprising the steps of：
Flight path and the flight of the unmanned plane are controlled by the connection of wireless device and processing unit using external equipment
Speed；
The camera being installed on the deliverance apparatus is controlled by the connection of wireless device and deliverance apparatus using external equipment
Observe the environmental images around the deliverance apparatus.
6. rescue system under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, attachment means and processing dress
Put, the unmanned plane includes infrared detector, loudspeaker and buckle, and the infrared detector is arranged at the unmanned plane
On, for detecting human body information in water, the loudspeaker is arranged at the unmanned plane lower position, for sending rescue information,
The buckle is arranged at below the unmanned plane, for being attached with attachment means；The deliverance apparatus includes camera, deposited
Warehouse, aerating device, percussion mechanism and drive device, the camera is arranged on the deliverance apparatus, for absorbing shadow
Picture, the storage include drainage arrangement, and the storage silo is used to store human body, and the drainage arrangement is used in the storage silo
Liquid discharge, the aerating device is arranged on the deliverance apparatus, for the human body in water to be floated, the percussion mechanism
The deliverance apparatus anterior position is arranged at, for being collided to dangerous fish, the drive device is waterproof driving device,
The deliverance apparatus rear is set, for driving the deliverance apparatus to travel and lifting；The attachment means include connecting rope
And junction button, the connecting rope are set with snapping connection below junction button and the unmanned plane, the junction button respectively
Above the deliverance apparatus, it is characterised in that the processing unit includes：
Starting module, for starting unmanned plane operation；
Navigation module, for controlling unmanned plane to be flown with deliverance apparatus according to the route pre-set；
Rate control module, for controlling unmanned plane to be flown with deliverance apparatus according to pre-set velocity；
Human detection module, for detecting the human body information in water in real time using the infrared detector being installed on unmanned plane；
Wireless device, it can be attached with network, external equipment and deliverance apparatus；
Region acquisition module, for obtaining whether the region comprising human body information in water is safety zone using wireless device；
Underwater detection module, for detecting human body whether under water position in real time using the infrared detector being installed on unmanned plane
Put；
Connection disconnects module, for controlling the connection of attachment means disconnection unmanned plane and deliverance apparatus by wireless device；
Acquisition module, for absorbing image using the camera being installed on deliverance apparatus；
Control module is travelled, for controlling deliverance apparatus to be travelled in water by wireless device；
Human body analysis module, whether it is automatism for the image analysing computer human body according to intake；
Memory module, the storage silo for being used for wireless device control deliverance apparatus are opened and load human body；
Draining control module, for controlling the drainage arrangement in deliverance apparatus to discharge storage silo internal liquid by wireless device
Float up to the water surface；
Flight control modules, for controlling unmanned plane during flying to specified location；
Link block, for controlling unmanned plane to be connected by attachment means with deliverance apparatus；
Connection detection module, for detecting whether attachment means are connected completion with unmanned plane and deliverance apparatus respectively.
7. rescue system under a kind of intelligent water based on unmanned plane according to claim 6, it is characterised in that the processing
Device also includes：
Whether drowned analysis module, drown for the image analysing computer human body according to intake；
Water surface analysis module, for whether drowning human body in the water surface according to the drowned human body image analysing computer of intake
Control module is rescued, for controlling deliverance apparatus to travel and lift to specified location in water by wireless device；
Inflator module, for controlling the aerating device on deliverance apparatus to be inflated by wireless device；
Sounding module is rescued, for controlling the loudspeaker on deliverance apparatus to send rescue information by wireless device.
8. rescue system under a kind of intelligent water based on unmanned plane according to claim 6, it is characterised in that the processing
Device also includes：
Detection module is inflated, for detecting whether aerating device inflates completion by wireless device.
9. rescue system under a kind of intelligent water based on unmanned plane according to claim 6, it is characterised in that the processing
Device also includes：
Hazard analysis module, for the whether dangerous fish of image analysing computer human peripheral according to intake；
Fish analysis module, for analyzing the nose position of dangerous fish in the image in real time according to the dangerous fish image of intake
Put；
Impulsive control module, for being installed on nose of the percussion mechanism on deliverance apparatus to dangerous fish by wireless device control
Son is impacted.
10. rescue system under a kind of intelligent water based on unmanned plane according to claim 6, it is characterised in that the place
Reason device also includes：
Outside connections module, for controlling unmanned plane and deliverance apparatus and external equipment to be attached.
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| CN201710578342.5A CN107351992B (en) | 2017-07-16 | 2017-07-16 | Rescue mode and its system under a kind of intelligent water based on unmanned plane |
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| CN110588973A (en) * | 2019-09-27 | 2019-12-20 | 江苏科技大学 | Juvenile drowning prevention and rescue platform based on amphibious unmanned aircraft and method thereof |
| CN110588973B (en) * | 2019-09-27 | 2023-01-06 | 江苏科技大学 | Juvenile drowning prevention and rescue platform based on amphibious unmanned aircraft and method thereof |
| CN111275924A (en) * | 2020-03-18 | 2020-06-12 | 手拉手信息技术有限公司 | Child drowning prevention monitoring method and system based on unmanned aerial vehicle and unmanned aerial vehicle |
| CN111275924B (en) * | 2020-03-18 | 2023-08-25 | 手拉手信息技术有限公司 | Unmanned aerial vehicle-based child drowning prevention monitoring method and system and unmanned aerial vehicle |
| CN114560059A (en) * | 2022-03-08 | 2022-05-31 | 三峡大学 | Underwater lifesaving robot and rescuing method |
| CN114735165A (en) * | 2022-03-08 | 2022-07-12 | 三峡大学 | Intelligent underwater lifesaving system and drowning detection and rescue method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109850095B (en) | 2020-11-17 |
| CN109850095A (en) | 2019-06-07 |
| CN107351992B (en) | 2019-06-21 |
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