CN111731453A - Rescue method and rescue system for life-saving unmanned ship based on carrying unmanned aerial vehicle - Google Patents
Rescue method and rescue system for life-saving unmanned ship based on carrying unmanned aerial vehicle Download PDFInfo
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- CN111731453A CN111731453A CN202010651977.5A CN202010651977A CN111731453A CN 111731453 A CN111731453 A CN 111731453A CN 202010651977 A CN202010651977 A CN 202010651977A CN 111731453 A CN111731453 A CN 111731453A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- 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
Abstract
The invention relates to a rescue method and a rescue system based on a lifesaving unmanned ship carrying an unmanned aerial vehicle. The invention relates to a rescue method at sea based on a lifesaving unmanned ship capable of carrying an unmanned aerial vehicle, which comprises the following steps: the method comprises the following steps that a lifesaving unmanned ship obtains coordinates of a target sea area and navigates to the target sea area; after the unmanned ship sails to a target sea area, the unmanned ship stops sailing, and sends a search and rescue instruction and target sea area coordinates to the unmanned plane parked on the unmanned plane lifting platform of the unmanned ship; the unmanned aerial vehicle rises to the sky above the target sea area according to the search and rescue instruction and shoots on the sea surface in the target sea area; the unmanned aerial vehicle identifies a rescue target from the shot sea surface image, flies above the rescue target and sends the coordinate position of the rescue target to the lifesaving unmanned ship; and the rescue unmanned ship runs to the coordinate position of the rescue target to complete rescue. The method reduces the time and difficulty for searching the target in the rescue process of the unmanned ship.
Description
Technical Field
The invention relates to the technical field of water rescue, in particular to a maritime rescue method and a maritime rescue system of a lifesaving unmanned ship based on a carrying unmanned aerial vehicle.
Background
Rescue at sea refers to work such as search, rescue and the like made aiming at accidents at sea and the like, and compared with rescue at land, rescue at sea has more unpredictability, so that the rescue at sea has higher difficulty.
In the traditional marine rescue, rescue targets are searched in manners such as manual ship driving or helicopter rescue, a large amount of manpower and material resources are consumed, the efficiency is low, in some scenes, an unmanned lifeboat is adopted for marine rescue, but the traditional unmanned lifeboat has low target searching efficiency in the rescue process of a large water area, the visual field is small, and the visual field is easily influenced by sea conditions.
Rescue unmanned aerial vehicle at sea has small and exquisite cheap advantage, but unmanned aerial vehicle is at rescue at sea's in-process, receives the flight distance restriction easily, and the load restriction makes carried on food, fresh water and medical equipment limited, and receives the environmental impact easily at the flight in-process.
Disclosure of Invention
Based on the above, the invention aims to provide a rescue method and a rescue system for a lifesaving unmanned ship carrying an unmanned aerial vehicle, so that the time and difficulty for searching a target in the rescue process of the unmanned ship are reduced.
In a first aspect, an embodiment of the present application provides a rescue method at sea for a lifesaving unmanned ship based on a carrying unmanned aerial vehicle, including the following steps:
the method comprises the following steps that a lifesaving unmanned ship obtains coordinates of a target sea area and navigates to the target sea area;
after the unmanned ship sails to a target sea area, the unmanned ship stops sailing, and sends a search and rescue instruction and target sea area coordinates to the unmanned plane parked on the unmanned plane lifting platform of the unmanned ship;
the unmanned aerial vehicle rises to the sky above the target sea area according to the search and rescue instruction and shoots on the sea surface in the target sea area;
the unmanned aerial vehicle carries out target identification on the shot sea surface image and identifies a rescue target;
the unmanned aerial vehicle flies above the rescue target and sends the coordinate position of the rescue target to the rescue unmanned ship;
and the rescue unmanned ship runs to the coordinate position of the rescue target to complete rescue.
Optionally, the unmanned aerial vehicle performs target identification on the shot sea surface image to identify a rescue target, and specifically includes the following steps:
and the unmanned aerial vehicle identifies the target of the shot sea surface image through an image target detection algorithm to identify the rescue target.
Optionally, the unmanned aerial vehicle flies above the rescue target, and specifically includes the following steps:
calculating the distance between the unmanned aerial vehicle and the rescue target through a binocular ranging algorithm;
according to the distance, calculating the relative coordinate position of the rescue target relative to the unmanned aerial vehicle;
and the unmanned aerial vehicle flies to the space above the rescue target according to the relative coordinate position.
Optionally, after the unmanned aerial vehicle flies above the rescue target, the method further includes the following steps:
when the rescue target moves, the unmanned aerial vehicle tracks the movement of the rescue target in real time, updates the coordinate position of the rescue target and sends the updated coordinate position of the rescue target to the unmanned rescue vessel.
Optionally, after the unmanned aerial vehicle flies above the rescue target, the method further includes the following steps:
acquiring real-time sea conditions from the shot pictures, and sending the sea conditions to the lifeboat;
and the life-saving unmanned ship plans a route in real time according to the sea condition and drives to the coordinate position of the rescue target.
In a second aspect, the present application provides a rescue system at sea based on a lifesaving unmanned ship carrying an unmanned aerial vehicle, the system includes:
the lifesaving unmanned ship is internally provided with an unmanned aerial vehicle lifting platform for parking the unmanned aerial vehicle, and the lifesaving unmanned ship is also internally provided with an intelligent control console;
the intelligent control console is used for acquiring the coordinates of a target sea area and driving the life-saving unmanned ship to sail to the target sea area;
after the unmanned aerial vehicle navigates to a target sea area, the intelligent control console is used for driving the lifesaving unmanned ship to stop navigating and sending a search and rescue instruction and a target sea area coordinate to the unmanned aerial vehicle;
the unmanned aerial vehicle is used for ascending to the sky above the target sea area according to the search and rescue instruction, shooting the sea surface in the target sea area, carrying out target identification on the shot sea surface image and identifying a rescue target; the unmanned aerial vehicle flies above the rescue target and sends the coordinate position of the rescue target to the intelligent control console;
the intelligent control console is used for driving the lifesaving unmanned ship to run to the coordinate position of the rescue target, and rescue is completed.
Optionally, an openmv module is further mounted in the unmanned aerial vehicle, and the openmv module performs target identification on the shot sea surface image through an image target detection algorithm to identify a rescue target.
Optionally, a distance measuring module is further arranged in the unmanned aerial vehicle, and the distance measuring module is used for calculating the distance between the unmanned aerial vehicle and the rescue target through a binocular distance measuring algorithm; the unmanned aerial vehicle calculates the relative coordinate position of the rescue target relative to the unmanned aerial vehicle according to the distance; and flying to the space above the rescue target according to the relative coordinate position.
Optionally, the unmanned aerial vehicle is further configured to track movement of the rescue target in real time when the rescue target moves, update the coordinate position of the rescue target, and send the updated coordinate position of the rescue target to the unmanned rescue vessel.
Optionally, the unmanned aerial vehicle is further configured to obtain a real-time sea state from the captured picture, and send the sea state to the lifeboat;
the life-saving unmanned ship is also used for planning a route in real time according to the sea condition and driving to the coordinate position of the rescue target.
In this application embodiment, carry on unmanned aerial vehicle and unmanned aerial vehicle collaborative work through the lifesaving unmanned ship, reduced unmanned ship's the rescue in-process and search the time and the degree of difficulty of target, transport rescue goods and materials through unmanned ship collaborative work, solved rescue goods and materials delivery volume less of rescue unmanned aerial vehicle at sea, the limited shortcoming of journey, can reduce the human cost and improve rescue efficiency.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a flow chart of a rescue method at sea based on a lifesaving unmanned ship carrying an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a flowchart illustrating steps of flying an unmanned aerial vehicle over a rescue target according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating the steps of an unmanned ship navigating to a coordinate position of a rescue target according to sea conditions in one embodiment of the present application;
fig. 4 is a schematic structural diagram of a rescue system at sea based on a lifesaving unmanned ship carrying an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the specification, as detailed in the appended claims.
The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
The following provides a detailed description of examples of the present specification.
Aiming at the technical problems that in the prior art, the traditional unmanned lifeboat has low target searching efficiency in the rescue process of a large water area, the visual field is small, and the visual field is easily influenced by sea conditions, the unmanned lifeboat is easily limited by the flight distance and the load in the rescue process of the sea, so that the carried food, fresh water and medical equipment are limited, and the unmanned lifeboat is easily influenced by the environment in the flight process, the embodiment of the application provides a rescue method of the sea based on the unmanned lifeboat carrying the unmanned lifeboat.
As shown in fig. 1, in one embodiment, the rescue method at sea based on a unmanned aerial vehicle-mountable lifesaving unmanned ship comprises the following steps:
step S11: the life-saving unmanned ship obtains the coordinates of the target sea area and navigates to the target sea area.
The target sea area is a sea area range which is preset according to the position of the rescue target, and the sea area range can be a sea area range which is circled according to the position of the rescue target which is known in advance.
Step S12: after the unmanned ship sails to the target sea area, the unmanned ship stops sailing, and sends a search and rescue instruction and the target sea area coordinates to the unmanned plane parked on the unmanned ship unmanned plane lifting platform.
The lifesaving unmanned ship can stop navigating when navigating to the boundary of the target sea area, or can stop navigating after navigating to the central position of the target sea area.
After the lifesaving unmanned ship stops sailing, an instruction is sent to the unmanned aerial vehicle parked on the unmanned aerial vehicle lifting platform of the lifesaving unmanned ship, so that the unmanned aerial vehicle searches for a rescue target in the target sea area.
Step S13: and the unmanned aerial vehicle rises to the sky above the target sea area according to the search and rescue instruction and shoots on the sea surface in the target sea area.
Step S14: and the unmanned aerial vehicle identifies the target of the shot sea surface image and identifies the rescue target.
The unmanned aerial vehicle is provided with a shooting device and a recognition device and is used for shooting the sea surface in a target sea area and recognizing the target of the shot image so as to recognize the rescue target.
The image target detection algorithm may be a conventional method or a deep learning method, such as a cascade classifier framework or a FasterR-CNN network, etc.
Specifically, in one embodiment, the unmanned aerial vehicle may use an openmv machine vision module to perform image recognition on the captured sea surface image to identify the rescue target.
Step S15: the unmanned aerial vehicle flies to the position above the rescue target and sends the coordinate position of the rescue target to the rescue unmanned ship.
As shown in fig. 2, in an embodiment, the flying of the unmanned aerial vehicle above the rescue target specifically includes the following steps:
step S21: calculating the distance between the unmanned aerial vehicle and the rescue target through a binocular ranging algorithm;
step S22: according to the distance, calculating the relative coordinate position of the rescue target relative to the unmanned aerial vehicle;
step S23: and the unmanned aerial vehicle flies to the space above the rescue target according to the relative coordinate position.
Since the rescued target can change its position on the sea surface in real time due to the influence of sea wind or sea waves on the sea, when the rescue unmanned ship cannot immediately catch up to the current target position of the rescue target, the unmanned aerial vehicle needs to track the movement of the rescue target, and therefore, in another embodiment, after the unmanned aerial vehicle flies above the rescue target, the method further comprises the following steps:
when the rescue target moves, the unmanned aerial vehicle tracks the movement of the rescue target in real time, updates the coordinate position of the rescue target and sends the updated coordinate position of the rescue target to the unmanned rescue vessel.
Step S16: and the rescue unmanned ship runs to the coordinate position of the rescue target to complete rescue.
When the unmanned aerial vehicle updates the coordinate position of the rescue target, the lifesaving unmanned ship runs to the updated coordinate position of the rescue target, and rescue is completed.
Specifically, the lifesaving unmanned ship plans a route going to the coordinate position of the rescue target according to the current coordinate position of the lifesaving unmanned ship and the coordinate position of the rescue target, and drives to the coordinate position of the rescue target according to the planned route.
In an embodiment, as shown in fig. 3, after the unmanned aerial vehicle flies above the rescue target, the method further includes the following steps:
step S31: acquiring real-time sea conditions from the shot pictures, and sending the sea conditions to the lifeboat;
step S32: and the life-saving unmanned ship plans a route in real time according to the sea condition and drives to the coordinate position of the rescue target.
Sea conditions mainly refer to the following two cases:
under the action of wind power, the sea condition is divided into 10 grades according to the sea surface condition in the visual field, the shape and the rupture degree of wave crests, the occurrence amount of spoondrift foams and the like; the second is the physical, chemical and biological properties of the sea area and their variation conditions, including the distribution of temperature, salinity and density, the distribution of water mass and ocean circulation, etc.
Sea conditions have a great influence on safe navigation of ships, patrol detection of airplanes and use of ship-borne weapons.
In this application embodiment, sea state mainly refers to sea level situation such as sea surface situation in the field of vision, the shape of crest and the degree of rupture and how much spoondrift foam appears, perhaps sea level has island reef, debris etc. the unmanned aerial vehicle can be according to the image of shooing, through image recognition algorithm, discerns island reef, debris or higher wave to through aforementioned binocular range finding algorithm and coordinate calculation method, calculate the coordinate position of this island reef, debris or higher wave, and send this coordinate position for the unmanned ship of lifesaving, so that unmanned ship of lifesaving when planning the course, avoids the sea state that influences ship navigation such as this island reef, debris or higher wave.
In some embodiments, the analysis of the sea state may be performed by an intelligent console provided in the lifeboat.
The unmanned rescue boat can recover the unmanned aerial vehicle after arriving at a rescue place according to the position sent by the unmanned aerial vehicle in real time, a rescue target can board the boat to obtain rescue goods, and the unmanned rescue boat can return to the air to complete rescue.
In the rescue method at sea of the unmanned rescue boat based on unmanned aerial vehicle carrying, unmanned aerial vehicle carrying and unmanned aerial vehicle cooperative work are adopted by the unmanned rescue boat, time and difficulty of target searching in the rescue process of the unmanned aerial vehicle are reduced, rescue goods and materials are transported through unmanned aerial vehicle cooperative work, the defects that rescue goods and materials of the unmanned rescue boat are less in delivery amount and limited in range are overcome, labor cost can be reduced, and rescue efficiency can be improved.
Fig. 4 is a structural schematic diagram of a marine rescue system based on unmanned aerial vehicle's lifesaving unmanned ship carries on that this application embodiment provides, as shown in fig. 4, marine rescue system based on unmanned aerial vehicle's lifesaving unmanned ship can carry on including lifesaving unmanned ship and unmanned aerial vehicle, be equipped with in the lifesaving unmanned ship and park unmanned aerial vehicle lift platform of unmanned aerial vehicle, still be equipped with intelligent control platform, rescue goods and materials storage box and cabin seat in the lifesaving unmanned ship, common marine rescue goods and materials, such as fresh water and food are saved to the goods and materials storage box.
The intelligent control console is used for acquiring the coordinates of a target sea area and driving the life-saving unmanned ship to sail to the target sea area;
after the unmanned aerial vehicle navigates to a target sea area, the intelligent control console is used for driving the lifesaving unmanned ship to stop navigating and sending a search and rescue instruction and a target sea area coordinate to the unmanned aerial vehicle;
the unmanned aerial vehicle is used for ascending to the sky above the target sea area according to the search and rescue instruction, shooting the sea surface in the target sea area, carrying out target identification on the shot sea surface image and identifying a rescue target; the unmanned aerial vehicle flies above the rescue target and sends the coordinate position of the rescue target to the intelligent control console;
the intelligent control console is used for driving the lifesaving unmanned ship to run to the coordinate position of the rescue target, and rescue is completed.
In one embodiment, an openmv module is further mounted in the unmanned aerial vehicle, and the openmv module performs target recognition on the shot sea surface image through an image target detection algorithm to recognize a rescue target.
In one embodiment, a distance measuring module is further arranged in the unmanned aerial vehicle and used for calculating the distance between the unmanned aerial vehicle and the rescue target through a binocular distance measuring algorithm; the unmanned aerial vehicle calculates the relative coordinate position of the rescue target relative to the unmanned aerial vehicle according to the distance; and flying to the space above the rescue target according to the relative coordinate position.
In one embodiment, the unmanned aerial vehicle is further configured to track the movement of the rescue target in real time, update the coordinate position of the rescue target, and send the updated coordinate position of the rescue target to the unmanned rescue vessel when the rescue target moves.
In one embodiment, the unmanned aerial vehicle is further configured to obtain real-time sea conditions from the captured images and send the sea conditions to the lifeboat;
the life-saving unmanned ship is also used for planning a route in real time according to the sea condition and driving to the coordinate position of the rescue target.
In the rescue at sea system of a lifesaving unmanned aerial vehicle based on carry on unmanned aerial vehicle of this application embodiment, carry on unmanned aerial vehicle and unmanned aerial vehicle collaborative work through the lifesaving unmanned vehicle, the time and the degree of difficulty of searching the target in the rescue process of unmanned ship have been reduced, transport rescue goods and materials through unmanned ship collaborative work, it is less to have solved rescue goods and materials delivery volume of rescue at sea rescue unmanned aerial vehicle, the limited shortcoming of journey, can reduce the human cost and improve rescue efficiency.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A rescue method at sea of a lifesaving unmanned ship based on carrying an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps that a lifesaving unmanned ship obtains coordinates of a target sea area and navigates to the target sea area;
after the unmanned ship sails to a target sea area, the unmanned ship stops sailing, and sends a search and rescue instruction and target sea area coordinates to the unmanned plane parked on the unmanned plane lifting platform of the unmanned ship;
the unmanned aerial vehicle rises to the sky above the target sea area according to the search and rescue instruction and shoots on the sea surface in the target sea area;
the unmanned aerial vehicle carries out target identification on the shot sea surface image and identifies a rescue target;
the unmanned aerial vehicle flies above the rescue target and sends the coordinate position of the rescue target to the rescue unmanned ship;
and the rescue unmanned ship runs to the coordinate position of the rescue target to complete rescue.
2. The rescue method at sea based on the unmanned rescue vehicle carrying the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle performs target recognition on the captured sea surface image to recognize the rescue target, and the method specifically comprises the following steps:
and the unmanned aerial vehicle identifies the target of the shot sea surface image through an image target detection algorithm to identify the rescue target.
3. The rescue method at sea based on the unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 1, wherein the unmanned aerial vehicle flies above the rescue target, and the method comprises the following steps:
calculating the distance between the unmanned aerial vehicle and the rescue target through a binocular ranging algorithm;
according to the distance, calculating the relative coordinate position of the rescue target relative to the unmanned aerial vehicle;
and the unmanned aerial vehicle flies to the space above the rescue target according to the relative coordinate position.
4. The rescue method at sea based on unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 1, wherein after the unmanned aerial vehicle flies above the rescue target, the method further comprises the following steps:
when the rescue target moves, the unmanned aerial vehicle tracks the movement of the rescue target in real time, updates the coordinate position of the rescue target and sends the updated coordinate position of the rescue target to the unmanned rescue vessel.
5. The rescue method at sea based on unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 1, wherein after the unmanned aerial vehicle flies above the rescue target, the method further comprises the following steps:
acquiring real-time sea conditions from the shot pictures, and sending the sea conditions to the lifeboat;
and the life-saving unmanned ship plans a route in real time according to the sea condition and drives to the coordinate position of the rescue target.
6. The utility model provides a rescue at sea system of unmanned ship of lifesaving based on carry on unmanned aerial vehicle which characterized in that:
the lifesaving unmanned ship comprises a lifesaving unmanned ship and an unmanned aerial vehicle, wherein an unmanned aerial vehicle lifting platform for parking the unmanned aerial vehicle is arranged in the lifesaving unmanned ship, and an intelligent control platform is also arranged in the lifesaving unmanned ship;
the intelligent control console is used for acquiring the coordinates of a target sea area and driving the life-saving unmanned ship to sail to the target sea area;
after the unmanned aerial vehicle navigates to a target sea area, the intelligent control console is used for driving the lifesaving unmanned ship to stop navigating and sending a search and rescue instruction and a target sea area coordinate to the unmanned aerial vehicle;
the unmanned aerial vehicle is used for ascending to the sky above the target sea area according to the search and rescue instruction, shooting the sea surface in the target sea area, carrying out target identification on the shot sea surface image and identifying a rescue target; the unmanned aerial vehicle flies above the rescue target and sends the coordinate position of the rescue target to the intelligent control console;
the intelligent control console is used for driving the lifesaving unmanned ship to run to the coordinate position of the rescue target, and rescue is completed.
7. A rescue system at sea based on unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 6, characterized in that:
and an openmv module is also mounted in the unmanned aerial vehicle and used for carrying out target identification on the shot sea surface image through an image target detection algorithm so as to identify a rescue target.
8. A rescue system at sea based on unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 6, characterized in that:
a distance measuring module is further arranged in the unmanned aerial vehicle and used for calculating the distance between the unmanned aerial vehicle and the rescue target through a binocular distance measuring algorithm; the unmanned aerial vehicle calculates the relative coordinate position of the rescue target relative to the unmanned aerial vehicle according to the distance; and flying to the space above the rescue target according to the relative coordinate position.
9. A rescue system at sea based on unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 6, characterized in that:
the unmanned aerial vehicle is also used for tracking the movement of the rescue target in real time when the rescue target moves, updating the coordinate position of the rescue target and sending the updated coordinate position of the rescue target to the unmanned rescue vessel.
10. A rescue system at sea based on unmanned aerial vehicle-mounted lifesaving unmanned ship as claimed in claim 6, characterized in that:
the unmanned aerial vehicle is also used for acquiring real-time sea conditions from the shot pictures and sending the sea conditions to the lifesaving unmanned ship;
the life-saving unmanned ship is also used for planning a route in real time according to the sea condition and driving to the coordinate position of the rescue target.
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| CN112947587A (en) * | 2021-01-28 | 2021-06-11 | 南通大学 | Intelligent unmanned ship search and rescue system and method |
| CN113291440A (en) * | 2021-06-04 | 2021-08-24 | 大连海事大学 | Water surface rescue method and device for unmanned ship capable of flying |
| CN113342019A (en) * | 2021-06-07 | 2021-09-03 | 海口鑫晟科技有限公司 | Maritime search and rescue method, system, equipment and medium based on unmanned aerial vehicle |
| CN113353211A (en) * | 2021-06-07 | 2021-09-07 | 海口鑫晟科技有限公司 | Maritime search and rescue positioning method, system, equipment and storage medium based on unmanned aerial vehicle |
| WO2022139750A1 (en) * | 2020-12-24 | 2022-06-30 | Cankaya Universitesi | Unmanned life-saving surface vehicle that can be remotely controlled |
| CN114706427A (en) * | 2022-06-02 | 2022-07-05 | 武汉理工大学 | Sea-air stereoscopic collaborative searching system and control method thereof |
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| CN115158606A (en) * | 2022-06-30 | 2022-10-11 | 珠海云洲智能科技股份有限公司 | Water surface lifesaving method, system and medium |
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