CN109850095A - Rescue mode and its system under a kind of intelligent water based on unmanned plane - Google Patents
Rescue mode and its system under a kind of intelligent water based on unmanned plane Download PDFInfo
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- CN109850095A CN109850095A CN201910136635.7A CN201910136635A CN109850095A CN 109850095 A CN109850095 A CN 109850095A CN 201910136635 A CN201910136635 A CN 201910136635A CN 109850095 A CN109850095 A CN 109850095A
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- Prior art keywords
- deliverance apparatus
- unmanned plane
- processing unit
- human body
- wireless device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Emergency Alarm Devices (AREA)
- Alarm Systems (AREA)
- Emergency Lowering Means (AREA)
- Selective Calling Equipment (AREA)
Abstract
Rescue mode under a kind of intelligent water based on unmanned plane, comprising the following steps: deliverance apparatus is connect with unmanned plane, unmanned plane starting operation；When processing unit controls unmanned plane and carries out pre-set velocity flight according to pre-set route, whether processing unit is using having human body information in infrared detector real-time detection water；Processing unit obtains whether the region comprising human body information is safety zone if having；If otherwise whether under water processing unit detects human body using infrared detector；If controlling deliverance apparatus and if attachment device disconnects and utilizes the underwater body image of camera intake；Whether processing unit controls deliverance apparatus according to it and travels to being automatism at image and according to image analysing computer human body；If then control storage silo opening human body is packed into and control drainage arrangement by storage silo liquid be discharged float up to the water surface；Processing unit control unmanned plane flies at deliverance apparatus and controls unmanned plane to be connect with deliverance apparatus；Connection completion then controls unmanned plane and flies to first-aid centre.
Description
The application is application number 2017105783425, on 07 16th, 2017 applying date, " one kind is based on nothing to denomination of invention
The divisional application of rescue mode and its system under man-machine intelligent water ".
Technical field
Rescue mode and its it is the present invention relates to underwater rescue field, in particular under a kind of intelligent water based on unmanned plane
System.
Background technique
With world population explosive growth, maintain natural resources consumed by human survival more and more, land
Resource has been petered out.And be richly stored in ocean mineral resources and food resource, therefore, also just there are the mankind in ocean
Increasingly stronger attraction.With marine transportation, offshore production, the rapid development of sea fishing industry, occurred in ocean
Accident is also more and more, and the whole world has up to a hundred steamers, submarine, warship to topple sinking in big midocean every year, or even also sends out
Gave birth to the painful accident that military, civil aircraft falls into the sea.Since undersea is abysmal, pressure is huge, is stranded without bright, acquisition of information
Difficulty, environmental condition is extremely severe, and the pressure that can bear along with human body and the amount of oxygen being carried by are extremely limited, water
Dive depth and duration are all difficult to support the underwater rescue of dangerous complexity.Even if certain countries have been developed that can dive into compared with
Bathybic manned equipment, underwater operation, which is appointed, so has very high risk.
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 plane
Rescue mode and its system under intelligent water, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution: rescue mode under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, connection dress
It sets and processing unit, the described method comprises the following steps:
After deliverance apparatus is connect by attachment device with unmanned plane, the unmanned plane starting operation；
The unmanned plane is controlled in the processing unit to fly with deliverance apparatus according to pre-set route progress pre-set velocity
When row, the processing unit utilizes in the infrared detector real-time detection water being installed on the unmanned plane whether have human body letter
Breath；
Whether the processing unit is safety zone using the region that wireless device obtains in the water comprising human body information if having
Domain；
If otherwise the processing unit is using human body described in the infrared detector real-time detection being installed on the unmanned plane
No position under water；
It is disconnected if the processing unit described if using the wireless device control deliverance apparatus and attachment device and utilizes peace
The underwater body image is absorbed loaded on the camera on the deliverance apparatus；
The processing unit according to the underwater body image of the intake by wireless device control the deliverance apparatus travel to
At the underwater body image and whether the human body according to the image analysing computer of the intake is automatism；
If then the processing unit is opened by the storage silo that wireless device controls the deliverance apparatus and is packed into the human body
And the drainage arrangement in the deliverance apparatus is controlled by wireless device, the discharge of storage silo internal liquid is floated up into the water surface；
The processing unit controls that the unmanned plane is flown on the water surface at the deliverance apparatus position and to control the unmanned plane logical
Attachment device is crossed to connect with the deliverance apparatus；
The processing unit detects that the unmanned plane is connect by attachment device with the deliverance apparatus and completes the then processing
Device controls the first-aid centre that the unmanned plane flies to setting with the deliverance apparatus.
As a kind of preferred embodiment of the invention, being obtained in the processing unit using wireless device includes people in the water
The region of body information is behind safety zone, the method also includes following steps:
The processing unit absorbs the body image by the camera that wireless device control is installed on the deliverance apparatus
And whether the human body according to the image analysing computer of the intake drowns；
If then the processing unit drowns human body whether on the water surface according to the drowned human body image analysing computer of the intake；
If then the processing unit controls attachment device by wireless device and disconnects the unmanned plane and the deliverance apparatus
It connects and passes through wireless device and control the deliverance apparatus and travel to the position of human body；
The processing unit controls the air charging system on the deliverance apparatus by wireless device and is inflated and controls the nothing
Loudspeaker on man-machine issues rescue information.
As a kind of preferred embodiment of the invention, the human body is analyzed according to the underwater body image of intake in processing unit
After conscious state, the processing unit includes following methods:
The processing unit controls the deliverance apparatus by wireless device according to the underwater body image of the intake and drops to
Below the human body and the air charging system that controls on the deliverance apparatus is inflated；
The processing unit by wireless device detect air charging system inflation complete then to control the deliverance apparatus with
The human body rises to the water surface and controls the unmanned plane and connect by attachment device with the deliverance apparatus；
The processing unit detects that the unmanned plane is connect by attachment device with the deliverance apparatus and completes the then processing
Device controls the first-aid centre that the unmanned plane flies to setting with the deliverance apparatus.
As a kind of preferred embodiment of the invention, when deliverance apparatus is rescued, the method also includes following steps:
The processing unit is controlled underwater described in the camera real time shooting being installed on the deliverance apparatus by wireless device
The environmental images of human peripheral and the whether dangerous fish of the human peripheral according to the image analysing computer of the intake；
The processing unit controls the camera real time shooting institute being installed on the deliverance apparatus by wireless device if having
State the image of dangerous fish and according in fact when analyze the nose shape of dangerous fish in the image；
The processing unit controls the deliverance apparatus by wireless device and travels at the dangerous fish position and passing through nothing
The percussion mechanism that line apparatus control is installed on the deliverance apparatus impacts the nose of the dangerous fish.
As a kind of preferred embodiment of the invention, the processing unit control the unmanned plane with deliverance apparatus according to
When pre-set route carries out pre-set velocity flight, the method also includes following steps:
The flight path and flight of the unmanned plane are controlled by the connection of wireless device and processing unit using external equipment
Speed；
The camera being installed on the deliverance apparatus using external equipment by the connection control of wireless device and deliverance apparatus
Observe the environmental images around the deliverance apparatus.
Rescue system under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, attachment device and processing
Device, the unmanned plane include infrared detector, loudspeaker and buckle, the infrared detector be set to it is described nobody
On machine, for detecting human body information in water, the loudspeaker is set to the unmanned plane lower position, for issuing rescue letter
Breath, the buckle is set to below the unmanned plane, for being attached with attachment device；The deliverance apparatus includes camera shooting
Head, storage silo, air charging system, percussion mechanism and driving device, the camera is set on the deliverance apparatus, for taking the photograph
Image is taken, the storage silo includes drainage arrangement, and the storage silo is for storing human body, and the drainage arrangement by described for depositing
Liquid discharge in warehouse, the air charging system is set on the deliverance apparatus, for the human body in water to be floated, the punching
It hits device and is set to the deliverance apparatus front position, for colliding to dangerous fish, the driving device is anti-water drive
Dynamic device, is set to the deliverance apparatus rear, for driving the deliverance apparatus to travel and lifting；The attachment device packet
Include connecting rope and connection buckle, the connecting rope respectively with snapping connection below connection buckle and the unmanned plane, the company
Buckle is set to above the deliverance apparatus, and the processing unit includes:
Starting module, for starting unmanned plane operation；
Navigation module flies with deliverance apparatus according to pre-set route for controlling unmanned plane；
Rate control module flies with deliverance apparatus according to pre-set velocity for controlling unmanned plane；
Human detection module, for utilizing the human body information in the infrared detector real-time detection water being installed on unmanned plane；
Wireless device can be attached with network, external equipment and deliverance apparatus；
Whether region obtains module, be safety zone for obtaining the region in water comprising human body information using wireless device；
Underwater detection module, for utilizing the infrared detector real-time detection human body being installed on unmanned plane whether under water position
It sets；
Connection disconnects module, for controlling the connection that attachment device disconnects unmanned plane and deliverance apparatus by wireless device；
Acquisition module, for absorbing image using the camera being installed on deliverance apparatus；
Control module is travelled, is travelled in water for controlling deliverance apparatus by wireless device；
Human body analysis module, for whether being automatism according to the image analysing computer human body of intake；
Memory module, for being opened the storage silo of wireless device control deliverance apparatus and being packed into human body；
Control module is drained, storage silo internal liquid is discharged for controlling the drainage arrangement in deliverance apparatus by wireless device
Float up to the water surface；
Flight control modules, for controlling unmanned plane during flying to specified location；
Link block is connect by attachment device with deliverance apparatus for controlling unmanned plane；
Connecting detection module, for detecting whether attachment device connect completion with unmanned plane and deliverance apparatus respectively.
As a kind of preferred embodiment of the invention, the processing unit further include:
Drowned analysis module, for whether being drowned according to the image analysing computer human body of intake；
Water surface analysis module, for whether drowning human body in the water surface according to the drowned human body image analysing computer of intake；
Control module is rescued, for travelling and going up and down to specified location in water by wireless device control deliverance apparatus；
Inflator module is inflated for controlling the air charging system on deliverance apparatus by wireless device；
Sound module is rescued, the loudspeaker for being controlled on deliverance apparatus by wireless device issues rescue information.
As a kind of preferred embodiment of the invention, the processing unit further include:
Detection module is inflated, for detecting whether air charging system inflates completion by wireless device.
As a kind of preferred embodiment of the invention, the processing unit further include:
Hazard analysis module, for the whether dangerous fish of image analysing computer human peripheral according to intake；
Fish analysis module analyzes the nose position of dangerous fish in the image for the dangerous fish image according to intake in real time
It sets；
Impulsive control module, for controlling the percussion mechanism being installed on deliverance apparatus to the nose of dangerous fish by wireless device
Son is impacted.
As a kind of preferred embodiment of the invention, the processing unit further include:
Outside connections module is attached for controlling unmanned plane and deliverance apparatus with external equipment.
The utility model has the advantages that 1. establish connection by attachment device using unmanned plane and deliverance apparatus below the present invention realizes, institute
Pre-set velocity flight can be carried out according to pre-set route with deliverance apparatus by stating unmanned plane, can be in real-time detection water
It is no to have human body information, detect whether human body region in water is safety zone if having, if not people is detected in safety zone
Body whether under water position, if under water by deliverance apparatus drop to it is underwater and using the storage silo below deliverance apparatus by its
It is packed into, then controls the drainage arrangement in storage silo and water be discharged and controls deliverance apparatus and rises to the water surface and unmanned plane and pass through company
Connection device connection, the unmanned plane connect completion with the deliverance apparatus and then fly to first-aid centre with the deliverance apparatus.
2. if the processing unit utilizes the camera shooting of deliverance apparatus when detecting that human body region is safety zone in water
Head detects whether the human body drowns, and drowned human body is analyzed if drowned whether in the water surface, if controlling deliverance apparatus in the water surface
At traveling to the human body, then controls the air charging system in the deliverance apparatus and be inflated and mentioned using loudspeaker
It wakes up, is waited for rescue with facilitating human body to rest on deliverance apparatus.
3. if the deliverance apparatus is dropped to below the human body and is controlled and fills after detecting underwater human body conscious state
Device of air is inflated, and by underwater human body with floating to the surface, is then connect with deliverance apparatus using unmanned plane with the people
Body flies to first-aid centre.
4. utilizing the whether dangerous fish of camera real-time detection on deliverance apparatus when deliverance apparatus is rescued
Class at the nose for detecting the dangerous fish position and the dangerous fish if detecting, then controls deliverance apparatus row
It sails to being collided using nose of the percussion mechanism to dangerous fish at the position, prevents from causing casualties.
5. for that can be connect with processing unit or deliverance apparatus described in control using external equipment by wireless device
Unmanned plane during flying route and flying speed control surrounding's ring that the camera on deliverance apparatus observes the deliverance apparatus in real time
Border image.
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 of rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides；Fig. 2
The flow chart of rescue mode under the intelligent water based on unmanned plane provided for the one of example of the present invention；
Fig. 3 is the flow chart for the rescue safety zone drowning man body method that the one of example of the present invention provides；
Fig. 4 is the flow chart using air charging system rescue mode that the one of example of the present invention provides；
Fig. 5 is the flow chart for the detection dangerous fish method that the one of example of the present invention provides；
Fig. 6 is the flow chart that the detection that the one of example of the present invention provides utilizes peripheral equipment control rescue system method；
Fig. 7 is the architecture diagram of rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides.
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
Refering to what is shown in Fig. 2, Fig. 2 is the stream of rescue mode under the intelligent water based on unmanned plane that the one of example of the present invention provides
Cheng Tu.
Specifically, the present embodiment provides rescue mode under a kind of intelligent water based on unmanned plane, including unmanned plane 1, rescue
Device 2, attachment device 3 and processing unit 4, the described method comprises the following steps:
S1, after deliverance apparatus 2 connect by attachment device 3 with unmanned plane 1, the unmanned plane 1, which starts, to be run；
S2, the unmanned plane 1 is controlled in the processing unit 4 preset with deliverance apparatus 2 according to pre-set route
When speed flight, the processing unit 4, which utilizes in the 10 real-time detection water of infrared detector being installed on the unmanned plane 1, is
It is no to have human body information；
S3, if having the processing unit 4 using wireless device 44 obtain in the water comprising human body information region whether be
Safety zone；
If S4, the otherwise processing unit 4 are using described in 10 real-time detection of infrared detector being installed on the unmanned plane 1
Human body whether under water position；
S5, the deliverance apparatus 2 is controlled using wireless device 44 if the processing unit 4 described if disconnect with attachment device 3
And the underwater body image is absorbed using the camera 20 being installed on the deliverance apparatus 2；
S6, the processing unit 4 control the deliverance apparatus 2 by wireless device 44 according to the underwater body image of the intake
At traveling to the underwater body image and whether the human body according to the image analysing computer of the intake is automatism；
It will be described if S7, the then processing unit 4 are opened by the storage silo 21 that wireless device 44 controls the deliverance apparatus 2
Human body is packed into and passes through the drainage arrangement 210 that wireless device 44 controls in the deliverance apparatus 2 and arranges 21 internal liquid of storage silo
The water surface is floated up to out；
S8, the processing unit 4 control the unmanned plane 1 and fly on the water surface at 2 position of deliverance apparatus and control the nothing
Man-machine 1 is connect by attachment device 3 with the deliverance apparatus 2；
S9, the processing unit 4 detect that the unmanned plane 1 connect completion then institute with the deliverance apparatus 2 by attachment device 3
It states processing unit 4 and controls the first-aid centre that the unmanned plane 1 flies to setting with the deliverance apparatus 2.
Wherein, the pre-set velocity is 0-200 kilometers/hour, in the present embodiment preferably 50 kilometers/hour；It is described
Safety zone refers to that swimming for setting and has lifeguard in safety zone at region；The automatism refers to the human body
For stupor, no struggle movement；Connecting rope 30 in the attachment device 3 can be contracted in connection buckle 31, can be with when needing
Pull-out is connect with connecting rope 30 using the buckle 12 of 1 lower section of unmanned plane；Rescue system can use Yu Haiyang, lake under the intelligent water
In the water of pool, river and smaller area；The camera 20 being installed on deliverance apparatus 2 being capable of 360 ° of rotations intake shadows
Picture；The deliverance apparatus 2 is waterproof deliverance apparatus 2.
In S1, specifically in the connection buckle 31 on deliverance apparatus 2 connecting rope 30 and unmanned plane 1 below buckle 12 into
After row connection, the starting of unmanned plane 1 operation.
In S2, the unmanned plane 1 specifically is controlled in the processing unit 4 and is pressed by attachment device 3 with deliverance apparatus 2
When carrying out 50 kilometers/hour of speed flight according to pre-set route, the processing unit 4 utilizes and is installed on the unmanned plane
Whether include human body information in 10 real-time detection water of infrared detector on 1, i.e., the described unmanned plane 1 according to 50 kilometers/it is small
When speed in the water surface into when patrol, in the water detected whether in beat whether someone, prevent someone drowned.
It specifically include after human body information in detecting water, the processing unit 4 utilizes wireless device 44 in S3
Net obtains whether the region in the water comprising human body information is that swimming for planning and has lifeguard in safety zone at region,
Detect the swimming region detected whether immediately after someone is drowned as government planning.
In S4, specifically after the detection waters comprising human body information is not safety zone, 4 benefit of processing unit
The whether underwater position of human body, detects described in 10 real-time detection of infrared detector being installed on the unmanned plane 1
Behind insecure area, human body described in real-time detection whether submerged.
In S5, specifically after detecting that the human body sinks under the water, the processing unit 4 is controlled using wireless device 44
The deliverance apparatus 2 is disconnected with attachment device 3, and the deliverance apparatus 2 is fallen into water after disconnecting, the processing unit
4 absorb the underwater body image using the camera 20 being installed on the deliverance apparatus 2 by wireless device 44.
In S6, specifically passed through in the processing unit 4 according to the underwater body image that the camera 20 absorbs wireless
Device 44 controls after the deliverance apparatus 2 travels under water to the underwater body image, and the processing unit 4 is according to described
Whether human body described in the image analysing computer of intake is automatism, that is, detects whether the human body is comatose state.
It carries in S7, specifically after detecting that the human body is comatose state, the processing unit 4 is controlled by wireless device 44
The storage silo 21 for making the deliverance apparatus 2, which is opened, is packed into the human body in vehicle window storehouse, then controls institute by wireless device 44
It states the drainage arrangement 210 in deliverance apparatus 2 21 internal liquid of storage silo is discharged and controls the deliverance apparatus 2 and deposited with described
Warehouse 21 floats up to the water surface；It is if after detecting human body conscious state, that is, detecting the human body and struggling under water, then described
Processing unit 4 controls the deliverance apparatus 2 by wireless device 44 according to the underwater body image of intake and drops to the human body
Body image lower position is inflated using air charging system 22, then holds up the human body to the water surface from underwater.
In S8, the unmanned plane 1 specifically is controlled in the processing unit 4 and flies to the deliverance apparatus to float on the surface
After at 2 positions, the processing unit 4 controls connecting rope 30 and institute of the buckle 12 of 1 lower section of unmanned plane by attachment device 3
The connection buckle 31 stated on deliverance apparatus 2 is attached.
In S9, specifically detect that the unmanned plane 1 is filled by attachment device 3 and the rescue in the processing unit 4
After the completion of setting 2 connections, the processing unit 4 controls the first aid that the unmanned plane 1 flies to minimum distance with the deliverance apparatus 2
It is rescued at center, avoids casualties in morning.
Embodiment two
Refering to what is shown in Fig. 3, Fig. 3 is the process for the rescue safety zone drowning man body method that the one of example of the present invention provides
Figure.
Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, at the place
Reason device 4 obtains the region in the water comprising human body information using wireless device 44 as behind safety zone, the method is also wrapped
Include following steps:
S30, the processing unit 4 are controlled the camera 20 being installed on the deliverance apparatus 2 by wireless device 44 and absorb institute
It states body image and whether the human body according to the image analysing computer of the intake drowns；
If S31, the then processing unit 4 are drowned according to the drowned human body image analysing computer of the intake, whether human body is in water
On face；
If S32, the then processing unit 4 disconnect the unmanned plane 1 by the control of wireless device 44 attachment device 3 and rescue with described
The connection of shaking apparatus 2 is simultaneously controlled at the traveling to the position of human body of deliverance apparatus 2 by wireless device 44；
S33, the processing unit 4 are inflated simultaneously by the air charging system 22 that wireless device 44 controls on the deliverance apparatus 2
The loudspeaker 11 controlled on the unmanned plane 1 issues rescue information.
Specifically, being using the networking acquisition of wireless device 44 waters comprising human body information in the processing unit 4
Behind safety zone, the processing unit 4 is controlled the camera 20 being installed on the deliverance apparatus 2 by wireless device 44 and absorbed
The body image simultaneously analyzes whether the human body is drowned state according to the body image of the intake, i.e., struggle in water,
It cries for help and water of choking, if the processing unit 4 analyzes after the human body is drowned state, the processing unit 4 is according to described
Whether human body of drowning described in the drowned human body image analysing computer of intake struggles in the water surface, if the processing unit 4 analyzes described drown
For water human body after water surface struggle, the processing unit 4 controls the connecting rope 30 and unmanned plane of attachment device 3 by wireless device 44
1 buckle 12 is disconnected and is controlled in the connection buckle 31 that the connecting rope 30 retracts on the deliverance apparatus 2, then described
Processing unit 4 controls the deliverance apparatus 2 by wireless device 44 and sails on the water to the position of human body, the processing
Device 4 is inflated by the air charging system 22 that wireless device 44 controls in the deliverance apparatus 2, then controls the unmanned plane
Loudspeaker 11 on 1 reminds drowned personnel to catch deliverance apparatus 2 and lies prone is full of the air charging system 22 of gas in the deliverance apparatus 2
On wait for rescue.
Embodiment three
Refering to what is shown in Fig. 4, Fig. 4 is the flow chart using air charging system rescue mode that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, in 4 basis of processing unit
The underwater body image of intake analyzes the human body as after conscious state, the processing unit 4 includes following methods:
S60, the processing unit 4 control the deliverance apparatus by wireless device 44 according to the underwater body image of the intake
2, which drop to the air charging system 22 below the human body and controlled on the deliverance apparatus 2, is inflated；
S61, the processing unit 4 detect that the inflation of air charging system 22 is completed then to control the rescue by wireless device 44
Device 2 rises to the water surface with the human body and controls the unmanned plane 1 and connect by attachment device 3 with the deliverance apparatus 2；
S62, the processing unit 4 detect that the unmanned plane 1 connect completion with the deliverance apparatus 2 then by attachment device 3
The processing unit 4 controls the first-aid centre that the unmanned plane 1 flies to setting with the deliverance apparatus 2.
Specifically, after processing unit 4 analyzes the human body according to the underwater body image of intake as waking state, it is described
Processing unit 4 controls the deliverance apparatus 2 to downward driving extremely by wireless device 44 according to the underwater body image of the intake
Then the human body lower position controls the air charging system 22 on the deliverance apparatus 2 and is inflated to can be the people
For body around firmly, the processing unit 4 detects the inflation using the camera 20 on the deliverance apparatus 2 by wireless device 44
After device 22 is inflated to specified size, the processing unit 4 controls the deliverance apparatus 2 by wireless device 44 and rises human body
Around living, then on the water surface, i.e., the human body is entangled as swim ring, 21 top of storage silo is stepped down under human foot；So
The buckle 12 and the connecting rope 30 in 2 connection buckle 31 of deliverance apparatus that the processing unit 4 controls 1 lower section of unmanned plane afterwards
It is attached, the processing unit 4 detects that the unmanned plane 1 connects with the connecting rope 30 in 2 connection buckle 31 of deliverance apparatus
After the completion of connecing, the processing unit 4 controls the unmanned plane 1 and flies to storage with the deliverance apparatus 2 by attachment device 3
The first-aid centre of minimum distance carries out first aid.
Example IV
Refering to what is shown in Fig. 5, Fig. 5 is the flow chart for the detection dangerous fish method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, are rescued in deliverance apparatus
When helping, the method also includes following steps:
S10, the processing unit 4 control the camera 20 being installed on the deliverance apparatus 2 by wireless device 44 and take the photograph in real time
Take the environmental images of the underwater human peripheral and the whether dangerous fish of the human peripheral according to the image analysing computer of the intake
Class；
S11, the camera 20 that the processing unit 4 is installed on the deliverance apparatus 2 by the control of wireless device 44 if having
The image of dangerous fish described in real time shooting and according in fact when analyze the nose shape of dangerous fish in the image；
S12, the processing unit 4 are controlled at the traveling to the dangerous fish position of deliverance apparatus 2 by wireless device 44
And the percussion mechanism 23 being installed on the deliverance apparatus 2 is controlled by wireless device 44, the nose of the dangerous fish is carried out
Impact.
Specifically, the processing unit 4 is controlled by wireless device 44 when the deliverance apparatus 2 is rescued in water
Make the environmental images for the human peripheral that drowns described in 20 real time shooting of camera being installed on the deliverance apparatus 2 and according to described
The whether dangerous fish of human peripheral described in the image analysing computer of intake, i.e. larger fish eat meat fish and have attack to human body
Property fish, it is described to be judged as that dangerous fish refers to and compared with the fish information of storage, then analyze as dangerous fish,
If analyze dangerous fish in the image of the intake, the processing unit 4 controls described take the photograph by wireless device 44
The image of the dangerous fish is absorbed as first 20 real-time tracing and the dangerous fish is analyzed according to the image of the intake in real time
Nose shape, then the processing unit 4 controls 2 fast running of deliverance apparatus to the danger by wireless device 44
The percussion mechanism 23 being installed on the deliverance apparatus 2 is controlled to the dangerous fish at the position of fish and by wireless device 44
The nose of class is impacted, and prevents dangerous fish from causing injures and deaths to the drowned human body.
Embodiment five
Refering to what is shown in Fig. 6, Fig. 6 is that the detection that the one of example of the present invention provides utilizes peripheral equipment control rescue system method
Flow chart.
The present embodiment and embodiment one are substantially consistent, and difference place is, in the present embodiment, in the processing unit 4
Control the unmanned plane 1 with deliverance apparatus 2 according to pre-set route carry out pre-set velocity flight when, the method is also wrapped
Include following steps:
S13, the flight path for controlling the unmanned plane 1 by the connection of wireless device 44 and processing unit 4 using external equipment
And flying speed；
S14, it is installed on the deliverance apparatus 2 using external equipment by the connection control of wireless device 44 and deliverance apparatus 2
Camera 20 observe the environmental images around the deliverance apparatus 2.
It is carried out specifically, controlling the unmanned plane 1 in the processing unit 4 with the pre-set route of deliverance apparatus 2
50 kilometers/hour when carrying out flight patrol, user can pass through the connection of wireless device 44 and processing unit 4 using external equipment
Control the flight path and flying speed of the unmanned plane 1, user can also using external equipment by wireless device 44 with
The camera 20 that the connection control of deliverance apparatus 2 is installed on the deliverance apparatus 2 observes the environment around the deliverance apparatus 2
Image.
Embodiment six
With reference to shown in Fig. 1, Fig. 7, Fig. 1 is rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides
Schematic diagram；Fig. 7 is the architecture diagram of rescue system under the intelligent water based on unmanned plane that the one of example of the present invention provides.
Specifically, the present embodiment provides rescue system under a kind of intelligent water based on unmanned plane, including unmanned plane 1, rescue
Device 2, attachment device 3 and processing unit 4, the unmanned plane 1 include infrared detector 10, loudspeaker 11 and buckle
12, the infrared detector 10 is set on the unmanned plane 1, and for detecting human body information in water, the loudspeaker 11 is set
It is placed in 1 lower position of unmanned plane, for issuing rescue information, the buckle 12 is set to 1 lower section of unmanned plane, is used for
It is attached with attachment device 3；The deliverance apparatus 2 includes camera 20, storage silo 21, air charging system 22, percussion mechanism 23
And driving device 24, the camera 20 are set on the deliverance apparatus 2, for absorbing image, the storage silo includes
Drainage arrangement 210, the storage silo 21 are used for for storing human body, the drainage arrangement 210 by the liquid in the storage silo 21
Body discharge, the air charging system 22 is set on the deliverance apparatus 2, for the human body in water to be floated, the percussion mechanism
23 are set to 2 front position of deliverance apparatus, and for colliding to dangerous fish, the driving device 24 is anti-water-driven
Device 24 is set to 2 rear of deliverance apparatus, for driving the deliverance apparatus 2 to travel and lifting；The attachment device
3 include connecting rope 30 and connection buckle 31, the connecting rope 30 buckle with connection buckle 31 and the lower section of the unmanned plane 1 respectively
12 connections, the connection buckle 31 are set to 2 top of deliverance apparatus, and the processing unit 4 includes:
Starting module 40 is run for starting unmanned plane 1；
Navigation module 41 flies with deliverance apparatus 2 according to pre-set route for controlling unmanned plane 1；
Rate control module 42 flies with deliverance apparatus 2 according to pre-set velocity for controlling unmanned plane 1；
Human detection module 43, for utilizing the human body in the 10 real-time detection water of infrared detector being installed on unmanned plane 1
Information；
Wireless device 44 can be attached with network, external equipment and deliverance apparatus 2；
Whether region obtains module 45, be safety zone for obtaining the region in water comprising human body information using wireless device 44
Domain；
Underwater detection module 46, for using the 10 real-time detection human body of infrared detector being installed on unmanned plane 1 whether
Submarine site；
Connection disconnects module 47, for controlling the company that attachment device 3 disconnects unmanned plane 1 and deliverance apparatus 2 by wireless device 44
It connects；
Acquisition module 48, for absorbing image using the camera 20 being installed on deliverance apparatus 2；
Control module 49 is travelled, is travelled in water for controlling deliverance apparatus 2 by wireless device 44；
Human body analysis module 50, for whether being automatism according to the image analysing computer human body of intake；
Memory module 51, the storage silo 21 for wireless device 44 to be controlled to deliverance apparatus 2 are opened and are packed into human body；
Control module 52 is drained, the drainage arrangement 210 for controlling in deliverance apparatus 2 by wireless device 44 will be in storage silo 21
Liquid discharge in portion's floats up to the water surface；
Flight control modules 53, for controlling the flight of unmanned plane 1 to specified location；
Link block 54 is connect by attachment device 3 with deliverance apparatus 2 for controlling unmanned plane 1；
Connecting detection module 55, for detecting whether attachment device 3 connect completion with unmanned plane 1 and deliverance apparatus 2 respectively.
As a kind of preferred embodiment of the invention, the processing unit 4 further include:
Drowned analysis module 56, for whether being drowned according to the image analysing computer human body of intake；
Water surface analysis module 57, for whether drowning human body in the water surface according to the drowned human body image analysing computer of intake；
Control module 58 is rescued, travels and is gone up and down to specific bit in water for controlling deliverance apparatus 2 by wireless device 44
Set place；
Inflator module 59 is inflated for controlling the air charging system 22 on deliverance apparatus 2 by wireless device 44；
Sound module 60 is rescued, the loudspeaker 11 for being controlled on deliverance apparatus 2 by wireless device 44 issues rescue information.
As a kind of preferred embodiment of the invention, the processing unit 4 further include:
Detection module 61 is inflated, for detecting whether air charging system 22 inflates completion by wireless device 44.
As a kind of preferred embodiment of the invention, the processing unit 4 further include:
Hazard analysis module 62, for the whether dangerous fish of image analysing computer human peripheral according to intake；
Fish analysis module 63 analyzes the nose of dangerous fish in the image for the dangerous fish image according to intake in real time
Position；
Impulsive control module 64, for controlling the 23 pairs of danger of percussion mechanism being installed on deliverance apparatus 2 by wireless device 44
The nose of fish is impacted.
As a kind of preferred embodiment of the invention, the processing unit 4 further include:
Outside connections module 65 is attached for controlling unmanned plane 1 and deliverance apparatus 2 with external equipment.
It should be understood that the specific implementation process of above-mentioned modules (can be implemented with above method embodiment in embodiment six
Example one is to embodiment five) description it is corresponding, be not described in detail herein.
System provided by above-described embodiment six is only the example of the division of the above functional modules actually answered
In, it can according to need and be completed by different functional modules appeal function distribution, i.e., divide the internal structure of system
At different functional modules, to complete all or part of the functions described above.
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 (6)
1. rescue mode under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, attachment device and processing dress
It sets, which is characterized in that the described method comprises the following steps:
After deliverance apparatus is connect by attachment device with unmanned plane, the unmanned plane starting operation；
The unmanned plane is controlled in the processing unit to fly with deliverance apparatus according to pre-set route progress pre-set velocity
When row, the processing unit utilizes in the infrared detector real-time detection water being installed on the unmanned plane whether have human body letter
Breath；
Whether the processing unit is safety zone using the region that wireless device obtains in the water comprising human body information if having
Domain；
If otherwise the processing unit is using human body described in the infrared detector real-time detection being installed on the unmanned plane
No position under water；
It is disconnected if the processing unit described if using the wireless device control deliverance apparatus and attachment device and utilizes peace
The underwater body image is absorbed loaded on the camera on the deliverance apparatus；
The processing unit according to the underwater body image of the intake by wireless device control the deliverance apparatus travel to
At the underwater body image and whether the human body according to the image analysing computer of the intake is automatism；
If then the processing unit is opened by the storage silo that wireless device controls the deliverance apparatus and is packed into the human body
And the drainage arrangement in the deliverance apparatus is controlled by wireless device, the discharge of storage silo internal liquid is floated up into the water surface；
The processing unit controls that the unmanned plane is flown on the water surface at the deliverance apparatus position and to control the unmanned plane logical
Attachment device is crossed to connect with the deliverance apparatus；
The processing unit detects that the unmanned plane is connect by attachment device with the deliverance apparatus and completes the then processing
Device controls the first-aid centre that the unmanned plane flies to setting with the deliverance apparatus；
It is described after the processing unit obtains the region in the water comprising human body information using wireless device as safety zone
Method is further comprising the steps of:
The processing unit absorbs the body image by the camera that wireless device control is installed on the deliverance apparatus
And whether the human body according to the image analysing computer of the intake drowns；
If then the processing unit drowns human body whether on the water surface according to the drowned human body image analysing computer of the intake；
If then the processing unit controls attachment device by wireless device and disconnects the unmanned plane and the deliverance apparatus
It connects and passes through wireless device and control the deliverance apparatus and travel to the position of human body；
The processing unit controls the air charging system on the deliverance apparatus by wireless device and is inflated and controls the nothing
Loudspeaker on man-machine issues rescue information；
Analyzing the human body according to the underwater body image of intake in processing unit is the processing unit packet after conscious state
Include following methods:
The processing unit controls the deliverance apparatus by wireless device according to the underwater body image of the intake and drops to
Below the human body and the air charging system that controls on the deliverance apparatus is inflated；
The processing unit by wireless device detect air charging system inflation complete then to control the deliverance apparatus with
The human body rises to the water surface and controls the unmanned plane and connect by attachment device with the deliverance apparatus；
The processing unit detects that the unmanned plane is connect by attachment device with the deliverance apparatus and completes the then processing
Device controls the first-aid centre that the unmanned plane flies to setting with the deliverance apparatus.
2. rescue mode under a kind of intelligent water based on unmanned plane according to claim 1, which is characterized in that filled in rescue
It sets when being rescued, the method also includes following steps:
The processing unit is controlled underwater described in the camera real time shooting being installed on the deliverance apparatus by wireless device
The environmental images of human peripheral and the whether dangerous fish of the human peripheral according to the image analysing computer of the intake；
The processing unit controls the camera real time shooting institute being installed on the deliverance apparatus by wireless device if having
State the image of dangerous fish and according in fact when analyze the nose shape of dangerous fish in the image；
The processing unit controls the deliverance apparatus by wireless device and travels at the dangerous fish position and passing through nothing
The percussion mechanism that line apparatus control is installed on the deliverance apparatus impacts the nose of the dangerous fish.
3. rescue mode under a kind of intelligent water based on unmanned plane according to claim 1, which is characterized in that at the place
When the reason device control unmanned plane carries out pre-set velocity flight according to pre-set route with deliverance apparatus, the method
It is further comprising the steps of:
The flight path and flight of the unmanned plane are controlled by the connection of wireless device and processing unit using external equipment
Speed；
The camera being installed on the deliverance apparatus using external equipment by the connection control of wireless device and deliverance apparatus
Observe the environmental images around the deliverance apparatus.
4. rescue system under a kind of intelligent water based on unmanned plane, including unmanned plane, deliverance apparatus, attachment device and processing dress
It sets, the unmanned plane includes infrared detector, loudspeaker and buckle, and the infrared detector is set to the unmanned plane
On, for detecting human body information in water, the loudspeaker is set to the unmanned plane lower position, for issuing rescue information,
The buckle is set to below the unmanned plane, for being attached with attachment device；The deliverance apparatus includes camera, deposits
Warehouse, air charging system, percussion mechanism and driving device, the camera is set on the deliverance apparatus, for absorbing shadow
Picture, the storage silo include drainage arrangement, and the storage silo is used for for storing human body, the drainage arrangement by the storage silo
Interior liquid discharge, the air charging system is set on the deliverance apparatus, for the human body in water to be floated, the impact dress
It installs and is placed in the deliverance apparatus front position, for colliding to dangerous fish, the driving device is anti-water-driven dress
It sets, is set to the deliverance apparatus rear, for driving the deliverance apparatus to travel and lifting；The attachment device includes connecting
Splicing and connection buckle, the connecting rope respectively with snapping connection below connection buckle and the unmanned plane, the connection buckle
It is set to above the deliverance apparatus, which is characterized in that the processing unit includes:
Starting module, for starting unmanned plane operation；
Navigation module flies with deliverance apparatus according to pre-set route for controlling unmanned plane；
Rate control module flies with deliverance apparatus according to pre-set velocity for controlling unmanned plane；
Human detection module, for utilizing the human body information in the infrared detector real-time detection water being installed on unmanned plane；
Wireless device can be attached with network, external equipment and deliverance apparatus；
Whether region obtains module, be safety zone for obtaining the region in water comprising human body information using wireless device；
Underwater detection module, for utilizing the infrared detector real-time detection human body being installed on unmanned plane whether under water position
It sets；
Connection disconnects module, for controlling the connection that attachment device disconnects unmanned plane and deliverance apparatus by wireless device；
Acquisition module, for absorbing image using the camera being installed on deliverance apparatus；
Control module is travelled, is travelled in water for controlling deliverance apparatus by wireless device；
Human body analysis module, for whether being automatism according to the image analysing computer human body of intake；
Memory module, for being opened the storage silo of wireless device control deliverance apparatus and being packed into human body；
Control module is drained, storage silo internal liquid is discharged for controlling the drainage arrangement in deliverance apparatus by wireless device
Float up to the water surface；
Flight control modules, for controlling unmanned plane during flying to specified location；
Link block is connect by attachment device with deliverance apparatus for controlling unmanned plane；
Connecting detection module, for detecting whether attachment device connect completion with unmanned plane and deliverance apparatus respectively；
The processing unit further include:
Drowned analysis module, for whether being drowned according to the image analysing computer human body of intake；
Water surface analysis module, for whether drowning human body in the water surface according to the drowned human body image analysing computer of intake；
Control module is rescued, for travelling and going up and down to specified location in water by wireless device control deliverance apparatus；
Inflator module is inflated for controlling the air charging system on deliverance apparatus by wireless device；
Sound module is rescued, the loudspeaker for being controlled on deliverance apparatus by wireless device issues rescue information；
The processing unit further include:
Detection module is inflated, for detecting whether air charging system inflates completion by wireless device.
5. rescue system under a kind of intelligent water based on unmanned plane according to claim 4, which is characterized in that the processing
Device further include:
Hazard analysis module, for the whether dangerous fish of image analysing computer human peripheral according to intake；
Fish analysis module analyzes the nose position of dangerous fish in the image for the dangerous fish image according to intake in real time
It sets；
Impulsive control module, for controlling the percussion mechanism being installed on deliverance apparatus to the nose of dangerous fish by wireless device
Son is impacted.
6. rescue system under a kind of intelligent water based on unmanned plane according to claim 4, which is characterized in that the processing
Device further include:
Outside connections module is attached for controlling unmanned plane and deliverance apparatus with external equipment.
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107351992B (en) | 2019-06-21 |
| CN109850095B (en) | 2020-11-17 |
| CN107351992A (en) | 2017-11-17 |
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Denomination of invention: An Intelligent Underwater Rescue Method and System Based on UAV Effective date of registration: 20221205 Granted publication date: 20201117 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. science and technology innovation sub branch Pledgor: GUANGDONG DEJIU SOLAR NEW ENERGY CO.,LTD. Registration number: Y2022980024819 |