CN110032216A - A kind of unmanned plane rescue method applied to SAR at Sea - Google Patents
A kind of unmanned plane rescue method applied to SAR at Sea Download PDFInfo
- Publication number
- CN110032216A CN110032216A CN201910289012.3A CN201910289012A CN110032216A CN 110032216 A CN110032216 A CN 110032216A CN 201910289012 A CN201910289012 A CN 201910289012A CN 110032216 A CN110032216 A CN 110032216A
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- Prior art keywords
- camera
- unmanned plane
- camera head
- sar
- sea
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Alarm Systems (AREA)
Abstract
A kind of unmanned plane rescue method applied to SAR at Sea, which is characterized in that steps are as follows: 1, it chooses and searches and rescues camera；2, camera head is set；3, camera is searched and rescued in setting；4, camera head is set；5, unmanned plane searches and rescues route setting.Compared with just penetrating formula search or fixed camera angle scans for method, search time significantly in reduction unit area, the success rate of water surface search and rescue can be improved.
Description
Technical field
The invention belongs to SAR at Sea field, especially a kind of unmanned plane rescue method applied to SAR at Sea.
Background technique
In water surface rescue operations, gradually start carrying infrared thermal imaging equipment in the sky to water using unmanned plane at present
Face is shot, to search for the distress personnel in the water surface.
It is in that an angle of 90 degrees is just penetrated shooting or camera pan-tilt in certain that existing way of search is mostly by video camera downwards
It is shot with fixed angle, then the water surface is scanned for by the horizontal movement of unmanned plane itself, these two types of searchers
The deficiency of formula is: focal length being fixed, for the infrared thermal imaging camera that angle is fixed, field angle is limited, in the unit time
The waters that can search for is limited, and it is relatively long to search for the time used in one piece of waters.For the water surface searches and rescues industry, the time is exactly to give birth to
Life, it is desirable to which the fewer the search time in unit area the better.
Summary of the invention
The present invention is in view of the above-mentioned problems, disclose a kind of unmanned plane rescue method applied to SAR at Sea.
Specific technical solution is as follows:
A kind of unmanned plane rescue method applied to SAR at Sea, which is characterized in that steps are as follows:
1) it chooses and searches and rescues camera, choose infrared thermal imaging camera and be used as search and rescue camera, the infrared thermal imaging camera of selection
Horizontal field of view angle is 25 °, and vertical field of view angle is 20 °；
2) camera head is set, camera head is chosen, camera head pitch angle fixes, and camera head feathering angle is ±
30°；
3) camera is searched and rescued in setting, infrared thermal imaging camera is fixed on camera head bottom, camera head carry is in nobody
Motor spindle, infrared thermal imaging camera downwards angle of visibility A are 30 °；
4) camera head is set, connects controller on camera head, wireless module is connected on controller, controller passes through nothing
Wire module connects controlling terminal, and controller controls camera head and rotates horizontally；
5) unmanned plane searches and rescues route setting, controls unmanned plane with S type route and carries out maritime search and rescue.
Further, the wireless module is WiFi module.
Further, the controller is PLC controller.
Further, the wireless module and controller are attached using electric connection mode.
Further, the controller passes through camera head described in cable connection.
Further, the controlling terminal is one of mobile phone, tablet computer, computer.
Beneficial effects of the present invention:
A kind of unmanned plane rescue method applied to SAR at Sea of the present invention, with just penetrate formula search or fixed camera angle into
Row searching method is compared, and significantly the search time in reduction unit area, can improve the success rate of water surface search and rescue.
Detailed description of the invention
Fig. 1 is to search and rescue schematic diagram on camera carry unmanned plane.
Fig. 2 is that embodiment 1 searches and rescues range schematic diagram.
Fig. 3 is that comparative example 2 searches and rescues range schematic diagram.
Specific embodiment
It is clear to be more clear technical solution of the present invention, below the present invention is described further, any pair of sheet
The technical characteristic of inventive technique scheme carries out the scheme that equivalencing is obtained with conventional reasoning and each falls within the scope of the present invention.
Embodiment 1
1) it chooses and searches and rescues camera, choose infrared thermal imaging camera and be used as search and rescue camera, the infrared thermal imaging camera of selection
Horizontal field of view angle is 25 °, and vertical field of view angle is 20 °；
2) camera head is set, camera head is chosen, camera head pitch angle fixes, and camera head feathering angle is ±
30°；
3) camera is searched and rescued in setting, infrared thermal imaging camera is fixed on camera head bottom, camera head carry is in nobody
Motor spindle, infrared thermal imaging camera downwards angle of visibility A are 30 °；Under conditions of 300 meters of flying height, 466 meters of x can be formed in the water surface
The visual search region of 266 rice and flour product, the living aim in this region can be found；
4) camera head is set, connects controller on camera head, wireless module is connected on controller, controller passes through nothing
Wire module connects controlling terminal, and controller controls camera head and rotates horizontally；Camera head is controlled in level side by controller
Uniform speed scanning back and forth is carried out in the range of ± 30 °, then forms a fan-shaped region of search；
5) unmanned plane searches and rescues route setting, controls unmanned plane with S type route and carries out maritime search and rescue, unmanned plane is with 65km/h's
Speed flight, needs the waters for being scanned for for 4 minutes having searched for 4 square kilometres.
Further, the wireless module is WiFi module.
Further, the controller is PLC controller.
Further, the wireless module and controller are attached using electric connection mode.
Further, the controller passes through camera head described in cable connection.
Further, the controlling terminal is mobile phone.
Comparative example 2
1) it chooses and searches and rescues camera, choose infrared thermal imaging camera and be used as search and rescue camera, the infrared thermal imaging camera of selection
Horizontal field of view angle is 25 °, and vertical field of view angle is 20 °；
2) camera is searched and rescued in setting, by infrared thermal imaging camera carry in uav bottom, infrared thermal imaging camera downwards angle of visibility A
It is 30 °；Under conditions of 300 meters of flying height, the long-pending visual search region of 466 meters of 266 rice and flour of x can be formed in the water surface, this
Living aim in region can be found；
Unmanned plane searches and rescues route setting, controls unmanned plane with S type route and carries out maritime search and rescue, unmanned plane is with the speed of 65km/h
Degree flight, needs complete 4 square kilometres of the waters of scanning search in 17 minutes.
Embodiment 1 has the beneficial effect that compared with comparative example 2:
Head-swinging type sectoring method search designed by the invention, i.e. aircraft holder camera pitch angle in flight course
It is fixed, the search area in the unit time is expanded significantly.Scanned for than fixed camera angle, reduce 3 times or more when
Between.
Claims (6)
1. a kind of unmanned plane rescue method applied to SAR at Sea, which is characterized in that steps are as follows:
1) it chooses and searches and rescues camera, choose infrared thermal imaging camera as search and rescue camera, the level of the infrared thermal imaging camera of selection
Field angle is 25 °, and vertical field of view angle is 20 °；
2) camera head is set, camera head is chosen, camera head pitch angle is fixed, and camera head feathering angle is ± 30 °；
3) camera is searched and rescued in setting, infrared thermal imaging camera is fixed on camera head bottom, camera head carry is in unmanned plane bottom
Portion, infrared thermal imaging camera downwards angle of visibility A are 30 °；
4) camera head is set, connects controller on camera head, wireless module is connected on controller, controller passes through wireless mould
Block connects controlling terminal, and controller controls camera head and rotates horizontally；
5) unmanned plane searches and rescues route setting, controls unmanned plane with S type route and carries out maritime search and rescue.
2. a kind of unmanned plane rescue method applied to SAR at Sea as described in claim 1, which is characterized in that described wireless
Module is WiFi module.
3. a kind of unmanned plane rescue method applied to SAR at Sea as described in claim 1, which is characterized in that the control
Device is PLC controller.
4. a kind of unmanned plane rescue method applied to SAR at Sea as described in claim 1, which is characterized in that described wireless
Module and controller are attached using electric connection mode.
5. a kind of unmanned plane rescue method applied to SAR at Sea as described in claim 1, which is characterized in that the control
Device passes through camera head described in cable connection.
6. a kind of unmanned plane rescue method applied to SAR at Sea as described in claim 1, which is characterized in that the control
Terminal is one of mobile phone, tablet computer, computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910289012.3A CN110032216A (en) | 2019-04-11 | 2019-04-11 | A kind of unmanned plane rescue method applied to SAR at Sea |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910289012.3A CN110032216A (en) | 2019-04-11 | 2019-04-11 | A kind of unmanned plane rescue method applied to SAR at Sea |
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| Publication Number | Publication Date |
|---|---|
| CN110032216A true CN110032216A (en) | 2019-07-19 |
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| CN201910289012.3A Pending CN110032216A (en) | 2019-04-11 | 2019-04-11 | A kind of unmanned plane rescue method applied to SAR at Sea |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111967692A (en) * | 2020-09-07 | 2020-11-20 | 中国人民解放军国防科技大学 | Search and rescue resource scheme generation method based on search theory and related equipment |
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| FR3005227A1 (en) * | 2013-04-26 | 2014-10-31 | Thales Sa | METHOD FOR AIDING THE SEARCH FOR AN ASSOCIATED ELEMENT, DEVICE AND VEHICLE |
| DE102014002804A1 (en) * | 2014-02-26 | 2015-08-27 | Manfred Woschko | Waste disposal drone |
| CN104299365A (en) * | 2014-08-06 | 2015-01-21 | 江苏恒创软件有限公司 | Method for monitoring mountain landslide and debris flow in mountainous areas based on unmanned aerial vehicle |
| CN204846389U (en) * | 2015-06-23 | 2015-12-09 | 深圳飞豹航天航空科技有限公司 | Unmanned aerial vehicle takes photo by plane |
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| CN111967692A (en) * | 2020-09-07 | 2020-11-20 | 中国人民解放军国防科技大学 | Search and rescue resource scheme generation method based on search theory and related equipment |
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Application publication date: 20190719 |
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