CN108413962A - A kind of search and rescue robot waterborne quickly searches and rescues positioning system - Google Patents
A kind of search and rescue robot waterborne quickly searches and rescues positioning system Download PDFInfo
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- CN108413962A CN108413962A CN201810116161.5A CN201810116161A CN108413962A CN 108413962 A CN108413962 A CN 108413962A CN 201810116161 A CN201810116161 A CN 201810116161A CN 108413962 A CN108413962 A CN 108413962A
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- rescue robot
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000006399 behavior Effects 0.000 claims description 3
- 230000034994 death Effects 0.000 abstract description 2
- 231100000517 death Toxicity 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 abstract description 2
- 206010013647 Drowning Diseases 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Emergency Lowering Means (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of search and rescue robots waterborne quickly to search and rescue positioning system, including power module, navigation module, the first control host, the second control host, search module and control station.The present invention coordinates sonar by search and rescue robot, infrared ray, the autonomous search and rescue of the sensors such as the life-detection instrument difficult member of end-on of marine site expansion nearby, after determining persons falling in water approximate location, search device is based on the location information of the starting point of itself and drowning people, the optimal path searched and rescued is calculated based on ant group algorithm, to be succoured in time persons falling in water, overcome the deficiency that previous rescue worker visually searches for, using infrared, radar, the equipments such as life-detection instrument, quickly persons falling in water is scanned for positioning, rescue in time, utmostly reduce the property loss and human life injures and deaths of maritime peril event.
Description
Technical field
The invention belongs to search and rescue field of locating technology, and in particular to a kind of search and rescue robot waterborne quickly searches and rescues positioning system
System.
Background technology
Economic growth brings the raising of national life level, and more and more people have taken leave of traditional mode of spending a holiday and selected
Scale overwater entertainment either take pleasure boat go on a tour during the broiling summer selection go to the beach spend a holiday or shoal swimming people increasingly
It is more.Natural tourist is enjoyed in the staff for being either engaged in sea transport cause or amusement on water, same being got close to water
When, we at one's side all along with it is various at any time may occur danger.Casualty, personnel's unexpected overboard accident are frequently sent out
It is raw, and the place surprisingly occurred also increases difficulty continuous for effectively rescue.
In modern search and rescue waterborne, how quickly to find persons falling in water and effective rescue is implemented to personnel, improve people waterborne
The success rate that life is searched and rescued is always the problem of highest attention.Not only reaction speed is slow for traditional search and rescue mode based on ship,
And close to also extremely difficult when persons falling in water, often rescue time, search efficiency can only be influenced by the way of suing and labouring indirectly
It is low.
Invention content
The purpose of the present invention is to provide a kind of search and rescue robots waterborne quickly to search and rescue positioning system, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the present invention provides the following technical solutions：A kind of search and rescue robot waterborne quickly searches and rescues positioning
System is arranged on search and rescue robot, it includes the first control host and the second control host connected by serial ports, wherein
The executing agency of first control host and search and rescue robot connects the operation behavior for controlling search and rescue robot, the first control
Host processed is also associated with navigation module；Second control host is connected with the sensor group for detecting biology, and with setting in lash ship
Or the control station telecommunication on ground；
This search and rescue positioning system further includes memory, has director demon in memory for the first control host and the second control
Host calls, to complete following steps：
S1:Start search and rescue robot, and search and rescue robot is thrown in accident marine site, search and rescue robot is by propeller in mesh
It marks to go on patrol in marine site and search, patrol starts sensor group during searching and searched to persons falling in water, and passes through navigation module
The position of search and rescue robot is sent to the first control host in real time；
S2:When searching the sign of life of persons falling in water, by persons falling in water relative to the azimuth information of search and rescue robot and
Range information data are sent to the first control host and exchange to the second control host；
S3:Second control host is obtained fastest to up to persons falling in water position using ant group algorithm according to the position data received
Path, and routing information is sent to the first control host；
S4:First control host promotes angle and fltting speed to be adjusted in the propeller of search and rescue robot, and real-time reception
The location information of search and rescue robot adjusts the mobile route of search and rescue robot in real time compared with setting path data；
S5:When search and rescue robot is close to persons falling in water, the opposite position of persons falling in water and search and rescue robot is perceived by sensor group
Relationship is set, and position data is transferred to the first control host, the propulsion angle of propeller is carried out by the first control host
Adjustment, the rotation of realization search and rescue robot original place and advance and retrogressing, facilitate the posture of adjustment search and rescue robot, and work as and rescued people
When member enters designated position, the first control host-initiated rescue net motor packs up rescue net rescue persons falling in water.
Preferably, the sensor group includes in infrared sensor of the human body, camera, sonar system, life-detection instrument
One or more.
Preferably, the navigation module includes one in electronic compass, GPS navigation, Beidou navigation, inertial navigation unit
Kind is several.
Preferably, the first control host and the second control host are all made of STM32f103RCT6 microcontrollers.
The technique effect and advantage of the present invention：
After the perils of the sea occurs, control station goes to rapidly vessel in distress spot, robot for rescue first with GPS positioning system
It is discharged into immediately by rescue personnel big marine, search and rescue robot coordinates the sensors such as sonar, infrared ray, life-detection instrument nearby
The autonomous search and rescue of the difficult member of end-on are unfolded in marine site, to be succoured in time persons falling in water, overcome previous rescue worker's profit
With the deficiency of sweep, the equipments such as utilization is infrared, radar, life-detection instrument scan for the search sea area of locking, can
To be completed in a relatively short time rescue task, search and rescue it is efficient, can information security, it is reliable, comprehensive on the basis of effectively
It saves certain danger maritime accident relief cost and finds maritime peril in time to significantly improve maritime cruising and search efficiency
Simultaneously search-and-rescue work is unfolded rapidly in event, utmostly reduces the property loss and human life injures and deaths of maritime peril event.
Description of the drawings
Fig. 1 is that a kind of three axis of the present invention promotes search and rescue robot waterborne quickly to search and rescue the structural schematic diagram of positioning system.
Specific implementation mode
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 describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of search and rescue robot waterborne quickly searches and rescues positioning system, it is arranged on search and rescue robot, it is wrapped
The the first control host and the second control host connected by serial ports is included, the battery specifications of search and rescue robot hull are 12V 20AH
Dynamic lithium battery is furthermore provided with large power supply inverter and carries out power supply conversion, by calculating and experimental verification, effective guarantee
Cruise duration of robot, wherein
The executing agency of first control host and search and rescue robot connects the operation behavior for controlling search and rescue robot, the first control
Host processed is also associated with navigation module, and navigation module includes in electronic compass, GPS navigation, Beidou navigation, inertial navigation unit
It is one or more of；Second control host be connected with for detect biology sensor group, including infrared sensor of the human body, camera,
One or more of sonar system, life-detection instrument, and with the control station telecommunication that is arranged on lash ship or ground；
This search and rescue positioning system further includes memory, has director demon in memory for the first control host and the second control
Host calls, and the first control host and the second control host use STM32f103RCT6 microcontrollers, provide very high code effect
Rate, data processing speed is fast, to complete following steps：
S1:Start search and rescue robot, and search and rescue robot is thrown in accident marine site, search and rescue robot is by propeller in mesh
It marks to go on patrol in marine site and search, patrol starts infrared sensor of the human body, camera, sonar system, life-detection instrument during searching
One or more of persons falling in water is searched, and the position of search and rescue robot is sent in real time by GPS navigation
One control host.
S2:When searching the sign of life of persons falling in water, the azimuth information by persons falling in water relative to search and rescue robot
And range information data are sent to the first control host and exchange to the second control host.
S3:Second control host is obtained fastest to up to persons falling in water using ant group algorithm according to the position data received
The path of position, and routing information is sent to the first control host；Ant group algorithm be it is a kind of be used for find the general of path optimizing
Rate type algorithm, this algorithm have the feature of distribution calculating, information positive feedback and heuristic search, are substantially in evolution algorithm
A kind of heuristic global optimization approach.Optimal search and rescue path is calculated based on ant group algorithm, can reduce search and rescue device to overboard
Personnel's effective time provides theoretical foundation for Successful Salvage.
S4:First control host promotes angle and fltting speed to be adjusted in the propeller of search and rescue robot, and in real time
The location information for receiving search and rescue robot, by electronic compass, Beidou navigation and inertial navigation unit, machine is searched and rescued in detection in real time
The movement locus and motion state of people, obtains the real time position data of search and rescue robot, by compared with setting path data, counting
It calculates and the deviation in setting course adjusts the mobile route of search and rescue robot in real time by the first control host adjustment propeller,
Ensure most soon close to persons falling in water.
S5:When search and rescue robot is close to persons falling in water, visited by infrared sensor of the human body, camera, sonar system, life
Instrument is surveyed, the relative position relation of persons falling in water and search and rescue robot is perceived, and position data is transferred to the first control host, is led to
The first control host is crossed to be adjusted the propulsion angle of propeller, realize the rotation of search and rescue robot original place and advance and after
It moves back, facilitates the posture of adjustment search and rescue robot, and when entering designated position by the personnel of rescuing, the first control host-initiated rescue net
Motor packs up rescue net rescue persons falling in water.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of search and rescue robot waterborne quickly searches and rescues positioning system, it is arranged on search and rescue robot, it is characterised in that：It includes
The the first control host and the second control host connected by serial ports, wherein
The executing agency of first control host and search and rescue robot connects the operation behavior for controlling search and rescue robot, the first control
Host processed is also associated with navigation module；Second control host is connected with the sensor group for detecting biology, and with setting in lash ship
Or the control station telecommunication on ground；
This search and rescue positioning system further includes memory, has director demon in memory for the first control host and the second control
Host calls, to complete following steps：
S1:Start search and rescue robot, and search and rescue robot is thrown in accident marine site, search and rescue robot is by propeller in mesh
It marks to go on patrol in marine site and search, patrol starts sensor group during searching and searched to persons falling in water, and passes through navigation module
The position of search and rescue robot is sent to the first control host in real time；
S2:When searching the sign of life of persons falling in water, by persons falling in water relative to the azimuth information of search and rescue robot and
Range information data are sent to the first control host and exchange to the second control host；
S3:Second control host is obtained fastest to up to persons falling in water position using ant group algorithm according to the position data received
Path, and routing information is sent to the first control host；
S4:First control host promotes angle and fltting speed to be adjusted in the propeller of search and rescue robot, and real-time reception
The location information of search and rescue robot adjusts the mobile route of search and rescue robot in real time compared with setting path data；
S5:When search and rescue robot is close to persons falling in water, the opposite position of persons falling in water and search and rescue robot is perceived by sensor group
Relationship is set, and position data is transferred to the first control host, the propulsion angle of propeller is carried out by the first control host
Adjustment, the rotation of realization search and rescue robot original place and advance and retrogressing, facilitate the posture of adjustment search and rescue robot, and work as and rescued people
When member enters designated position, the first control host-initiated rescue net motor packs up rescue net rescue persons falling in water.
2. search and rescue robot waterborne according to claim 1 quickly searches and rescues positioning system, it is characterised in that：The sensing
Device group includes one or more of infrared sensor of the human body, camera, sonar system, life-detection instrument.
3. search and rescue robot waterborne according to claim 1 quickly searches and rescues positioning system, it is characterised in that：The navigation
Module includes one or more of electronic compass, GPS navigation, Beidou navigation, inertial navigation unit.
4. search and rescue robot waterborne according to claim 1 quickly searches and rescues positioning system, it is characterised in that：Described first
Control host and the second control host are all made of STM32f103RCT6 microcontrollers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810116161.5A CN108413962A (en) | 2018-02-06 | 2018-02-06 | A kind of search and rescue robot waterborne quickly searches and rescues positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810116161.5A CN108413962A (en) | 2018-02-06 | 2018-02-06 | A kind of search and rescue robot waterborne quickly searches and rescues positioning system |
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| CN108413962A true CN108413962A (en) | 2018-08-17 |
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| CN201810116161.5A Pending CN108413962A (en) | 2018-02-06 | 2018-02-06 | A kind of search and rescue robot waterborne quickly searches and rescues positioning system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109144062A (en) * | 2018-08-22 | 2019-01-04 | 佛山科学技术学院 | A kind of danger rescue robot paths planning method |
| CN109436247A (en) * | 2018-11-30 | 2019-03-08 | 湖南华诺星空电子技术有限公司 | A kind of overboard target rescue method and search and rescue system with homing function |
| CN110282150A (en) * | 2019-07-05 | 2019-09-27 | 中航通飞华南飞机工业有限公司 | A kind of amphibious aircraft emergency guarantee method waterborne |
| CN111427378A (en) * | 2020-04-10 | 2020-07-17 | 南宁师范大学 | Method for planning preferential rescue path of unmanned aerial vehicle in mountainous region |
| CN113589342A (en) * | 2021-07-07 | 2021-11-02 | 北京冰鉴万联科技有限公司 | Command control system for emergency rescue formation at sea and rescue method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109144062A (en) * | 2018-08-22 | 2019-01-04 | 佛山科学技术学院 | A kind of danger rescue robot paths planning method |
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| CN110282150A (en) * | 2019-07-05 | 2019-09-27 | 中航通飞华南飞机工业有限公司 | A kind of amphibious aircraft emergency guarantee method waterborne |
| CN111427378A (en) * | 2020-04-10 | 2020-07-17 | 南宁师范大学 | Method for planning preferential rescue path of unmanned aerial vehicle in mountainous region |
| CN113589342A (en) * | 2021-07-07 | 2021-11-02 | 北京冰鉴万联科技有限公司 | Command control system for emergency rescue formation at sea and rescue method thereof |
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Application publication date: 20180817 |
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