CN107351993A - A kind of water rescue device and its method based on unmanned boat - Google Patents
A kind of water rescue device and its method based on unmanned boat Download PDFInfo
- Publication number
- CN107351993A CN107351993A CN201710578336.XA CN201710578336A CN107351993A CN 107351993 A CN107351993 A CN 107351993A CN 201710578336 A CN201710578336 A CN 201710578336A CN 107351993 A CN107351993 A CN 107351993A
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- unmanned boat
- processor
- storage silo
- water
- human body
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims description 37
- 239000006260 foam Substances 0.000 claims abstract description 5
- 230000002209 hydrophobic effect Effects 0.000 claims abstract description 5
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 21
- 239000001301 oxygen Substances 0.000 claims description 21
- 229910052760 oxygen Inorganic materials 0.000 claims description 21
- 210000004072 lung Anatomy 0.000 claims description 16
- 238000011084 recovery Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 7
- 206010013647 Drowning Diseases 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 5
- 230000002123 temporal effect Effects 0.000 claims description 5
- 238000006424 Flood reaction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 206010010071 Coma Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 208000010513 Stupor Diseases 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000001755 vocal effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000011221 initial treatment Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002699 waste material Substances 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
- B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
-
- 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
- B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Alarm Systems (AREA)
- Emergency Lowering Means (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A kind of water rescue device based on unmanned boat,Including unmanned boat,Drive device,Deliverance apparatus,Processor and battery,Drive device includes motor and propeller,Unmanned boat includes storage silo,Drainage arrangement,Camera,Infrared detector,Wireless device,Positioner and guider,Storage silo is arranged inside,Drainage arrangement is arranged inside storage silo,Camera is arranged at outside,Infrared detector is arranged at outside,Wireless device is arranged inside,Positioner is arranged inside,Guider is arranged inside,Deliverance apparatus includes some rocket launcher lifebuoys and attachment means,Rocket launcher lifebuoy includes transmitter and lifebuoy shell,Transmitter is arranged above unmanned boat,Lifebuoy shell is made up of hydrophobic foam,Attachment means include connecting rope and retracting device,Connecting rope is connected with retracting device and lifebuoy shell respectively,Retracting device quantity is consistent with rocket launcher lifebuoy quantity and is arranged at unmanned boat side.
Description
Technical field
The present invention relates to unmanned boat to rescue field, and in particular to a kind of water rescue device and its side based on unmanned boat
Method.
Background technology
Unmanned boat is that one kind can exist without remote control by precise satellite positioning and self-sensor according to preset task
The Full-automatic water surface robot of surface navigation, in application aspect typically based on mapping, the hydrology and water quality monitoring.Sent out by Australia student
Bright " rocket launcher lifebuoy ", 150 meters of range, meet water and expand, help can be provided to drowning person in the very first time.Designer
This invention is referred to as Longreach.
Rescue at sea works due to the characteristic of ocean, generally requires to expend substantial amounts of manpower and materials, is that one kind costs dearly,
Task full of risk, personnel to be rescued can not often be rescued in time, and be rescued if the situation for bad weather occur
Work can not more deploy, personnel to be rescued at sea without floating object in the case of be easy to due to losing temperature, exposure, water shortage or running into
Dangerous marine organisms and lose relieved chance.Unmanned boat is flexible, without manual operation, can at sea help to search and rescue
Work expansion, help can be provided searching out when personnel are rescued for it.
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 boat
Water rescue device and its method, it can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：A kind of water rescue device based on unmanned boat, including unmanned boat, drive device, deliverance apparatus, place
Manage device and battery, the drive device includes motor and propeller, the motor be arranged at it is described nobody
Tail position is simultaneously connected with the propeller inside ship, for driving propeller to run, the propeller be arranged at it is described nobody
Outboard portion tail position, for controlling the unmanned boat to run and turning to, the unmanned boat include storage silo, drainage arrangement,
Camera, infrared detector, wireless device, positioner and guider, the storage silo are arranged at the unmanned boat
Lower inside position, for storing the drowned human body of rescue, the drainage arrangement is arranged inside the storage silo, for that will deposit
Water discharge in warehouse, the camera is provided with several and is arranged at the unmanned boat external position, for absorbing with institute
The environmental images around unmanned boat are stated, the infrared detector is provided with several and is arranged at outside the unmanned boat and images
Rostral orientation is put, and for detecting whether have human body in water, the wireless device is arranged at the unmanned boat interior location, for even
Meet external equipment and first-aid centre, the positioner is arranged at the unmanned boat interior location, for position it is described nobody
Ship position information simultaneously obtains location data, and the guider is arranged at the unmanned boat interior location, for controlling the nothing
People's ship carries out pre-set velocity patrol according to default route；The deliverance apparatus includes some rocket launcher lifebuoys and connection dress
Put, the rocket launcher lifebuoy includes transmitter and lifebuoy shell, and the transmitter is arranged at the unmanned boat upper position
Put, for launching lifebuoy shell to specified location, the lifebuoy shell is made up of hydrophobic foam, for rescuing drowning man
Body, the attachment means include connecting rope and retracting device, the connecting rope respectively with retracting device and lifebuoy shell
Connection, the retracting device quantity is consistent with the rocket launcher lifebuoy quantity and is arranged at unmanned boat side position, uses
In the recovery connecting rope；The processor respectively with motor, propeller, drainage arrangement, camera, infrared detection
Instrument, wireless device, positioner, guider, transmitter and retracting device connection.
As a kind of preferred embodiment of the present invention, include oxygen lung ventilator and loudspeaker, the oxygen in the storage silo
Gas lung ventilator is arranged at the bulkhead position of the storage silo, and for providing oxygen for drowned human body, the loudspeaker is arranged at institute
State storage silo tip position and be connected with the processor, for notifying that the drowned human body is operated accordingly.
As a kind of preferred embodiment of the present invention, the storage silo also includes automatic extendible door, and the automatic extendible door is set
It is placed in the storage silo external position and is connected with the processor, is entered for providing drowned human body in storage silo.
As a kind of preferred embodiment of the present invention, the storage silo also includes water door and escape and rescue trunk, the waterproof
Door is arranged at storage silo side position and is in stair shape and divides with storage silo wall surface level, the escape and rescue trunk
It is not connected with water door and the unmanned boat tip position, water door is opened from escape and rescue trunk rising for providing drowned human body
To the unmanned boat tip position.
As a kind of preferred embodiment of the present invention, the unmanned boat also includes folding awning, and the folding awning is arranged at described
Unmanned boat top position is simultaneously connected with processor, for windproof and rain-proof.
A kind of water life-saving method based on unmanned boat, uses a kind of water rescue device based on unmanned boat, the side
Method comprises the following steps：
In unmanned boat startup optimization, processor controls the unmanned boat to enter according to the route pre-set using guider
The patrol of row pre-set velocity；
The processor is using the infrared detector being installed on unmanned boat detection in real time centered on the unmanned boat
Spread in the range of the first pre-set radius whether have human body information to surrounding；
The processor utilizes body image and basis described in the camera real time shooting being installed on the unmanned boat if having
Whether human body described in the image analysing computer is drowned state；
If then the processor positional information of human body and detects the people according to the image analysing computer of real time shooting
Whether body position information is in the effective range of rocket launcher lifebuoy transmitter；
If processor transmitter launch angle and emissivity according to the positional information calculation analyzed if
Spend and control the transmitter to launch lifebuoy shell to the positional information；
The processor is using the drowned body image of the camera real time shooting being installed on the unmanned boat and according to the shadow
The drowned human body is wrapped as whether the analysis lifebuoy shell has；
Processor control retracting device is towed back to the lifebuoy at the storage silo and profit by connecting rope if having
The water in storage silo is discharged with the drainage arrangement being arranged in the storage；
The processor is spread in the range of the second pre-set radius using wireless device search centered on the unmanned boat to surrounding
First-aid centre's information and positioned using positioner to obtain the unmanned boat position data；
The processor is calculated with first-aid centre's positional information of the unmanned boat minimum distance simultaneously according to the position data
Calculate from the unmanned boat current location to first-aid centre's opening position hours underway；
The processor controls the unmanned boat to navigate by water and utilize without traditional thread binding to real-time first-aid centre's opening position using guider
Put to real-time first-aid centre and be sent to up to temporal information.
As the present invention a kind of preferred embodiment, processor control retracting device by connecting rope by lifebuoy tow back to
When at storage silo, methods described is further comprising the steps of：
The processor is using the camera real time shooting recovery image being installed on the unmanned boat and according to the image point
Analyse whether the drowned human body has into storage silo；
The processor notifies the drowned human body to use setting using the loudspeaker being installed at the top of the storage silo if having
Oxygen lung ventilator on storage silo wall.
As the present invention a kind of preferred embodiment, processor control retracting device by connecting rope by lifebuoy tow back to
When at storage silo, methods described is further comprising the steps of：
The processor is using the camera real time shooting water surface image being installed on the unmanned boat and according to the water surface shadow
The elevation information of storage silo is flooded as analyzing the water surface；
The elevation information control that the processor floods storage silo according to the water surface analyzed is corresponding with the elevation information
The automatic extendible door of pre-determined distance height is opened and utilizes the loudspeaker being installed at the top of the storage silo to notify the drowning man
Body enters in storage silo.
As the present invention a kind of preferred embodiment, processor control retracting device by connecting rope by lifebuoy tow back to
When at storage silo, methods described is further comprising the steps of：
The processor is using the camera real time shooting recovery image being installed on the unmanned boat and according to the image point
Analyse whether the drowned human body has into storage silo；
The water in storage silo is discharged using the drainage arrangement being arranged in the storage and is utilized peace by the processor if having
The drowned human body is notified to open water door and enter the unmanned boat from rescue passage loaded on the loudspeaker at the top of the storage silo
Tip position.
As a kind of preferred embodiment of the present invention, the unmanned boat is controlled according to setting in advance using guider in processor
When the route put carries out the patrol of pre-set velocity, methods described is further comprising the steps of：
The processor is using the camera real time shooting images of environment surrounding being installed on the unmanned boat and according to the shadow
As analysing whether that rain comes；
The folding awning that the processor control is installed on the unmanned boat tip position if having, which is run, stops that rainwater enters rescue
In passage.
The present invention realizes following beneficial effect：1. the unmanned boat according to predetermined paths carry out pre-set velocity patrol when,
In real time detection water in whether have human body, detected whether in real time if human body has been detected for drown state, if then detection described in
Whether human body, if then calculating the position of human body information, then utilizes in the coverage of rocket launcher lifebuoy transmitter
The transmitter of rocket launcher lifebuoy, which launches lifebuoy shell at the position of human body and by the human body, to be entangled, and is then utilized
The human body is towed back to at storage silo and by the water in storage silo and discharged by retracting device, then positions nobody using positioner
Ship position information simultaneously controls the unmanned boat to navigate by water to first-aid centre using guider.
2. the unmanned boat can utilize intake recovery image described in camera and be drowned according to the image analysing computer
Whether human body enters in storage silo, if notifying the human body to use oxygen lung ventilator using the loudspeaker at the top of storage silo if
Saved oneself.
3. the unmanned boat can utilize the image of the current water surface of intake described in camera and be deposited according to the image analysing computer
For warehouse by the elevation information of water submerged, the elevation information that then basis analyzes controls the automatic extendible door more than height to beat
Open and notify drowned human body to enter in storage silo, prevent the automatic extendible door of storage silo is opened from enter liquid more greatly.
4. the unmanned boat can utilize intake recovery image described in camera and be drowned according to the image analysing computer
Whether human body enters in storage silo, drowned if controlling the water door inside the storage to open and if utilizing loudspeaker to notify
Human body enters unmanned boat tip position by water door from rescue passage.
5. the unmanned boat according to predetermined paths when carrying out pre-set velocity patrol, if the environment absorbed by camera
Image detection comes to rain, and the folding awning decline that control is installed on the unmanned boat tip position stops that rainwater enters nothing
Inside people's ship.
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 for the water rescue device based on unmanned boat that the one of example of the present invention provides；
Fig. 2 is the sectional view for the water rescue device based on unmanned boat that the one of example of the present invention provides；
Fig. 3 is the side schematic view for the water rescue device based on unmanned boat that the one of example of the present invention provides；
Fig. 4 is the schematic diagram for the rocket launcher lifebuoy that the one of example of the present invention provides；
Fig. 5 is the flow chart for the water life-saving method based on unmanned boat that the one of example of the present invention provides；
Fig. 6 is the flow chart using oxygen lung ventilator method that the one of example of the present invention provides；
Fig. 7 is that the drowned human body of notice that the one of example of the present invention provides enters the flow chart of storage silo method；
Fig. 8 is that the drowned human body of notice that the one of example of the present invention provides enters the flow chart of method at the top of unmanned boat；
Fig. 9 is the flow chart for the control folding awning descending method that the one of example of the present invention provides；
Figure 10 is the electronic device connection figure for the water rescue device based on unmanned boat 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 figure 1-4, shown in Figure 10, Fig. 1 is the water rescue device based on unmanned boat that the one of example of the present invention provides
Schematic diagram；Fig. 2 is the sectional view for the water rescue device based on unmanned boat that the one of example of the present invention provides；Fig. 3 is
The side schematic view for the water rescue device based on unmanned boat that the one of example of the present invention provides；Fig. 4 for the present invention wherein
The schematic diagram for the rocket launcher lifebuoy that one example provides；Figure 10 is the one of example offer of the present invention based on unmanned boat
The electronic device connection figure of water rescue device.
Specifically, the present embodiment provides a kind of water rescue device based on unmanned boat, including unmanned boat 1, drive device
2nd, deliverance apparatus 3, processor 4 and battery 5, the drive device 2 include motor 20 and propeller 21, the drive
Dynamic motor 20 is arranged at the inside tail position of unmanned boat 1 and is connected with the propeller 21, for driving propeller 21 to transport
OK, the propeller 21 is arranged at the external tailpieces position of unmanned boat 1, for controlling the unmanned boat 1 to run and turn to,
The unmanned boat 1 includes storage silo 10, drainage arrangement 11, camera 12, infrared detector 13, wireless device 14, positioning dress
15 and guider 16 are put, the storage silo 10 is arranged at the lower inside position of unmanned boat 1, for storing drowning for rescue
Water human body, the drainage arrangement 11 are arranged inside the storage silo 10, for the water in storage silo 10 to be discharged, the shooting
First 12 are provided with several and are arranged at the external position of unmanned boat 1, for absorbing with the environment shadow around the unmanned boat 1
Picture, the infrared detector 13 are provided with several and are arranged at the side position of 1 outside camera of unmanned boat 12, be used for
Detection water in whether have human body, the wireless device 14 is arranged at the interior location of unmanned boat 1, for connect external equipment with
And first-aid centre, the positioner 15 are arranged at the interior location of unmanned boat 1, for positioning the position of unmanned boat 1 letter
Cease and obtain location data, the guider 16 is arranged at the interior location of unmanned boat 1, for controlling the unmanned boat 1
Pre-set velocity patrol is carried out according to default route；The deliverance apparatus 3 includes some rocket launcher lifebuoys 30 and connection dress
31 are put, the rocket launcher lifebuoy 30 includes transmitter 300 and lifebuoy shell 301, and the transmitter 300 is arranged at described
The top position of unmanned boat 1, for launching lifebuoy shell 301 to specified location, the lifebuoy shell 301 is by hydrophobic foam
It is made, for rescuing drowned human body, the attachment means 31 include connecting rope 310 and retracting device 311, the connecting rope
310 are connected with retracting device 311 and lifebuoy shell 301 respectively, the quantity of retracting device 311 and the rocket launcher lifesaving
Enclose 30 quantity unanimously and be arranged at the side position of unmanned boat 1, for reclaiming the connecting rope 310；The processor 4 is distinguished
With motor 20, propeller 21, drainage arrangement 11, camera 12, infrared detector 13, wireless device 14, positioner
15th, guider 16, transmitter 300 and retracting device 311 connect.
Wherein, some cameras 12 can absorb the image of the surrounding of unmanned boat 1；Some infrared detectors 13
The human body information of the surrounding of unmanned boat 1 can be detected；The lifebuoy shell 301 is made up of hydrophobic foam, can 15 seconds it
The volume of interior 40 times of expansion；The side of connecting rope 310 is connected with lifebuoy shell 301, and opposite side connects with retracting device 311
Connect；The lower section of drainage arrangement 11 is check valve, i.e., the water of storage silo 10 can be discharged by the pipeline of the lower section of drainage arrangement 11,
Water in pipeline can not be entered in storage silo 10 by drainage arrangement 11；The electronic device is that waterproof material is made.
As a kind of preferred embodiment of the present invention, include oxygen lung ventilator 100 and loudspeaker in the storage silo 10
101, the oxygen lung ventilator 100 is arranged at the bulkhead position of the storage silo 10, described for providing oxygen for drowned human body
Loudspeaker 101 is arranged at the tip position of storage silo 10 and is connected with the processor 4, for notifying the drowned human body to enter
The corresponding operation of row.
Wherein, the oxygen lung ventilator 100 can continue to carrying out release oxygen inside storage silo 10.
As a kind of preferred embodiment of the present invention, the storage silo 10 also includes automatic extendible door 102, the automatic telescopic
Door 102 is arranged at the external position of storage silo 10 and is connected with the processor 4, enters storage silo for providing drowned human body
In 10.
Wherein, the automatic extendible door 102 is water door 103, and the automatic extendible door 102 can be upward in any position
Or flexible downwards,
As a kind of preferred embodiment of the present invention, the storage silo 10 also includes water door 103 and escape and rescue trunk, the waterproof
Door 103 is arranged at the side position of storage silo 10 and horizontal with the bulkhead surface of storage silo 10, and the escape and rescue trunk is in building
Scalariform is simultaneously connected with water door 103 and the tip position of the unmanned boat 1 respectively, and water door is opened for providing drowned human body
103 rise to the tip position of unmanned boat 1 from escape and rescue trunk.
Wherein, the water door 103, which is opened, to be gone to from rescue passage 104 at the tip position of unmanned boat 1.
As a kind of preferred embodiment of the present invention, the unmanned boat 1 also includes folding awning 17, and the folding awning 17 is arranged at
The top position of unmanned boat 1 is simultaneously connected with processor 4, for windproof and rain-proof.
Wherein, the folding awning 17 can entirely prevent rainwater to enter in rescue passage 104 when declining.
Embodiment two
With reference to shown in figure 5, Fig. 5 is the flow for the water life-saving method based on unmanned boat that the one of example of the present invention provides
Figure.
Specifically, the present embodiment provides a kind of water life-saving method based on unmanned boat, using a kind of based on unmanned boat
Water rescue device, it the described method comprises the following steps：
S1, in 1 startup optimization of unmanned boat, processor 4 controls the unmanned boat 1 according to pre-setting using guider 16
Route carry out pre-set velocity patrol；
S2, the processor 4 are using the infrared detector 13 being installed on the unmanned boat 1 detection in real time with the unmanned boat
Spread in the range of the first pre-set radius whether have human body information to surrounding centered on 1；
S3, the processor 4 utilizes body image described in the real time shooting of camera 12 being installed on the unmanned boat 1 if having
And whether human body is drowned state according to the image analysing computer；
If S4, the then processor 4 positional information of human body and detect institute according to the image analysing computer of real time shooting
Position of human body information is stated whether in the effective range of the transmitter 300 of rocket launcher lifebuoy 30；
S5, if if the processor 4 according to the positional information calculation analyzed the launch angle of transmitter 300 and
Transmitting dynamics simultaneously controls the transmitter 300 to launch lifebuoy shell 301 to the positional information；
S6, the processor 4 utilize the drowned body image of the real time shooting of camera 12 being installed on the unmanned boat 1 and basis
Whether lifebuoy shell 301 described in the image analysing computer, which has, wraps the drowned human body；
S7, the processor 4 controls retracting device 311 to tow back to the lifebuoy to described by connecting rope 310 and deposited if having
Discharged at warehouse 10 and using the drainage arrangement 11 being arranged in the storage by the water in storage silo 10；
S8, the processor 4 are searched for using wireless device 14 spreads the second pre-set radius centered on the unmanned boat 1 to surrounding
In the range of first-aid centre's information and positioned using positioner 15 to obtain the position data of unmanned boat 1；
S9, the processor 4 calculate according to the position data to be believed with the first-aid centre position of the minimum distance of unmanned boat 1
Cease and calculate from the current location of unmanned boat 1 to first-aid centre's opening position hours underway；
S10, the processor 4 control the unmanned boat 1 to the navigation of real-time first-aid centre's opening position and profit using guider 16
It is sent to wireless device 14 to real-time first-aid centre up to temporal information.
Wherein, the route pre-set refers to the beat route map for being stored in setting in guider 16；
The pre-set velocity is 0-200 kilometers/hour, in the present embodiment preferably 30 kilometers/hour；First pre-set radius is
0-50 kilometers, preferably 3 kilometers in the present embodiment；The drowned state refers to water of struggling, cry for help, go into a coma and choke in water
Deng；The effective range of the transmitter 300 of rocket launcher lifebuoy 30 is 0-150 rice, preferably 100 meters in the present embodiment, i.e.,
It can accurately launch in 100 meters to specified location, error and be no more than 10 centimeters；Described wrap the drowned human body be
Refer to the water-swellable of lifebuoy shell 301 afterwards to entangle the human body, as lifebuoy entangles human body；The control
Retracting device 311 is towed back to the lifebuoy to refer at the storage silo 10 will using retracting device 311 by connecting rope 310
Connecting rope 310 is recycled to inside it, is then towed back to the lifebuoy to the opening position of storage silo 10 with human body；Described second
Pre-set radius is 0-500 kilometers, preferably 20 kilometers in the present embodiment；The arrival time information is body image, human body
Drowned information, current location information, real-time position information, headway information and navigation reach first-aid centre's temporal information
Deng；In the unmanned boat 1 into first-aid centre way, method as before is used for if finding to have drowned human body information
Rescued；The calculating and first-aid centre's positional information of the minimum distance of unmanned boat 1 refer to what is arrived by comparison search
The air line distance of first-aid centre, obtain out the most short first-aid centre of air line distance；The first-aid centre is to be arranged at rescuing for bank
Help center.
In S1, specifically in 1 startup optimization of unmanned boat, processor 4 controls the unmanned boat 1 to press using guider 16
The patrol of 30 kilometers/hour of speed is carried out according to the beat route map for being stored in setting in guider 16.
In S2, specifically examined in real time using the infrared detector 13 being installed on the unmanned boat 1 in the processor 4
Survey and spread in the range of 3 kilometer radius whether have human body information to surrounding centered on the unmanned boat 1, i.e., detected whether in real time
Human body avoids someone is drowned from causing injures and deaths in water.
In S3, specifically after human body information has been detected, the processor 4 is utilized and is installed on the unmanned boat 1
Body image described in the real time shooting of camera 12 and according to the image analysing computer human body whether be in water struggle, cry for help,
Go into a coma and the drowned behavior such as water of choking, detected whether that human body is drowned in real time, avoided causing injures and deaths.
In S4, specifically after analyzing the human body and having drowned behavior to occur, the processor 4 is according to real time shooting
The positional information of human body described in the image analysing computer simultaneously detects whether the position of human body information launches in rocket launcher lifebuoy 30
In the effective range of device 300, that is, detect and detect the position of human body information and the transmitter 300 of rocket launcher lifebuoy 30 in real time
Position whether be less than 100 meters, if controlling the unmanned boat 1 to be navigated by water at the position of human body more than if, prevent not effective
Cause to waste in range.
In S5, specifically the position of the position of human body information and the transmitter 300 of rocket launcher lifebuoy 30 is being detected
Put less than 100 meters when, the processor 4 according to the positional information calculation analyzed the launch angle of transmitter 300 with
And launch dynamics and control the transmitter 300 to launch lifebuoy shell 301 to the positional information, i.e., processor 4 is logical
The angle of the needs of positional information calculation transmitter 300 and the dynamics of transmitting are crossed, so as to which the lifebuoy shell 301 is accurate
At transmitting to the position of human body, then entangled, lifebuoy can not be used after preventing drowned human body stupor.
In S6, specifically drowned in the processor 4 using the real time shooting of camera 12 being installed on the unmanned boat 1
After body image, whether the processor 4 lifebuoy shell 301 according to the image analysing computer has the drowned human body bag
Wrap, i.e., entangle the human body after the described water-swellable of lifebuoy shell 301, as lifebuoy entangles human body, prevent
Only the human body is being fallen into water in towing back to way；Processor recalculates another according to position of human body information if not wrapping
The angle and dynamics of the transmitting of rocket launcher lifebuoy transmitter simultaneously control the transmitter transmitting lifebuoy shell, by that analogy directly
Untill human body is wrapped.
In S7, specifically after detecting that the lifebuoy shell 301 is to wrap the drowned human body, the processing
Device 4 controls the automatic extendible door 102 of the storage silo 10 to open, and connecting rope 310 then is recycled into it using retracting device 311
Inside, the lifebuoy is towed back to the opening position of storage silo 10 with human body and filled using the draining being arranged in the storage
Put 11 to discharge the water in storage silo 10, prevent there is liquid entrance in the automatic extendible door 102 of the storage silo 10 opens way
In storage silo 10.
In S8, specifically searched for using wireless device 14 in the processor 4 and expanded centered on the unmanned boat 1 to surrounding
After dissipating first-aid centre's information in the range of 20 kilometer radius, the processor 4 is positioned using positioner 15 to obtain the nothing
The position data of people's ship 1, that is, after searching the first-aid centre centered on unmanned boat 1 into surrounding 40 kilometer ranges of diffusion, utilize
Positioner 15 positions the positional information of unmanned boat 1, then obtains the location data of the positional information.
In S9, specifically calculated and the minimum distance of unmanned boat 1 according to the position data in the processor 4
After first-aid centre's positional information, the calculating and first-aid centre's positional information of the minimum distance of unmanned boat 1, the processor
4 calculate from the current location of unmanned boat 1 to first-aid centre's opening position hours underway, such as the speed of unmanned boat 1 is 30 public
In/hour and the current location of unmanned boat 1 calculated and first-aid centre's air line distance of minimum distance is 30 kilometers then described
The current location of unmanned boat 1 to first-aid centre's opening position hours underway is 1 hour.
In S10, the unmanned boat 1 specifically is controlled to real-time first-aid centre using guider 16 in the processor 4
When opening position is navigated by water, the processor 4 sends the drowned letter of body image, human body using wireless device 14 to real-time first-aid centre
Breath, current location information, real-time position information, headway information and navigation reach first-aid centre's temporal information etc., in time
First-aid centre medical personnel are notified to prepare rescue.
Embodiment three
With reference to shown in figure 6, Fig. 6 is the flow chart using oxygen lung ventilator method that the one of example of the present invention provides.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, in processor 4
When control retracting device 311 is towed back to lifebuoy to storage silo 10 by connecting rope 310, methods described also includes following step
Suddenly：
S70, the processor 4 are using the real time shooting of the camera 12 recovery image being installed on the unmanned boat 1 and according to institute
State whether human body of being drowned described in image analysing computer has into storage silo 10；
S71, the processor 4 notifies the drowning man using the loudspeaker 101 for being installed on the top of storage silo 10 if having
Body uses the oxygen lung ventilator 100 being arranged on the bulkhead of storage silo 10.
Specifically, the automatic extendible door 102 for controlling the storage silo 10 in the processor 4 is opened, recovery is then utilized
Connecting rope 310 is recycled to inside it by device 311, when the lifebuoy is towed back to the opening position of storage silo 10 with human body,
The processor 4 utilizes image during lifebuoy recovery described in the real time shooting of camera 12 being installed on the unmanned boat 1, so
Being drowned afterwards according to the image analysing computer of the intake, whether oneself enters in storage silo 10 human body, if the human body is stupor shape
The human body is then dragged in storage silo 10 and closes the automatic extendible door 102 of the storage silo 10 by state, if detecting the people
After body enters in storage silo 10, the processor 4 controls automatic extendible door 102 to close and pushed up using the storage silo 10 is installed on
The loudspeaker 101 in portion sends the voice of setting, notifies the drowned human body use to hang on the side bulkhead of storage silo 10
Oxygen lung ventilator 100 carry out Primary treatment, if the human body be comatose state if directly control the oxygen lung ventilator 100 to transport
It is about to high-concentration oxygen to be released in the storage silo 10, avoids the human body from suffocating.
Example IV
With reference to shown in figure 7, Fig. 7 is that the drowned human body of notice that the one of example of the present invention provides enters the flow of storage silo method
Figure.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, in processor 4
When control retracting device 311 is towed back to lifebuoy to storage silo 10 by connecting rope 310, methods described also includes following step
Suddenly：
S72, the processor 4 are using the real time shooting water surface image of camera 12 being installed on the unmanned boat 1 and according to institute
The water surface described in stating water surface image analysing computer floods the elevation information of storage silo 10；
The elevation information control that S73, the processor 4 flood storage silo 10 according to the water surface analyzed is believed with the height
The automatic extendible door 102 of the corresponding pre-determined distance height of breath is opened and utilizes the loudspeaker 101 for being installed on the top of storage silo 10
The drowned human body is notified to enter in storage silo 10.
The pre-determined distance is 0-10 rice, preferably 10 centimeters in the present embodiment.
Specifically, the automatic extendible door 102 for controlling the storage silo 10 in the processor 4 is opened, recovery is then utilized
Connecting rope 310 is recycled to inside it by device 311, when the lifebuoy is towed back to the opening position of storage silo 10 with human body,
The processor 4 utilizes the environmental images for the real time shooting water surface of camera 12 being installed on the unmanned boat 1, then according to institute
The water surface described in stating the aquatic environment image analysing computer of intake floods the elevation information of storage silo 10, and the processor 4 is according to analyzing
The water surface flood the elevation information of storage silo 10 and control the automatic extendible doors of corresponding with the elevation information 10 centimeters of height
102 open and send human body of being drowned described in the verbal announcement of setting using the loudspeaker 101 for being installed on the top of storage silo 10
Into in storage silo 10, the processor 4 controls automatic extendible door 102 to close after human body entrance；Such as detect the water surface
The elevation information for flooding storage silo 10 is 1 meter, then the processor 4 controls oneself of 10 centimeters of height corresponding with the elevation information
Dynamic retractable door 102, that is, control the automatic extendible door 102 of 1 meter of+10 centimeters of height to open, the height of automatic extendible door 102 starts
The height and position of opening is 1.1 meters, prevents liquid from pouring into sinking unmanned boat 1 in storage silo 10.
Embodiment five
With reference to shown in figure 8, Fig. 8 is that the drowned human body of notice that the one of example of the present invention provides enters method at the top of unmanned boat
Flow chart.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, in processor 4
When control retracting device 311 is towed back to lifebuoy to storage silo 10 by connecting rope 310, methods described also includes following step
Suddenly：
S74, the processor 4 are using the real time shooting of the camera 12 recovery image being installed on the unmanned boat 1 and according to institute
State whether human body of being drowned described in image analysing computer has into storage silo 10；
S75, the processor 4 is discharged the water in storage silo 10 using the drainage arrangement 11 being arranged in the storage if having
And the drowned human body is notified to open water door 103 and lead to from rescue using the loudspeaker 101 for being installed on the top of storage silo 10
Road 104 enters the tip position of unmanned boat 1.
Specifically, the automatic extendible door 102 for controlling the storage silo 10 in the processor 4 is opened, recovery is then utilized
Connecting rope 310 is recycled to inside it by device 311, when the lifebuoy is towed back to the opening position of storage silo 10 with human body,
The processor 4 utilizes image during lifebuoy recovery described in the real time shooting of camera 12 being installed on the unmanned boat 1, so
Being drowned afterwards according to the image analysing computer of the intake, whether oneself enters in storage silo 10 human body, if detecting, the human body enters
After entering in storage silo 10, the processor 4 controls automatic extendible door 102 to close and control drainage arrangement 11 to open, and then utilizes
The loudspeaker 101 for being installed on the top of storage silo 10 sends human body opening water door 103 of being drowned described in the verbal announcement of setting,
The tip position of the unmanned boat 1 is entered from rescue passage 104 by water door 103, if detecting the drowned human body for dusk
Then the cancellation of loudspeaker 101 sends the voice and controls the startup optimization of oxygen lung ventilator 100 fan.
Embodiment six
With reference to shown in figure 9, Fig. 9 is the flow chart for the control folding awning descending method that the one of example of the present invention provides.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, in processor 4
When controlling the unmanned boat 1 to carry out according to the route that pre-sets the patrol of pre-set velocity using guider 16, the side
Method is further comprising the steps of：
S11, the processor 4 utilize the real time shooting images of environment surrounding of camera 12 and root being installed on the unmanned boat 1
According to the image analysing computer, whether rain comes；
S12, the processor 4 controls the operation of folding awning 17 for being installed on the tip position of unmanned boat 1 to stop rainwater if having
Into in rescue passage 104.
Specifically, the unmanned boat 1 is controlled to set according to being stored in guider 16 using guider 16 in processor 4
During the patrol of fixed beat route map 30 kilometers/hour of speed of progress, the processor 4 utilizes and is installed on the unmanned boat
The environmental images around the real time shooting of camera 12 on 1, then whether had according to the environmental images of intake analysis surrounding
Whether rainwater comes, i.e., rained around detection unmanned boat 1 in real time, the control of processor 4 peace if analyzing rain and coming
The startup optimization of folding awning 17 of dress and the tip position of unmanned boat 1 simultaneously enters rainwater stop inside rescue passage 104,
Cause to rescue the congestion of passage 104 initiation accident.
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. a kind of water rescue device based on unmanned boat, including unmanned boat, drive device, deliverance apparatus, processor and storage
Battery, the drive device include motor and propeller, and the motor is arranged at afterbody inside the unmanned boat
Position is simultaneously connected with the propeller, and for driving propeller to run, the propeller is arranged at the unmanned boat external tailpieces
Position, for controlling the unmanned boat to run and turning to, it is characterised in that：
The unmanned boat includes storage silo, drainage arrangement, camera, infrared detector, wireless device, positioner and led
Navigate device, and the storage silo is arranged at the unmanned boat lower inside position, for storing the drowned human body of rescue, the draining
Device is arranged inside the storage silo, and for the water in storage silo to be discharged, the camera is provided with several and set
In the unmanned boat external position, set for absorbing with the environmental images around the unmanned boat, the infrared detector
There are several and be arranged at camera side position outside the unmanned boat, it is described wireless for detecting whether have human body in water
Device is arranged at the unmanned boat interior location, and for connecting external equipment and first-aid centre, the positioner is arranged at
The unmanned boat interior location, for positioning the unmanned boat positional information and obtaining location data, the guider is set
In the unmanned boat interior location, for controlling the unmanned boat to carry out pre-set velocity patrol according to default route；It is described to rescue
Shaking apparatus includes some rocket launcher lifebuoys and attachment means, and the rocket launcher lifebuoy includes transmitter and lifebuoy big gun
Bullet, the transmitter are arranged at the unmanned boat top position, for launching lifebuoy shell to specified location, the lifebuoy
Shell is made up of hydrophobic foam, and for rescuing drowned human body, the attachment means include connecting rope and retracting device, described
Connecting rope is connected with retracting device and lifebuoy shell respectively, the retracting device quantity and the rocket launcher lifebuoy quantity
Unanimously and unmanned boat side position is arranged at, for reclaiming the connecting rope；The processor respectively with motor, spiral shell
Revolve oar, drainage arrangement, camera, infrared detector, wireless device, positioner, guider, transmitter and recovery dress
Put connection.
2. a kind of water rescue device based on unmanned boat according to claim 1, it is characterised in that in the storage silo
Including oxygen lung ventilator and loudspeaker, the oxygen lung ventilator is arranged at the bulkhead position of the storage silo, for be drowned
Human body provides oxygen, and the loudspeaker is arranged at the storage silo tip position and is connected with the processor, for notifying
Drowned human body is stated to be operated accordingly.
3. a kind of water rescue device based on unmanned boat according to claim 1, it is characterised in that the storage silo is also
Including automatic extendible door, the automatic extendible door is arranged at the storage silo external position and is connected with the processor, is used for
Drowned human body is provided to enter in storage silo.
4. a kind of water rescue device based on unmanned boat according to claim 1, it is characterised in that the storage silo is also
Including water door and escape and rescue trunk, the water door is arranged at storage silo side position and stores silo wall table with described
Face is horizontal, and the escape and rescue trunk is in stair shape and is connected respectively with water door and the unmanned boat tip position, for providing
Drowned human body opens water door and rises to the unmanned boat tip position from escape and rescue trunk.
5. a kind of water rescue device based on unmanned boat according to claim 1, it is characterised in that the unmanned boat is also
Including folding awning, the folding awning is arranged at the unmanned boat top position and is connected with processor, for windproof and rain-proof.
6. a kind of water life-saving method based on unmanned boat, usage right requires a kind of based on the waterborne of unmanned boat described in 1-5
Deliverance apparatus, it is characterised in that the described method comprises the following steps：
In unmanned boat startup optimization, processor controls the unmanned boat to enter according to the route pre-set using guider
The patrol of row pre-set velocity；
The processor is using the infrared detector being installed on unmanned boat detection in real time centered on the unmanned boat
Spread in the range of the first pre-set radius whether have human body information to surrounding；
The processor utilizes body image and basis described in the camera real time shooting being installed on the unmanned boat if having
Whether human body described in the image analysing computer is drowned state；
If then the processor positional information of human body and detects the people according to the image analysing computer of real time shooting
Whether body position information is in the effective range of rocket launcher lifebuoy transmitter；
If processor transmitter launch angle and emissivity according to the positional information calculation analyzed if
Spend and control the transmitter to launch lifebuoy shell to the positional information；
The processor is using the drowned body image of the camera real time shooting being installed on the unmanned boat and according to the shadow
The drowned human body is wrapped as whether the analysis lifebuoy shell has；
Processor control retracting device is towed back to the lifebuoy at the storage silo and profit by connecting rope if having
The water in storage silo is discharged with the drainage arrangement being arranged in the storage；
The processor is spread in the range of the second pre-set radius using wireless device search centered on the unmanned boat to surrounding
First-aid centre's information and positioned using positioner to obtain the unmanned boat position data；
The processor is calculated with first-aid centre's positional information of the unmanned boat minimum distance simultaneously according to the position data
Calculate from the unmanned boat current location to first-aid centre's opening position hours underway；
The processor controls the unmanned boat to navigate by water and utilize without traditional thread binding to real-time first-aid centre's opening position using guider
Put to real-time first-aid centre and be sent to up to temporal information.
7. a kind of water life-saving method based on unmanned boat according to claim 6, it is characterised in that controlled in processor
When retracting device is towed back to lifebuoy to storage silo by connecting rope, methods described is further comprising the steps of：
The processor is using the camera real time shooting recovery image being installed on the unmanned boat and according to the image point
Analyse whether the drowned human body has into storage silo；
The processor notifies the drowned human body to use setting using the loudspeaker being installed at the top of the storage silo if having
Oxygen lung ventilator on storage silo wall.
8. a kind of water life-saving method based on unmanned boat according to claim 6, it is characterised in that controlled in processor
When retracting device is towed back to lifebuoy to storage silo by connecting rope, methods described is further comprising the steps of：
The processor is using the camera real time shooting water surface image being installed on the unmanned boat and according to the water surface shadow
The elevation information of storage silo is flooded as analyzing the water surface；
The elevation information control that the processor floods storage silo according to the water surface analyzed is corresponding with the elevation information
The automatic extendible door of pre-determined distance height is opened and utilizes the loudspeaker being installed at the top of the storage silo to notify the drowning man
Body enters in storage silo.
9. a kind of water life-saving method based on unmanned boat according to claim 6, it is characterised in that controlled in processor
When retracting device is towed back to lifebuoy to storage silo by connecting rope, methods described is further comprising the steps of：
The processor is using the camera real time shooting recovery image being installed on the unmanned boat and according to the image point
Analyse whether the drowned human body has into storage silo；
The water in storage silo is discharged using the drainage arrangement being arranged in the storage and is utilized peace by the processor if having
The drowned human body is notified to open water door and enter the unmanned boat from rescue passage loaded on the loudspeaker at the top of the storage silo
Tip position.
10. a kind of water life-saving method based on unmanned boat according to claim 6, it is characterised in that in processor profit
When carrying out the patrol of pre-set velocity according to the route pre-set with the guider control unmanned boat, methods described is also wrapped
Include following steps：
The processor is using the camera real time shooting images of environment surrounding being installed on the unmanned boat and according to the shadow
As analysing whether that rain comes；
The folding awning that the processor control is installed on the unmanned boat tip position if having, which is run, stops that rainwater enters rescue
In passage.
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| CN201910136641.2A CN109895977A (en) | 2017-07-16 | 2017-07-16 | A kind of water rescue device and its method based on unmanned boat |
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| CN109895977A (en) | 2019-06-18 |
| CN107351993B (en) | 2019-06-04 |
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