CN107351993B - 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
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- CN107351993B CN107351993B CN201710578336.XA CN201710578336A CN107351993B CN 107351993 B CN107351993 B CN 107351993B CN 201710578336 A CN201710578336 A CN 201710578336A CN 107351993 B CN107351993 B CN 107351993B
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- unmanned boat
- storage silo
- processor
- human body
- water
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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 40
- 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
- 238000004064 recycling Methods 0.000 claims description 15
- 206010013647 Drowning Diseases 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 9
- 238000006424 Flood reaction Methods 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 5
- 230000002123 temporal effect Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 206010010071 Coma Diseases 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 208000010513 Stupor Diseases 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000001755 vocal effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000011221 initial treatment Methods 0.000 description 1
- 238000007689 inspection Methods 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
- 238000012545 processing 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)
- Emergency Lowering Means (AREA)
- Alarm Systems (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A kind of water rescue device based on unmanned boat, including unmanned boat, driving device, deliverance apparatus, processor and battery, driving device includes driving motor and propeller, unmanned boat includes storage silo, drainage arrangement, camera, infrared detector, wireless device, positioning device and navigation device, storage silo is set to inside, drainage arrangement is set to inside storage silo, camera is set to outside, infrared detector is set to outside, wireless device is set to inside, positioning device is set to inside, navigation device is set to inside, deliverance apparatus includes several rocket launcher lifebuoys and attachment device, rocket launcher lifebuoy includes transmitter and lifebuoy shell, transmitter is set to above unmanned boat, lifebuoy shell is made of hydrophobic foam, attachment device includes connecting rope and recyclable device, connecting rope point It is not connect with recyclable device and lifebuoy shell, recyclable device quantity is consistent with rocket launcher lifebuoy quantity and is set to unmanned boat side.
Description
Technical field
The present invention relates to unmanned boats to rescue field, and in particular to a kind of water rescue device and its side based on unmanned boat
Method.
Background technique
Unmanned boat is that one kind may not need remote control, can be existed according to preset task by precise satellite positioning and self-sensor
The Full-automatic water surface robot of surface navigation, in application aspect generally based on mapping, the hydrology and water quality monitoring.It is sent out by Australia student
Bright " rocket launcher lifebuoy ", is met water and is expanded, can provide help to drowning person in first time by 150 meters of range.Designer
This invention is known as Longreach.
Rescue at sea works due to the characteristic of ocean, generally requires to expend a large amount of manpower and material resources, 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 there is the case where bad weather
Work can not more be unfolded, personnel to be rescued at sea without floating material in the case where be easy to due to losing temperature, exposure, water shortage or encountering
Dangerous marine organisms and lose relieved chance.Unmanned boat is flexible, without human intervention, can at sea help to search and rescue
Work expansion, can provide help when rescuing personnel searching out for it.
Summary of the invention
Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides a kind of based on unmanned boat
Water rescue device and its method, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution: a kind of water rescue device based on unmanned boat, including unmanned boat, driving device, deliverance apparatus, place
Manage device and battery, the driving device includes driving motor and propeller, the driving motor be set to it is described nobody
Tail position is simultaneously connect with the propeller inside ship, for driving propeller to run, the propeller be set to it is described nobody
Outboard portion tail position, for controlling unmanned boat operation and turning to, the unmanned boat include storage silo, drainage arrangement,
Camera, infrared detector, wireless device, positioning device and navigation device, the storage silo are set to the unmanned boat
Lower inside position, for storing the drowned human body of rescue, the drainage arrangement is set to inside the storage silo, for that will deposit
Water discharge in warehouse, the camera is provided with several and is set to the unmanned boat external position, described for absorbing
Environmental images around unmanned boat, the infrared detector are provided with several and are set to camera outside the unmanned boat
Side position, for detecting whether have human body in water, the wireless device is set to the unmanned boat interior location, for connecting
External equipment and first-aid centre, the positioning device is set to the unmanned boat interior location, for positioning the unmanned boat
Location information simultaneously obtains location data, and the navigation device is set to the unmanned boat interior location, for control it is described nobody
Ship carries out pre-set velocity patrol according to preset route；The deliverance apparatus includes several rocket launcher lifebuoys and connection dress
It sets, the rocket launcher lifebuoy includes transmitter and lifebuoy shell, and the transmitter is set to the unmanned boat upper position
It sets, for emitting lifebuoy shell to designated position, the lifebuoy shell is made of hydrophobic foam, for rescuing drowning man
Body, the attachment device include connecting rope and recyclable device, the connecting rope respectively with recyclable device and lifebuoy shell
Connection, the recyclable device quantity is consistent with the rocket launcher lifebuoy quantity and is set to unmanned boat side position, uses
In the recycling connecting rope；The processor respectively with driving motor, propeller, drainage arrangement, camera, infrared detection
Instrument, wireless device, positioning device, navigation device, transmitter and recyclable device connection.
It include oxygen ventilator and loudspeaker, the oxygen in the storage silo as a kind of preferred embodiment of the invention
Gas ventilator is set to the bulkhead position of the storage silo, and for providing oxygen for drowned human body, the loudspeaker is set to institute
It states storage silo top position and is connected to the processor, for notifying the drowned human body to carry out corresponding operation.
As a kind of preferred embodiment of the invention, the storage silo further includes automatic extendible door, and the automatic extendible door is set
It is placed in the storage silo external position and is connected to the processor, enter in storage silo for providing drowned human body.
As a kind of preferred embodiment of the invention, the storage silo further includes water door and escape and rescue trunk, the waterproof
Door is set to storage silo side position and horizontal with the storage silo wall surface, and the escape and rescue trunk is in stair shape and divides
It is not connect with water door and the unmanned boat top position, opens water door from escape and rescue trunk rising for providing drowned human body
To the unmanned boat top position.
As a kind of preferred embodiment of the invention, the unmanned boat further includes folding awning, and the folding awning is set to described
Unmanned boat top position is simultaneously connect with processor, for radix saposhnikoviae 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 the following steps are included:
When unmanned boat starts and runs, processor controls the unmanned boat according to the road pre-set using navigation device
The patrol of line progress pre-set velocity；
The processor is with the unmanned boat using the infrared detector real-time detection being installed on the unmanned boat
Spread within the scope of the first pre-set radius whether have human body information around in center；
The processor utilizes body image described in the camera real time shooting being installed on the unmanned boat simultaneously if having
It whether is drowned state according to human body described in the image analysing computer；
If then the location information of processor human body according to the image analysing computer of real time shooting and detecting institute
Position of human body information is stated whether in the effective range of rocket launcher lifebuoy transmitter；
If the processor described if transmitter launch angle and hair according to the positional information calculation analyzed
It penetrates dynamics and controls the transmitter and emit lifebuoy shell to the location information；
The processor is using the drowned body image of the camera real time shooting being installed on the unmanned boat and according to institute
It states lifebuoy shell described in image analysing computer and whether has and wrap the drowned human body；
The processor control recyclable device is towed back to the lifebuoy shell to the storage by connecting rope if having
Simultaneously the water in storage silo is discharged using the drainage arrangement for being set to the storage silo by Cang Chu；
The processor spreads the second pre-set radius model using wireless device search around centered on the unmanned boat
It encloses interior first-aid centre's information and is positioned using positioning device to obtain the unmanned boat position data；
The processor is calculated according to the position data to be believed with the first-aid centre position of the unmanned boat minimum distance
It ceases and calculates hours underway from from the unmanned boat current location to the first-aid centre position；
The processor to navigation at first-aid centre position and utilizes nothing in real time using the navigation device control unmanned boat
Line apparatus sends to first-aid centre reach temporal information in real time.
As a kind of preferred embodiment of the invention, processor control recyclable device by connecting rope by lifebuoy tow back to
When at storage silo, the method also includes following steps:
The processor is using the camera real time shooting recycling image being installed on the unmanned boat and according to the shadow
As analyzing whether the drowned human body has into storage silo；
The processor notifies the drowned human body to use using the loudspeaker being installed at the top of the storage silo if having
The oxygen ventilator being set on storage silo wall.
As a kind of preferred embodiment of the invention, processor control recyclable device by connecting rope by lifebuoy tow back to
When at storage silo, the method also includes following steps:
The processor is using the camera real time shooting water surface image being installed on the unmanned boat and according to the water
The water surface described in the image analysing computer of face floods the elevation information of storage silo；
The processor controls and the elevation information according to the elevation information that the water surface analyzed floods storage silo
The automatic extendible door of corresponding pre-determined distance height is opened and the loudspeaker being installed at the top of the storage silo is utilized to notify described drown
Water human body enters in storage silo.
As a kind of preferred embodiment of the invention, processor control recyclable device by connecting rope by lifebuoy tow back to
When at storage silo, the method also includes following steps:
The processor is using the camera real time shooting recycling image being installed on the unmanned boat and according to the shadow
As analyzing whether the drowned human body has into storage silo；
The water in storage silo is discharged simultaneously using the drainage arrangement being set in the storage silo for the processor if having
The drowned human body is notified to open water door from described in escape and rescue trunk entrance using the loudspeaker being installed at the top of the storage silo
Unmanned boat top position.
As a kind of preferred embodiment of the invention, the unmanned boat is controlled according to setting in advance using navigation device in processor
When the route set carries out the patrol of pre-set velocity, the method also includes following steps:
The processor is using the camera real time shooting images of environment surrounding being installed on the unmanned boat and according to institute
Stating image analysing computer, whether rain comes；
The folding awning operation that the processor control is installed on the unmanned boat top position if having stops rainwater to enter
In escape and rescue trunk.
The utility model has the advantages that 1. unmanned boats are when carrying out pre-set velocity patrol according to default route below the present invention realizes,
Whether there is human body in real-time detection water, whether real-time detection is drowned state if having detected human body, if described in detection
Whether human body, if then calculating the position of human body information, then utilizes in the effective distance of rocket launcher lifebuoy transmitter
The transmitter of rocket launcher lifebuoy, which emits 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 is discharged by recyclable device, then positions nobody using positioning device
Ship position information is simultaneously navigated by water using the navigation device control unmanned boat to first-aid centre.
2. the unmanned boat can be using intake recycling image described in camera and drowned according to the image analysing computer
Whether human body enters in storage silo, if notifying the human body using oxygen ventilator using the loudspeaker at the top of storage silo if
It saves 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
Warehouse is flooded elevation information not, is then beaten according to the automatic extendible door that the elevation information analyzed controls the height or more
It opens and drowned human body is notified to enter in storage silo, preventing the automatic extendible door of storage silo from opening enters liquid more greatly.
4. the unmanned boat can be using intake recycling image described in camera and drowned according to the image analysing computer
Whether human body enters in storage silo, opens if controlling the water door inside the storage and if utilizes loudspeaker notice drowned
Human body enters unmanned boat top position from rescue channel by water door.
5. the unmanned boat is when carrying out pre-set velocity patrol according to default route, if the environment absorbed by camera
Image detection comes to rain, and the folding awning decline that control is installed on the unmanned boat top position stops rainwater to enter nothing
Inside people's ship.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
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 cross-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 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 for the water rescue device based on unmanned boat that the one of example of the present invention provides
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
With reference to Fig. 1-4, shown in Figure 10, Fig. 1 is the water life-saving based on unmanned boat that the one of example of the present invention provides
The schematic diagram of device；Fig. 2 is the cross-sectional view for the water rescue device based on unmanned boat that the one of example of the present invention provides；Figure
The side schematic view of 3 water rescue devices based on unmanned boat provided for the one of example of the present invention；Fig. 4 be the present invention its
In an example provide rocket launcher lifebuoy schematic diagram；Figure 10 be the one of example of the present invention provide based on unmanned boat
Water rescue device electronic device connection figure.
Specifically, the present embodiment provides a kind of water rescue device based on unmanned boat, including unmanned boat 1, driving device
2, deliverance apparatus 3, processor 4 and battery 5, the driving device 2 include driving motor 20 and propeller 21, the drive
Dynamic motor 20 is set to the 1 inside tail position of unmanned boat and connect with the propeller 21, for driving propeller 21 to transport
Row, the propeller 21 are set to the 1 external tailpieces position of unmanned boat, for controlling the operation of unmanned boat 1 and turning to,
The unmanned boat 1 includes storage silo 10, drainage arrangement 11, camera 12, infrared detector 13, wireless device 14, positioning dress
15 and navigation device 16 are set, the storage silo 10 is set to the 1 lower inside position of unmanned boat, for storing drowning for rescue
Water human body, the drainage arrangement 11 are set to inside the storage silo 10, for the water in storage silo 10 to be discharged, the camera shooting
First 12 are provided with several and are set to 1 external position of unmanned boat, for absorbing with the environment shadow around the unmanned boat 1
Picture, the infrared detector 13 are provided with several and are set to 1 outside camera of unmanned boat, the 12 side position, be used for
Detection water in whether have human body, the wireless device 14 is set to 1 interior location of unmanned boat, for connect external equipment with
And first-aid centre, the positioning device 15 are set to 1 interior location of unmanned boat, for positioning 1 position of the unmanned boat letter
Location data is ceased and obtains, the navigation device 16 is set to 1 interior location of unmanned boat, for controlling the unmanned boat 1
Pre-set velocity patrol is carried out according to preset route；The deliverance apparatus 3 includes several rocket launcher lifebuoys 30 and connection dress
31 are set, the rocket launcher lifebuoy 30 includes transmitter 300 and lifebuoy shell 301, and the transmitter 300 is set to described
1 top position of unmanned boat, for emitting lifebuoy shell 301 to designated position, the lifebuoy shell 301 is by hydrophobic foam
It is made, for rescuing drowned human body, the attachment device 31 includes connecting rope 310 and recyclable device 311, the connecting rope
310 connect with recyclable device 311 and lifebuoy shell 301 respectively, 311 quantity of recyclable device and the rocket launcher lifesaving
It encloses 30 quantity unanimously and is set to the 1 side position of unmanned boat, for recycling the connecting rope 310；The processor 4 is distinguished
With driving motor 20, propeller 21, drainage arrangement 11, camera 12, infrared detector 13, wireless device 14, positioning device
15, navigation device 16, transmitter 300 and recyclable device 311 connect.
Wherein, several cameras 12 can absorb the image of 1 surrounding of unmanned boat；Several infrared detectors 13
It is able to detect the human body information of 1 surrounding of unmanned boat；The lifebuoy shell 301 is made of hydrophobic foam, can 15 seconds it
The volume of interior 40 times of expansion；310 side of connecting rope is connect with lifebuoy shell 301, and the other side and recyclable device 311 connect
It connects；It is check valve below the drainage arrangement 11, i.e., the pipeline that the water energy of storage silo 10 enough passes through 11 lower section of drainage arrangement is discharged,
Water in pipeline can not be entered in storage silo 10 by drainage arrangement 11；The electronic device is that waterproof material is made.
It include oxygen ventilator 100 and loudspeaker in the storage silo 10 as a kind of preferred embodiment of the invention
101, the oxygen ventilator 100 is set to the bulkhead position of the storage silo 10, described for providing oxygen for drowned human body
Loudspeaker 101 is set to 10 top position of storage silo and connect with the processor 4, for notify the drowned human body into
Row corresponding operation.
Wherein, the oxygen ventilator 100 can continue to carrying out release oxygen inside storage silo 10.
As a kind of preferred embodiment of the invention, the storage silo 10 further includes automatic extendible door 102, the automatic telescopic
Door 102 is set to 10 external position of storage silo and connect 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 in any position upwards
Or flexible downwards,
As a kind of preferred embodiment of the invention, the storage silo 10 further includes water door 103 and escape and rescue trunk, described
Water door 103 is set to the 10 side position of storage silo and, the escape and rescue trunk horizontal with the 10 bulkhead surface of storage silo
It is connect in stair shape and respectively with water door 103 and 1 top position of the unmanned boat, opens waterproof for providing drowned human body
Door 103 rises to 1 top position of unmanned boat from escape and rescue trunk.
Wherein, the water door 103, which is opened, to go to from 1 top position of unmanned boat from rescue channel 104.
As a kind of preferred embodiment of the invention, the unmanned boat 1 further includes folding awning 17, and the folding awning 17 is set to
1 top position of unmanned boat is simultaneously connect with processor 4, for radix saposhnikoviae and rain-proof.
Wherein, the folding awning 17 can entirely prevent rainwater to enter in rescue channel 104 in decline.
Embodiment two
Refering to what is shown in Fig. 5, Fig. 5 is the stream for the water life-saving method based on unmanned boat that the one of example of the present invention provides
Cheng Tu.
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 the described method comprises the following steps:
S1, when unmanned boat 1 starts and runs, processor 4 controls the unmanned boat 1 according to setting in advance using navigation device 16
The route set carries out the patrol of pre-set velocity；
S2, the processor 4 are using 13 real-time detection of infrared detector being installed on the unmanned boat 1 with the nothing
Spread within the scope of the first pre-set radius whether have human body information around centered on people's ship 1；
S3, the processor 4 utilizes human body described in 12 real time shooting of camera being installed on the unmanned boat 1 if having
Whether image and the human body according to the image analysing computer are drowned state；
If S4, the then location information of the human body according to the image analysing computer of real time shooting of processor 4 and inspection
The position of human body information is surveyed whether in the effective range of 30 transmitter 300 of rocket launcher lifebuoy；
S5, if the processor 4 described if 300 launch angle of transmitter according to the positional information calculation analyzed
And emits dynamics and control the transmitter 300 and emit lifebuoy shell 301 to the location information；
S6, the processor 4 drown body image simultaneously using 12 real time shooting of camera being installed on the unmanned boat 1
The drowned human body is wrapped according to whether lifebuoy shell 301 described in the image analysing computer has；
S7, the processor 4 controls recyclable device 311 and is towed back to the lifebuoy to institute by connecting rope 310 if having
It states at storage silo 10 and is discharged using the drainage arrangement 11 being set in the storage by the water in storage silo 10；
S8, the processor 4 spread second using the search of wireless device 14 around centered on the unmanned boat 1 to be preset
First-aid centre's information in radius is simultaneously positioned using positioning device 15 to obtain 1 position data of unmanned boat；
S9, the processor 4 calculate and the first-aid centre of 1 minimum distance of unmanned boat position according to the position data
Confidence is ceased and is calculated from hours underway from 1 current location of unmanned boat to the first-aid centre position；
S10, the processor 4 control the unmanned boat 1 to navigation at real-time first-aid centre position using navigation device 16
And it is sent using wireless device 14 to real-time first-aid centre and reaches temporal information.
Wherein, the route pre-set refers to the beat route map for being stored in and setting in navigation device 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, in the present embodiment preferably 3 kilometers；The drowned state refers to water of struggling, cry for help, go into a coma and choke in water
Deng；The effective range of 30 transmitter 300 of rocket launcher lifebuoy be 0-150 meters, preferably 100 meters in the present embodiment, i.e.,
Can accurately it emit in 100 meters to designated position, error is no more than 10 centimeters；Described wrap the drowned human body be
Refer to that 301 water-swellable of lifebuoy shell later entangles the human body, as lifebuoy entangles human body；The control
Recyclable device 311, which is towed back to the lifebuoy to referring at the storage silo 10 by connecting rope 310, utilizes recyclable device 311 will
Connecting rope 310 is recycled to inside it, then tows back to the lifebuoy at the position to storage silo 10 with human body；Described second
Pre-set radius is 0-500 kilometers, in the present embodiment preferably 20 kilometers；The arrival time information is body image, human body
Drowned information, current location information, real-time position information, route speed information and navigation reach first-aid centre's temporal information
Deng；The unmanned boat 1 to first-aid centre on the way, be used for method as before if discovery has drowned human body information
It is rescued；The calculating refers to first-aid centre's location information of 1 minimum distance of unmanned boat to be searched by comparing
The linear distance of first-aid centre obtains out the shortest first-aid centre of linear distance；The first-aid centre is to be set to rescuing for bank
Help center.
In S1, specifically when unmanned boat 1 starts and runs, processor 4 controls the unmanned boat 1 using navigation device 16 and presses
According to the patrol for being stored in the beat route map 30 kilometers/hour of speed of progress set in navigation device 16.
In S2, specifically examined in real time in the processor 4 using the infrared detector 13 being installed on the unmanned boat 1
It surveys and spreads whether have human body information within the scope of 3 kilometer radius around centered on the unmanned boat 1, is i.e. whether real-time detection has
Human body in water, avoids someone is drowned from causing injures and deaths.
In S3, specifically after having detected human body information, the processor 4 is utilized and is installed on the unmanned boat 1
Body image described in 12 real time shooting of camera and the human body according to the image analysing computer whether be struggle, cry for help in water,
It goes into a coma and whether the drowned behaviors such as water of choking, real-time detection has human body drowned, avoid 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 location information of human body described in the image analysing computer simultaneously detects whether the position of human body information emits in rocket launcher lifebuoy 30
In the effective range of device 300, that is, detect position of human body information described in real-time detection and 30 transmitter 300 of rocket launcher lifebuoy
Position whether less than 100 meters, navigate by water, prevented not effective if more than the unmanned boat 1 is then controlled at the position of human body
It causes to waste in range.
In S5, specifically in the position for detecting the position of human body information Yu 30 transmitter 300 of rocket launcher lifebuoy
When setting less than 100 meters, the processor 4 300 launch angle of transmitter according to the positional information calculation analyzed with
And emit dynamics and control the transmitter 300 at the transmitting to the location information of lifebuoy shell 301, i.e., processor 4 is logical
The angle of the needs of positional information calculation transmitter 300 and the dynamics of transmitting are crossed, thus accurately by the lifebuoy shell 301
It at transmitting to the position of human body, is then entangled, is not available lifebuoy after preventing drowned human body stupor.
It is specifically drowned using 12 real time shooting of camera being installed on the unmanned boat 1 in the processor 4 in S6
After body image, whether the processor 4 lifebuoy shell 301 according to the image analysing computer has the drowned human body packet
It wraps, i.e., entangles the human body after described 301 water-swellable of lifebuoy shell, as lifebuoy entangles human body, prevent
Only the human body is fallen into water on the way towing back to；Processor recalculates another according to position of human body information if not wrapping
The angle and dynamics of rocket launcher lifebuoy transmitter transmitting simultaneously control transmitter transmitting lifebuoy shell, and so on it is straight
Until human body is wrapped.
In S7, specifically after detecting that the lifebuoy shell 301 is to wrap the drowned human body, the processing
The automatic extendible door 102 that device 4 controls the storage silo 10 is opened, and connecting rope 310 is then recycled to it using recyclable device 311
The lifebuoy is towed back at the position to storage silo 10 with human body and is filled using the draining being set in the storage by inside
It sets 11 the water in storage silo 10 is discharged, prevents having liquid entrance on the way in the opening of automatic extendible door 102 of the storage silo 10
In storage silo 10.
In S8, is specifically searched for centered on the unmanned boat 1 in the processor 4 using wireless device 14 and expanded around
After dissipating first-aid centre's information within the scope of 20 kilometer radius, the processor 4 is positioned using positioning device 15 to obtain the nothing
1 position data of people's ship after searching the first-aid centre spread around in 40 kilometer ranges centered on unmanned boat 1, utilizes
Positioning device 15 positions the location information of unmanned boat 1, then obtains the location data of the location information.
In S9, specifically calculated and 1 minimum distance of unmanned boat in the processor 4 according to the position data
After first-aid centre's location information, first-aid centre's location information of the calculating and 1 minimum distance of unmanned boat, the processor
4 calculate from hours underway from 1 current location of unmanned boat to the first-aid centre position, such as 1 speed of unmanned boat is 30 public
In/first-aid centre's linear distance of hour and 1 current location of calculated unmanned boat and minimum distance is 30 kilometers then described
Hours underway is 1 hour at 1 current location of unmanned boat to the first-aid centre position.
In S10, the unmanned boat 1 specifically is controlled to real-time first-aid centre using navigation device 16 in the processor 4
When navigating by water at position, the processor 4 sends the drowned letter of body image, human body to real-time first-aid centre using wireless device 14
Breath, current location information, real-time position information, route speed information and navigation reach first-aid centre's temporal information etc., in time
First-aid centre medical staff is notified to prepare rescue.
Embodiment three
Refering to what is shown in Fig. 6, Fig. 6 is the flow chart using oxygen ventilator method that the one of example of the present invention provides.
Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, in processor 4
When control recyclable device 311 is towed back to lifebuoy to storage silo 10 by connecting rope 310, the method also includes following steps
It is rapid:
S70, the processor 4 utilize 12 real time shooting of the camera recycling image and root being installed on the unmanned boat 1
Whether have according to human body of drowning described in the image analysing computer into storage silo 10；
S71, the processor 4 utilizes the loudspeaker 101 for being installed on 10 top of storage silo to notify described drown if having
Water human body uses the oxygen ventilator 100 being set on 10 bulkhead of storage silo.
Specifically, opening in the automatic extendible door 102 that the processor 4 controls the storage silo 10, recycling is then utilized
Connecting rope 310 is recycled to inside it by device 311, when the lifebuoy is towed back at the position to storage silo 10 with human body,
The image when processor 4 is recycled using lifebuoy described in 12 real time shooting of camera being installed on the unmanned boat 1, so
Drowning according to the image analysing computer of the intake afterwards, 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 and closes and pushed up using the storage silo 10 is installed on
The loudspeaker 101 in portion issues the voice of setting, and the drowned human body use is notified to hang on the 10 side bulkhead of storage silo
Oxygen ventilator 100 carry out Primary treatment, directly control the oxygen ventilator 100 if the human body is comatose state and transport
It is about to high-concentration oxygen to be released in the storage silo 10, the human body is avoided to suffocate.
Example IV
Refering to what is shown in Fig. 7, Fig. 7 is that the drowned human body of notice that the one of example of the present invention provides enters storage silo method
Flow chart.
Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, in processor 4
When control recyclable device 311 is towed back to lifebuoy to storage silo 10 by connecting rope 310, the method also includes following steps
It is rapid:
S72, the processor 4 utilize the 12 real time shooting water surface image of camera and root being installed on the unmanned boat 1
The elevation information of storage silo 10 is flooded according to the water surface described in the water surface image analysing computer；
S73, the processor 4 control and the height according to the elevation information that the water surface analyzed floods storage silo 10
The automatic extendible door 102 that degree information corresponds to pre-determined distance height is opened and utilizes the loudspeaker for being installed on 10 top of storage silo
101 notify the drowned human body to enter in storage silo 10.
The pre-determined distance is 0-10 meters, in the present embodiment preferably 10 centimeters.
Specifically, opening in the automatic extendible door 102 that the processor 4 controls the storage silo 10, recycling is then utilized
Connecting rope 310 is recycled to inside it by device 311, when the lifebuoy is towed back at the position to storage silo 10 with human body,
The processor 4 utilizes the environmental images for the 12 real time shooting water surface of camera being installed on the unmanned boat 1, then according to institute
State the elevation information that the water surface described in the aquatic environment image analysing computer of intake floods storage silo 10, 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 issue human body of drowning described in the verbal announcement of setting using the loudspeaker 101 for being installed on 10 top of storage silo
Into in storage silo 10, the human body control of processor 4 closing of automatic extendible door 102 after entering；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, the automatic extendible door 102 for controlling 1 meter of+10 centimeters of height are opened, and 102 height of automatic extendible door starts
The height and position of opening is 1.1 meters, prevents liquid from pouring into the unmanned boat 1 that sinks in storage silo 10.
Embodiment five
Refering to what is shown in Fig. 8, Fig. 8 is that the drowned human body of notice that the one of example of the present invention provides enters unmanned boat top side
The flow chart of method.
Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, in processor 4
When control recyclable device 311 is towed back to lifebuoy to storage silo 10 by connecting rope 310, the method also includes following steps
It is rapid:
S74, the processor 4 utilize 12 real time shooting of the camera recycling image and root being installed on the unmanned boat 1
Whether have according to human body of drowning described in the image analysing computer into storage silo 10；
S75, if having the processor 4 using the drainage arrangement 11 being set in the storage by the water in storage silo 10
It is discharged and utilizes the loudspeaker 101 for being installed on 10 top of the storage silo that the drowned human body is notified to open water door 103 from rescuing
It helps channel 104 and enters 1 top position of unmanned boat.
Specifically, opening in the automatic extendible door 102 that the processor 4 controls the storage silo 10, recycling is then utilized
Connecting rope 310 is recycled to inside it by device 311, when the lifebuoy is towed back at the position to storage silo 10 with human body,
The image when processor 4 is recycled using lifebuoy described in 12 real time shooting of camera being installed on the unmanned boat 1, so
Afterwards according to the image analysing computer of the intake drown human body whether oneself enter storage silo 10 in, if detect the human body into
After entering in storage silo 10, the processor 4 controls automatic extendible door 102 and closes and control the opening of drainage arrangement 11, then utilizes
The loudspeaker 101 for being installed on 10 top of storage silo issues human body of drowning described in the verbal announcement of setting and opens water door 103,
Enter the top position of the unmanned boat 1 from rescue channel 104 by water door 103, if detecting the drowned human body for dusk
Fan then cancel the sending voice and control the starting operation of oxygen ventilator 100 by the loudspeaker 101.
Embodiment six
Refering to what is shown in Fig. 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 place is, in the present embodiment, in processor 4
When controlling patrol of the unmanned boat 1 according to the route progress pre-set velocity pre-set using navigation device 16, the side
Method is further comprising the steps of:
S11, the processor 4 utilize the 12 real time shooting images of environment surrounding of camera being installed on the unmanned boat 1
And whether rain comes according to the image analysing computer；
S12, the processor 4 controls the operation blocking of folding awning 17 for being installed on 1 top position of unmanned boat if having
Rainwater enters in rescue channel 104.
It sets specifically, controlling the unmanned boat 1 using navigation device 16 in processor 4 according to being stored in navigation device 16
When fixed beat route map carries out the patrol of 30 kilometers/hour of speed, the processor 4 utilizes and is installed on the unmanned boat
Then whether the environmental images around 12 real time shooting of camera on 1 have according to the environmental images of intake analysis surrounding
Whether rainwater comes, i.e., rain around real-time detection unmanned boat 1, the control of processor 4 peace if analyzing rain and coming
The starting of folding awning 17 of dress and 1 top position of unmanned boat runs and stops to enter inside rescue channel 104 by the rainwater,
Rescue 104 congestion of channel is caused to cause accident.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of water rescue device based on unmanned boat, including unmanned boat, driving device, deliverance apparatus, processor and storage
Battery, the driving device include driving motor and propeller, and the driving motor is set to tail portion inside the unmanned boat
Position is simultaneously connect with the propeller, and for driving propeller to run, the propeller is set to the unmanned boat external tailpieces
Position, for controlling the unmanned boat operation and turning to, it is characterised in that:
The unmanned boat includes storage silo, drainage arrangement, camera, infrared detector, wireless device, positioning device and leads
Navigate device, and the storage silo is set to unmanned boat lower inside position, for storing the drowned human body of rescue, the draining
Device is set to inside the storage silo, and for the water in storage silo to be discharged, the camera is provided with several and is arranged
In the unmanned boat external position, for absorbing the environmental images around the unmanned boat, the infrared detector is provided with
Several are simultaneously set to camera side position outside the unmanned boat, described without traditional thread binding for detecting whether have human body in water
It installs and is placed in the unmanned boat interior location, for connecting external equipment and first-aid centre, the positioning device is set to institute
Unmanned boat interior location is stated, for positioning the unmanned boat location information and obtaining location data, the navigation device is set to
The unmanned boat interior location carries out pre-set velocity patrol according to preset route for controlling the unmanned boat；The rescue
Device includes several rocket launcher lifebuoys and attachment device, and the rocket launcher lifebuoy includes transmitter and lifebuoy big gun
Bullet, the transmitter are set to the unmanned boat top position, for emitting lifebuoy shell to designated position, the lifebuoy
Shell is made of hydrophobic foam, and for rescuing drowned human body, the attachment device includes connecting rope and recyclable device, described
Connecting rope is connect with recyclable device and lifebuoy shell respectively, the recyclable device quantity and the rocket launcher lifebuoy quantity
Unanimously and it is set to unmanned boat side position, for recycling the connecting rope；The processor respectively with driving motor, spiral shell
Revolve paddle, drainage arrangement, camera, infrared detector, wireless device, positioning device, navigation device, transmitter and recycling dress
Set connection.
2. a kind of water rescue device based on unmanned boat according to claim 1, which is characterized in that in the storage silo
Including oxygen ventilator and loudspeaker, the oxygen ventilator is set to the bulkhead position of the storage silo, for being drowned
Human body provides oxygen, and the loudspeaker is set to the storage silo top position and is connected to the processor, for notifying
It states drowned human body and carries out corresponding operation.
3. a kind of water rescue device based on unmanned boat according to claim 1, which is characterized in that the storage silo is also
Including automatic extendible door, the automatic extendible door is set to the storage silo external position and is connected to the processor, and 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, which is characterized in that the storage silo is also
Including water door and escape and rescue trunk, the water door be set to storage silo side position and with the storage silo wall table
Face is horizontal, and the escape and rescue trunk is in stair shape and connect respectively with water door and the unmanned boat top position, for providing
Drowned human body opens water door and rises to the unmanned boat top position from escape and rescue trunk.
5. a kind of water rescue device based on unmanned boat according to claim 1, which is characterized in that the unmanned boat is also
Including folding awning, the folding awning is set to the unmanned boat top position and connect with processor, for radix saposhnikoviae and rain-proof.
6. a kind of water life-saving method based on unmanned boat, described in any item a kind of based on unmanned boat using claim 1-5
Water rescue device, which is characterized in that the described method comprises the following steps:
Unmanned boat start run when, processor using navigation device control the unmanned boat according to the route pre-set into
The patrol of row pre-set velocity；
The processor is using the infrared detector real-time detection being installed on the unmanned boat centered on the unmanned boat
Whether spread within the scope of the first pre-set radius around has human body information；
The processor utilizes body image described in the camera real time shooting being installed on the unmanned boat and basis if having
Whether human body described in the image analysing computer is drowned state；
If then the location information of processor human body according to the image analysing computer of real time shooting and detecting the people
Whether body position information is in the effective range of rocket launcher lifebuoy transmitter；
If the processor described if transmitter launch angle and emissivity according to the positional information calculation analyzed
It spends and controls the transmitter and emit lifebuoy shell to the location 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；
The processor control recyclable device is towed back to the lifebuoy shell to the storage silo by connecting rope if having
And the water in storage silo is discharged using the drainage arrangement being set in the storage silo；
The processor is spread within the scope of the second pre-set radius centered on the unmanned boat around using wireless device search
First-aid centre's information and using positioning device position to obtain the unmanned boat position data；
The processor is calculated with first-aid centre's location information of the unmanned boat minimum distance simultaneously according to the position data
Calculate hours underway from from the unmanned boat current location to the first-aid centre position；
The processor controls the unmanned boat in real time to navigation at first-aid centre position and using without traditional thread binding using navigation device
It sets to send to first-aid centre in real time and reaches temporal information.
7. a kind of water life-saving method based on unmanned boat according to claim 6, which is characterized in that controlled in processor
When recyclable device is towed back to lifebuoy to storage silo by connecting rope, the method also includes following steps:
The processor is using the camera real time shooting recycling 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 ventilator on storage silo wall.
8. a kind of water life-saving method based on unmanned boat according to claim 6, which is characterized in that controlled in processor
When recyclable device is towed back to lifebuoy to storage silo by connecting rope, the method also includes following steps:
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 processor is corresponding with the elevation information according to the elevation information control that the water surface analyzed floods storage silo
The automatic extendible door of pre-determined distance height is opened and the loudspeaker being installed at the top of the storage silo is utilized 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, which is characterized in that controlled in processor
When recyclable device is towed back to lifebuoy to storage silo by connecting rope, the method also includes following steps:
The processor is using the camera real time shooting recycling 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 and is utilized using the drainage arrangement being set in the storage silo by the processor if having
Be installed on the loudspeaker at the top of the storage silo notify the drowned human body open water door from escape and rescue trunk enter it is described nobody
Ship top position.
10. a kind of water life-saving method based on unmanned boat according to claim 6, which is characterized in that in processor benefit
When controlling the unmanned boat with navigation device and carrying out the patrol of pre-set velocity according to the route pre-set, the method 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 operation that the processor control is installed on the unmanned boat top position if having stops rainwater to enter lifesaving
In channel.
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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 |
| CN201710578336.XA CN107351993B (en) | 2017-07-16 | 2017-07-16 | A kind of water rescue device and its method based on unmanned boat |
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| CN201710578336.XA CN107351993B (en) | 2017-07-16 | 2017-07-16 | A kind of water rescue device and its method based on unmanned boat |
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| CN201710578336.XA Active CN107351993B (en) | 2017-07-16 | 2017-07-16 | A kind of water rescue device and its method based on unmanned boat |
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| CN107972042A (en) * | 2017-11-24 | 2018-05-01 | 合肥博焱智能科技有限公司 | Swimming pool rescue robot rescue mode and device based on artificial intelligence |
| CN107977015A (en) * | 2017-12-07 | 2018-05-01 | 蔡璟 | A kind of intelligence auxiliary mountain-climbing system for mountaineering |
| CN107993410B (en) * | 2017-12-27 | 2019-12-27 | 广东小天才科技有限公司 | Environmental-based wading early warning method and wearable device |
| CN108545160A (en) * | 2018-03-12 | 2018-09-18 | 上海大学 | A kind of someone's ship cooperates with rescue system and method with unmanned boat |
| CN108468279B (en) * | 2018-03-13 | 2019-07-19 | 江苏安鼎安全管理有限公司 | It is a kind of based on the smart bridge repair system rescued in water |
| CN108704227B (en) * | 2018-04-24 | 2020-11-10 | 义乌市凡特塑料制品有限公司 | Intelligent fire extinguishing equipment for water traffic and working method thereof |
| CN108674603B (en) * | 2018-06-04 | 2020-03-31 | 江苏科技大学 | Intelligent lake surface lifeboat and lifesaving method |
| CN108569383A (en) * | 2018-07-06 | 2018-09-25 | 天海融合防务装备技术股份有限公司 | It is a kind of to be suitable for the unmanned boat waterborne intelligently searched and rescued |
| CN109050825A (en) * | 2018-09-13 | 2018-12-21 | 江苏科技大学 | A kind of unmanned boat ship carries unmanned folding and unfolding salvage device and salvage method |
| CN110228573B (en) * | 2019-05-24 | 2020-04-03 | 浙江大学 | Water rescue device and method capable of automatically correcting route |
| CN110576951B (en) * | 2019-07-31 | 2022-03-22 | 安徽科微智能科技有限公司 | Water rescue system and method thereof |
| TR202021661A1 (en) * | 2020-12-24 | 2022-06-21 | Cankaya Ueniversitesi | Remotely controllable unmanned lifesaving surface vehicle. |
| CN116938310B (en) * | 2023-09-14 | 2023-11-21 | 江苏锦程船舶制造有限公司 | Unmanned ship for offshore radio communication rescue |
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| JPH11278375A (en) * | 1998-03-26 | 1999-10-12 | Miyazawa:Kk | Quick rescuing subminiature unmanned ship for drowning person |
| KR100339056B1 (en) * | 2000-07-24 | 2002-06-07 | 조성우 | Remote control life boat |
| CN201650345U (en) * | 2009-11-13 | 2010-11-24 | 徐克林 | Underground escaping and rescuing device |
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| CN203032892U (en) * | 2012-12-20 | 2013-07-03 | 黄安康 | Remote control type closed unmanned lifeboat |
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