CN111976920A - Personnel search and rescue method, search and rescue boat and personnel search and rescue system - Google Patents
Personnel search and rescue method, search and rescue boat and personnel search and rescue system Download PDFInfo
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- CN111976920A CN111976920A CN202010728191.9A CN202010728191A CN111976920A CN 111976920 A CN111976920 A CN 111976920A CN 202010728191 A CN202010728191 A CN 202010728191A CN 111976920 A CN111976920 A CN 111976920A
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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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The embodiment of the application is suitable for the technical field of personnel search and rescue, and provides a personnel search and rescue method, a search and rescue boat and a personnel search and rescue system, wherein the system comprises an emergency search and rescue command center, a boat command control base station and a search and rescue boat; the emergency search and rescue command center calculates the probability of the personnel falling into the water drifting to reach each area according to the meteorological information and a preset drifting model and determines the search and rescue area aiming at the personnel falling into the water according to the probability; the ship command control base station plans search and rescue information according to the search and rescue area and sends the search and rescue information to the search and rescue ships, wherein the search and rescue information comprises search and rescue paths corresponding to the search and rescue area; the search and rescue boat navigates according to the search and rescue path, and controls the shipborne detection equipment to detect the search and rescue area in the process of navigating, so that a corresponding detection result is obtained, and search and rescue prompt information is generated according to the detection result so as to prompt search and rescue personnel to search and rescue the personnel falling into the water. By adopting the system, the search and rescue difficulty of personnel falling into water can be reduced, and the search and rescue efficiency can be improved.
Description
Technical Field
The application belongs to the technical field of personnel search and rescue, and particularly relates to a personnel search and rescue method, a search and rescue boat and a personnel search and rescue system.
Background
A large number of people fall into water accidents occur every year, and particularly in summer, the probability of the water falling accidents is further increased by a large number of water activities.
Generally, after people fall into water, the people falling into water can be quickly impacted and floated away from the original falling into water place under the influence of water flow, wind flow and the like, and great difficulty is caused for search and rescue. Under severe weather conditions such as heavy rain, heavy fog and heavy wave, the visibility is extremely low, the hydrodynamic environment is complex, people falling into the water are searched manually, and people falling into the water are extremely difficult to find in a short time.
Disclosure of Invention
In view of this, the embodiment of the present application provides a personnel search and rescue method, a search and rescue boat and a personnel search and rescue system, so as to reduce the search and rescue difficulty of personnel falling into water and improve the search and rescue efficiency.
A first aspect of an embodiment of the present application provides a method for searching and rescuing people, which is applied to searching and rescuing boats, and includes:
receiving search and rescue information sent by a boat command control base station, wherein the search and rescue information comprises search and rescue paths corresponding to search and rescue areas, and the information of the search and rescue areas is calculated by an emergency search and rescue command center according to a preset drift model and is sent to the boat command control base station;
controlling a search and rescue boat to sail according to the search and rescue path, and controlling shipborne detection equipment to detect the search and rescue area in the sailing process to obtain a corresponding detection result;
and generating search and rescue prompt information according to the detection result, wherein the search and rescue prompt information is used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
A second aspect of the embodiments of the present application provides a search and rescue boat, including:
the information transmission device is used for receiving search and rescue information sent by the boat command control base station, the search and rescue information comprises search and rescue paths corresponding to search and rescue areas, and the information of the search and rescue areas is calculated by an emergency search and rescue command center according to a preset drift model and is sent to the boat command control base station;
the ship-mounted controller is used for controlling the search and rescue ship to navigate according to the search and rescue path;
and the shipborne detection equipment is used for detecting the search and rescue area in the navigation process to obtain a corresponding detection result, and generating search and rescue prompt information according to the detection result, wherein the search and rescue prompt information is used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
A third aspect of the embodiment of the application provides a personnel search and rescue system, which comprises an emergency search and rescue command center, a boat command control base station and a search and rescue boat, wherein the search and rescue boat is loaded with shipborne detection equipment;
the emergency search and rescue command center calculates the probability of the personnel falling into the water drifting to each area according to the meteorological information and a preset drifting model and determines the search and rescue area aiming at the personnel falling into the water according to the probability;
the ship command control base station plans search and rescue information according to the search and rescue area, and sends the search and rescue information to a search and rescue ship, wherein the search and rescue information comprises a search and rescue path corresponding to the search and rescue area;
the search and rescue boat navigates according to the search and rescue path, and controls the shipborne detection equipment to detect the search and rescue area in the navigation process to obtain a corresponding detection result, and search and rescue prompt information is generated according to the detection result and used for prompting search and rescue personnel to search and rescue the personnel falling into water.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the embodiment of the application, the automatic search and rescue of personnel falling into water can be realized through the cooperation of the emergency search and rescue command center, the boat command control base station and the search and rescue boat. The system can be used for powerful supplement of the existing search and rescue operation, especially under severe conditions such as rain fog, strong wind, big waves and shoals, the autonomous navigation capability of the unmanned boat and the automatic identification capability of personnel falling into water can be fully utilized by the system, the investigation of personnel falling into water in the search and rescue area can be automatically and efficiently completed, the search and rescue personnel can not need to take the risk to go to the site for direct search and rescue, the search and rescue efficiency is improved, and the safety of the search and rescue personnel in the search and rescue process is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic view of a person search and rescue system provided in an embodiment of the present application;
FIG. 2 is a schematic view of another search and rescue system for people according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a first search and rescue path provided in the embodiment of the present application;
FIG. 4 is a schematic diagram of a second search and rescue path provided in the present embodiment;
FIG. 5 is a simplified schematic diagram of a human-computer interface provided by an embodiment of the present application;
fig. 6 is a schematic diagram of a search and rescue path obtained based on chart planning according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a search and rescue boat provided in an embodiment of the present application;
fig. 8 is a flowchart illustrating steps of a person search and rescue method according to an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The technical solution of the present application will be described below by way of specific examples.
Referring to fig. 1, a schematic diagram of a personnel search and rescue system provided by an embodiment of the present application is shown, and the system includes an emergency search and rescue command center, a boat command and control base station, and a search and rescue boat. The search and rescue boat is provided with shipborne detection equipment and used for detecting a search and rescue area so as to search and rescue targets such as people falling into water.
In the embodiment of the application, the emergency search and rescue command center can calculate the probability of the personnel falling into the water drifting to each area according to the meteorological information and the preset drift model and determine the search and rescue area aiming at the personnel falling into the water according to the probability. The ship command control base station can plan search and rescue information according to a search and rescue area determined by the emergency search and rescue command center, and sends the search and rescue information to the search and rescue ships, wherein the search and rescue information can comprise search and rescue paths corresponding to the search and rescue area. Then, the search and rescue boat can sail according to the received search and rescue path, and controls the shipborne detection equipment to detect the current search and rescue area in the sailing process to obtain a corresponding detection result, and search and rescue prompt information is generated according to the detection result and used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
The following describes each constituent unit of the system.
In the embodiment of the application, the emergency search and rescue command center can be a maker of search and rescue schemes and a director of search and rescue processes. After the emergency search and rescue command center receives alarm information aiming at people falling into water, a corresponding search and rescue scheme is formulated according to the regional position, the weather condition and the like of the people falling into water.
When a search and rescue scheme is formulated, the emergency search and rescue command center firstly needs to determine a search and rescue reference and calculate the probability of each area which the person falling into the water may reach along with the drift of the water flow.
The search and rescue reference is a basis for determining specific geographic coordinates of a search and rescue area, and is also an important decision factor for determining whether the whole search and rescue operation is successful. Generally, the search and rescue reference includes three types, i.e., a reference point, a reference line, and a reference plane.
Take the search and rescue for the personnel on the ship in danger on the sea surface as an example. The three search and rescue references can be obtained by calculation according to the last known position of the ship in distress, the speed and the direction of sea surface wind current and sea current, and the acting force and the drift time acting on the floater.
The reference point is a position point corresponding to the maximum probability that the search and rescue target is located at a certain position according to the object drift calculation. The datum line is obtained by connecting lines after calculation under the condition that the search and rescue target possibly exists at two points or more. Under the condition that the initial position of the search and rescue target in danger is of a line type, the obtained search and rescue reference is also a reference line, and the probabilities that the search and rescue target is located at different positions on the reference line are equal. The datum plane is a region with equal probability that the search and rescue target is located at a certain point in the region, and when the datum plane and the datum line cannot be determined, the datum plane can be used as a reference for determining the search and rescue region.
Calculating the probability of each region that a person falling into water may arrive along with the drift of the water flow may be calculating the probability density distribution situation that the person falling into water may drift to each region after falling into water.
If the search and rescue reference is the reference point, the reference point is the most likely position point where the search and rescue target such as the person falling into the water is located, and the probability that the person falling into the water drifts to the position point is the largest, so that the standard normal probability distribution can be formed by taking the point as the center.
If the last known position of the search and rescue target such as the drowning person is a certain point on the airway, the most probable position of the drowning person obtained through the drift calculation is a line, namely a reference line. When the probability distribution of the region where the person falling into the water drifts to arrive is calculated according to the reference line, the banded standard normal probability distribution taking the reference line as the center can be obtained. If the man in the water is working in a certain sea area when in danger, uniform distribution or generalized distribution can be used when determining the search and rescue area.
In general, the calculation of the above parameters is performed mainly based on the experience of the worker. In the embodiment of the application, a calculation algorithm of the search and rescue key information amount can be automatically generated based on an artificial intelligence algorithm by using search and rescue experience of a large number of workers. After the emergency search and rescue command center receives the weather information of the corresponding area, the search and rescue reference and the maximum probability area of drifting arrival of the person falling into water under the influence of the external environment can be automatically calculated according to the environmental dynamic conditions such as water flow, wind, waves and the like when the person falls into water.
On the basis of fig. 1, refer to fig. 2, which is a schematic diagram of another personnel search and rescue system provided in the embodiment of the present application, and the system may further include a weather information platform. The emergency search and rescue command center can be communicated with the meteorological information platform, and the meteorological information platform transmits the meteorological information of the corresponding area to the emergency search and rescue command center.
After the search and rescue reference is calculated and the search and rescue area is determined, the emergency search and rescue command center can transmit the information to the ship command control base station.
In the embodiment of the application, what the boat commanding and controlling base station needs to realize is planning of the search and rescue path and monitoring and forwarding of relevant information aiming at the search and rescue boat. Therefore, after receiving the information of the search and rescue area transmitted by the emergency search and rescue command center, the boat command control base station can plan the search and rescue information including the search and rescue path corresponding to the search and rescue area. After the ship command control base station sends the search and rescue information to the search and rescue ships, the search and rescue ships can sail to the search and rescue area and search and rescue according to the planned search and rescue path.
In the embodiment of the application, for different search and rescue areas, the search and rescue paths planned by the boat command and control base station may be different. For example, a first search and rescue path or a second search and rescue path may be planned for different search and rescue areas.
In a specific implementation, the first search and rescue path may be composed of a plurality of diameters that respectively include the search and rescue reference point as a circle center, and the search and rescue reference point may be a reference point determined by the emergency search and rescue command center.
Fig. 3 is a schematic view of a first search and rescue path provided in the embodiment of the present application. The first search and rescue path shown in fig. 3 may be referred to as a fan-shaped search and rescue path. In the mode corresponding to the fan-shaped search and rescue path in fig. 3, 13 points are planned in total to realize a fan-shaped search and rescue area of 360 degrees. The sequence numbers of the respective planning points represent the sailing routes of the search and rescue boat, for example, 1 → 2 → 3 → 4 → 5, and finally end at the 13 th point of the fan-shaped center position. The size of the sector radius can be specifically determined according to the actual size of the search and rescue area. After the sector radius is determined, the total length of the search and rescue path for navigation of the search and rescue boat can be automatically calculated, so that the time required by search and rescue can be evaluated by workers.
Generally, the fan-shaped search and rescue is suitable for the situation that the position of a search and rescue target is accurate or a search and rescue area is relatively small, and when the search and rescue force can quickly reach the search and rescue area. When the search and rescue area is a circular area determined by taking the reference point as the center of a circle and the search and rescue radius as the radius, the area near the reference point is an area with high probability of drifting arrival of people falling into water, and the search and rescue intensity of the area can be enhanced by using a fan-shaped search and rescue mode.
In a specific implementation, specific parameters of the sector search and rescue can be specifically set according to different environments and search and rescue equipment in executing search and rescue tasks. Generally, when the equipment for executing the search and rescue task is a search and rescue ship, the search and rescue radius can be set between 2 nautical miles and 5 nautical miles; when the equipment for executing the search and rescue task is a search and rescue aircraft, the search and rescue radius can be set between 5 nautical miles and 20 nautical miles. When the search and rescue action starts, the smoke buoy or the radio buoy can be put in the datum point to serve as a reference object, so that the datum point can be timely and accurately adjusted according to the wind pressure difference and the movement of ocean current. After one search and rescue action is completed, search and rescue targets such as people falling into water are not found, the search and rescue path can be rotated anticlockwise by a certain angle, such as 30 degrees, and then search and rescue are continuously carried out according to the path.
In the embodiment of the present application, the second search and rescue path may be composed of a plurality of continuous paths around the search and rescue reference point as a center.
Fig. 4 is a schematic view of a second search and rescue path provided in the embodiment of the present application. The second search and rescue path shown in fig. 4 may be referred to as an extended square search and rescue path, which is more intuitive and clear. In the mode of the square search and rescue path in fig. 4, the search and rescue boat can start from the center of the clip frame (i.e., the search and rescue area), and expand the search and rescue in a form of continuously diffusing all around according to the path corresponding to the clip frame.
In a specific implementation, the density of the search and rescue path of the frame can be determined according to the field range of the photoelectric field carried by the search and rescue boat. For example, the field angle of the photoelectric sensor is 60 degrees, the detection distance is about 1000 meters, and the width of the cross-web of the photoelectric field area is about 1154 meters. At this moment, the distance between the search and rescue paths in the clip frame can be set below 1154 meters, so that a blank area of the search and rescue boat can be avoided in the search and rescue process. .
In general, the expanded square search and rescue path can be suitable for the situation that the search and rescue force can quickly reach the distress area. In the search and rescue mode, the search and rescue are carried out by taking the reference position as a starting point, and if the reference position is the type of the reference point, the search and rescue path is a concentric square; if the reference position is a reference line, the search and rescue path may be an extended rectangle. Generally, the length of the first two navigation paths of the expanded square search and rescue path is equal to the saccade width, and the distance of one saccade width is increased for each two subsequent navigation paths, so that the distance between the navigation paths in the search and rescue mode can be ensured to be the saccade width. For a search and rescue area, if a second search and rescue is needed after a first search and rescue, the search and rescue path can be rotated by a certain angle, such as 45 degrees, and then the search and rescue is continued.
The square search and rescue mode needs to be expanded, the search and rescue equipment can navigate accurately, the first search and rescue path is selected to be in the upwind direction under the general condition, and the navigation error is reduced as much as possible. Under the condition that the wind pressure difference is negligible relative to the total flow pressure difference, the search and rescue equipment can select a search and rescue ship or a boat. When the search target is a person falling into the water or other targets, a better effect can be obtained by using an expanded square search and rescue mode. In this case, the search and rescue boat needs to automatically compensate for the influence of the ocean current by using a method of setting a reference position reference object similar to the fan-shaped search and rescue, and this embodiment is not limited thereto.
Of course, in addition to the first search and rescue path and the second search and rescue path described above, search and rescue paths in other manners, such as a third search and rescue path similar to a triangular search and rescue manner or a fourth search and rescue path similar to a circular search and rescue manner, may be planned according to actual needs, which is not limited in this embodiment.
In the embodiment of the application, the man-machine interaction interface of the ship command and control base station can provide the configuration function of information such as search and rescue paths. The man-machine interaction interface accords with search and rescue criteria under the international maritime personal life convention system, and is suitable for operations of departments such as professional search and rescue, maritime affairs, sea police, public security, coast police, etc.
Fig. 5 is a simple schematic diagram of a human-computer interaction interface provided in the embodiment of the present application. In fig. 5, the left side of the human-computer interaction interface may display information of various search and rescue paths based on the chart, and the right side may include a corresponding information frame for planning the search and rescue paths for relevant persons, and according to the various search and rescue paths, functions such as selection of search and rescue modes, input of parameters, and the like are implemented.
For example, operations such as adding, modifying (including editing longitude and latitude, moving up and down, reversing), deleting and clearing all routes or waypoints can be performed in the information frame of the man-machine interaction interface.
As shown in fig. 6, the search and rescue path obtained based on chart planning according to the embodiment of the present application is schematically illustrated. In fig. 6, black arrows indicate the direction of the ocean current. And aiming at the determined search and rescue area, the boat command and control base station plans a search and rescue path as shown in fig. 4. The search and rescue boat can sail from a shore base to the central point of a search and rescue area, then sequentially sail through 1-21 navigation points, and detect personnel falling into water in the area in the sailing process.
Fig. 7 is a schematic structural diagram of a search and rescue boat according to an embodiment of the present application, and the search and rescue boat includes an information transmission device, an onboard controller, an onboard detection device, and the like. The information transmission device can be used for receiving search and rescue information sent by the boat command control base station, the search and rescue information comprises search and rescue paths corresponding to search and rescue areas, and the information of the search and rescue areas is calculated by the emergency search and rescue command center according to a preset drift model and is sent to the boat command control base station; the ship-mounted controller can be used for controlling the search and rescue ships to navigate according to the search and rescue paths; the shipborne detection equipment can detect the current search and rescue area in the navigation process to obtain a corresponding detection result, and can generate search and rescue prompt information according to the detection result to prompt search and rescue personnel to search and rescue the personnel falling into water.
In the embodiment of the application, the information transmission device and the ship-mounted controller can realize the real-time information interaction between the shore base and the search and rescue ships, including command stream, instruction information, decision information and the like of the shore ship command control base station for navigation of the search and rescue ships, and also including real-time return of data and videos such as ship-mounted sensors and sensing equipment to the shore base, so that shore-based workers can make command decisions according to the field conditions.
In this embodiment of the application, the onboard detection device may include a heat-carrying infrared vision device, and the device may be used as a main sensor for detection of people falling into water, so as to provide real-time video information for search and rescue of people falling into water. Based on the video information obtained by the detection, the automatic target detection and identification algorithm loaded on the shipborne controller can detect the aquatic target in the water area within the range of the optical television field and check whether the suspected person falling into the water exists. If a suspected target is detected, the shipborne detection equipment can give an early warning and prompt, and after receiving the prompt information, the staff can further command the search and rescue boat to approach the suspected target for checking. If people falling into water are found, people can be arranged to carry out rescue immediately.
The thermal infrared photoelectric sensor senses objects in water based on a thermal imaging principle, and the sensing intensity of a heat source of a human body is obviously higher than that of water flow, floating objects, trees and the like in the surrounding environment due to the high body temperature, so that the effectiveness of acquiring high-contrast images of people falling into water can be improved by using the thermal infrared vision equipment. Based on the video information obtained by detection, a neural network algorithm based on deep learning is utilized, and the accuracy rate of the detection and identification algorithm is continuously optimized for video images of people falling into water collected under different conditions, so that the capability of the shipborne detection equipment for finding the people falling into water can be greatly improved, and convenience is provided for the search and rescue of the people falling into water in the whole process of automation.
In this application embodiment, the boat command control base station can also receive the sensing data that the search and rescue boat gathered in real time to search for and rescue the route according to the sensing data adjustment. The search and rescue boat can sail according to the adjusted search and rescue path, and controls the shipborne detection equipment to detect the current search and rescue area in the sailing process, so that a corresponding detection result is obtained, and search and rescue prompt information is generated according to the detection result so as to prompt search and rescue personnel to search and rescue the personnel falling into water.
In this application embodiment, through the cooperation jointly of urgent search and rescue command center, ship command control basic station and search and rescue ship, can realize the automation search and rescue to the personnel that fall into water. The system can be used for powerful supplement of the existing search and rescue operation, especially under severe conditions such as rain fog, strong wind, big waves and shoals, the autonomous navigation capability of the unmanned boat and the automatic identification capability of personnel falling into water can be fully utilized by the system, the investigation of personnel falling into water in the search and rescue area can be automatically and efficiently completed, the search and rescue personnel can not need to take the risk to go to the site for direct search and rescue, the search and rescue efficiency is improved, and the safety of the search and rescue personnel in the search and rescue process is ensured.
Referring to fig. 8, a schematic flow chart illustrating steps of a person search and rescue method provided in the embodiment of the present application is shown, which may specifically include the following steps:
s801, receiving search and rescue information sent by a boat command control base station, wherein the search and rescue information comprises search and rescue paths corresponding to search and rescue areas, and the information of the search and rescue areas is calculated by an emergency search and rescue command center according to a preset drift model and is sent to the boat command control base station;
it should be noted that the method may be applied to the search and rescue boat in the foregoing system embodiment, and the search and rescue boat may be any ship or naval vessel having various functions described in the foregoing system embodiment. For example, the search and rescue boat may be an unmanned boat or an unmanned boat, which is not limited in this embodiment.
For convenience of understanding, the method is described in the embodiment by taking the search and rescue boat as an unmanned boat as an example.
In the embodiment of the application, when a ship is in danger and causes people to fall into the water, or a person falling into the water accident occurs due to other reasons, the emergency search and rescue command center can calculate the probability that the person falling into the water drifts to reach each area according to weather information and a preset drift model, and determine the search and rescue area for the person falling into the water according to the probability.
In concrete realization, the emergency search and rescue command center can be in butt joint with the meteorological information platform, and when personnel fall into the water to alarm, the meteorological information of the area falling into the water can be directly determined through the meteorological information platform. Or if an unmanned boat capable of executing search and rescue tasks is arranged near the water-falling area, the unmanned boat can collect the weather information of the water-falling area through the matched weather collecting equipment, send the collected weather information to the emergency search and rescue command center, determine the search and rescue area through the emergency search and rescue command center, and formulate a search and rescue scheme.
In the embodiment of the application, after the emergency search and rescue command center determines the search and rescue area and formulates the search and rescue scheme, the related information can be transmitted to the boat command and control base station, and the boat command and control base station plans the corresponding search and rescue path according to the search and rescue scheme.
S802, controlling a search and rescue boat to sail according to the search and rescue path, and controlling shipborne detection equipment to detect the search and rescue area in the sailing process to obtain a corresponding detection result;
in the embodiment of the present application, the search and rescue paths planned by the boat command and control base station may include the first search and rescue path shown in fig. 3, or the second search and rescue path shown in fig. 4, and so on.
If the search and rescue path is the first search and rescue path shown in fig. 3, the unmanned ship may navigate along each diameter of the first search and rescue path under the control of the onboard controller, and an angle between diameters covered by two adjacent navigations of the unmanned ship is a preset angle, which is not limited in this embodiment.
If the search and rescue path is the second search and rescue path shown in fig. 4, the unmanned ship can navigate along a plurality of continuous paths with the search and rescue reference point as the starting point under the control of the onboard controller.
In the process of sailing of the unmanned ship, the shipborne detection equipment can be controlled to collect video information of a current search and rescue area, and corresponding detection results are obtained by detecting the video information.
And S803, generating search and rescue prompt information according to the detection result, wherein the search and rescue prompt information is used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
In this application embodiment, the shipborne detection device can confirm whether the person falling into the water is found according to the information obtained by detection, and if the person falling into the water is found, corresponding prompt information can be generated to prompt related search and rescue personnel to search and rescue the person falling into the water.
Or if the detection result shows that the video information contains a suspected drowning target, the shipborne detection equipment cannot directly confirm whether the person falls into the drowning area or not according to the detection result, and then search and rescue prompt information can be generated according to the video information and further confirmed by shore-based search and rescue personnel. If the suspected drowning target is a drowning person, search and rescue can be carried out by the search and rescue person, if the suspected drowning target is not the drowning person after confirmation, the shore-based search and rescue person can feed back related information to the unmanned boat, the unmanned boat continues to navigate according to the search and rescue path determined in the previous step, and the current search and rescue area is detected in the navigation process so as to find the drowning person.
It should be noted that, since the implementation process of each step in the method embodiment is described in detail in the system embodiment, the method embodiment is described more simply, and the relevant details can be referred to the description in the foregoing system embodiment.
In addition, the sequence numbers of the steps in the foregoing method embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A personnel search and rescue method is characterized by being applied to search and rescue boats, and comprises the following steps:
receiving search and rescue information sent by a boat command control base station, wherein the search and rescue information comprises search and rescue paths corresponding to search and rescue areas, and the information of the search and rescue areas is calculated by an emergency search and rescue command center according to a preset drift model and is sent to the boat command control base station;
controlling a search and rescue boat to sail according to the search and rescue path, and controlling shipborne detection equipment to detect the search and rescue area in the sailing process to obtain a corresponding detection result;
and generating search and rescue prompt information according to the detection result, wherein the search and rescue prompt information is used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
2. The method of claim 1, wherein prior to receiving the search and rescue information sent by the boat command and control base station, further comprising:
the method comprises the steps of collecting meteorological information of a drowning area, sending the meteorological information to an emergency search and rescue command center, indicating the emergency search and rescue command center to calculate the probability of the drowning personnel drifting to each area according to the meteorological information and a preset drifting model, and determining the search and rescue area aiming at the drowning personnel according to the probability.
3. The method according to claim 1, wherein the search and rescue path comprises a first search and rescue path, the first search and rescue path is composed of a plurality of diameters respectively containing search and rescue reference points, the search and rescue reference points are determined by the emergency search and rescue command center; the control search and rescue ship navigates according to the search and rescue route, including:
and controlling the search and rescue boat to sail along each diameter respectively, wherein the angle between the diameters covered by two adjacent sails of the search and rescue boat is a preset angle.
4. The method according to claim 1, wherein the search and rescue path comprises a second search and rescue path consisting of a plurality of continuous paths around a search and rescue reference point as a center, the search and rescue reference point being determined by the emergency search and rescue command center; the control search and rescue ship navigates according to the search and rescue route, including:
and controlling the search and rescue boat to sail along the plurality of continuous paths by taking the search and rescue reference points as starting points.
5. The method according to any one of claims 1-4, wherein the controlling of the on-board detection device to detect the search and rescue area during the navigation to obtain the corresponding detection result comprises:
in the navigation process, controlling shipborne detection equipment to acquire video information of the search and rescue area;
and detecting the video information to obtain a corresponding detection result.
6. The method according to claim 5, wherein the generating search and rescue prompt information according to the detection result comprises:
and if the detection result shows that the video information contains a suspected drowning target, generating search and rescue prompt information according to the video information.
7. The utility model provides a search for and rescue ships and light boats which characterized in that includes:
the information transmission device is used for receiving search and rescue information sent by the boat command control base station, the search and rescue information comprises search and rescue paths corresponding to search and rescue areas, and the information of the search and rescue areas is calculated by an emergency search and rescue command center according to a preset drift model and is sent to the boat command control base station;
the ship-mounted controller is used for controlling the search and rescue ship to navigate according to the search and rescue path;
and the shipborne detection equipment is used for detecting the search and rescue area in the navigation process to obtain a corresponding detection result, and generating search and rescue prompt information according to the detection result, wherein the search and rescue prompt information is used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
8. A personnel search and rescue system is characterized by comprising an emergency search and rescue command center, a boat command control base station and a search and rescue boat, wherein the search and rescue boat is loaded with shipborne detection equipment;
the emergency search and rescue command center calculates the probability of the personnel falling into the water drifting to each area according to the meteorological information and a preset drifting model and determines the search and rescue area aiming at the personnel falling into the water according to the probability;
the ship command control base station plans search and rescue information according to the search and rescue area, and sends the search and rescue information to a search and rescue ship, wherein the search and rescue information comprises a search and rescue path corresponding to the search and rescue area;
the search and rescue boat navigates according to the search and rescue path, and controls the shipborne detection equipment to detect the search and rescue area in the navigation process to obtain a corresponding detection result, and search and rescue prompt information is generated according to the detection result and used for prompting search and rescue personnel to search and rescue the personnel falling into water.
9. The system of claim 8, further comprising a weather information platform for transmitting the weather information to the emergency search and rescue command center.
10. The system of claim 8, wherein the boat command and control base station receives sensing data collected by the search and rescue boat in real time, and adjusts a search and rescue path according to the sensing data; the search and rescue boat navigates according to the adjusted search and rescue path, and controls the shipborne detection equipment to detect the search and rescue area in the navigation process to obtain a corresponding detection result, and search and rescue prompt information is generated according to the detection result and used for prompting search and rescue personnel to search and rescue the personnel falling into the water.
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| CN202010728191.9A CN111976920A (en) | 2020-07-24 | 2020-07-24 | Personnel search and rescue method, search and rescue boat and personnel search and rescue system |
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| CN202010728191.9A CN111976920A (en) | 2020-07-24 | 2020-07-24 | Personnel search and rescue method, search and rescue boat and personnel search and rescue system |
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