CN115503906A - Intelligent life-saving system for people falling into water - Google Patents
Intelligent life-saving system for people falling into water Download PDFInfo
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- CN115503906A CN115503906A CN202211191604.XA CN202211191604A CN115503906A CN 115503906 A CN115503906 A CN 115503906A CN 202211191604 A CN202211191604 A CN 202211191604A CN 115503906 A CN115503906 A CN 115503906A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000004044 response Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 35
- 239000011159 matrix material Substances 0.000 claims description 23
- 230000006399 behavior Effects 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 206010013647 Drowning Diseases 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- 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
- B63C9/0005—Life-saving in water by means of alarm devices for persons falling into the water, e.g. by signalling, by controlling the propulsion or manoeuvring means of the boat
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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
- B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
- B63C9/13—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like attachable to body member, e.g. arm, neck, head or waist
-
- 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
- B63C9/22—Devices for holding or launching life-buoys, inflatable life-rafts, or other floatable life-saving equipment
-
- 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
- B63C9/28—Adaptations of vessel parts or furnishings to life-saving purposes
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of 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
- B63C2009/0017—Life-saving in water characterised by making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intelligent life-saving system for people falling into water, which comprises an intelligent life-saving platform for people falling into water, wherein the intelligent life-saving platform for people falling into water is connected with an intelligent camera and an intelligent life-saving unit. The specific lifesaving process is as follows: monitoring in real time by using an intelligent camera, and making corresponding response according to corresponding conditions; when people fall into water, an alarm rescue signal is sent out, a falling water position signal is sent to the intelligent life-saving platform for people to fall into water, the intelligent life-saving platform for people to fall into water analyzes and calculates longitude and latitude coordinates of the falling water position of people according to real-time information of GPS/BD and compass, then the intelligent life buoy is released, the longitude and latitude coordinates are sent to the intelligent life-buoy through the intelligent life-saving platform for people to fall into water, and the intelligent life-buoy can automatically drive to the people falling into water after receiving a command. The invention has the characteristics of monitoring the personnel condition on the ship in real time and quickly judging and processing the personnel condition on the ship.
Description
Technical Field
The invention relates to the field of ship personnel overboard lifesaving, in particular to an intelligent personnel overboard lifesaving system.
Background
For ships with a large number of people, such as cruise ships, how to ensure the safety of personnel on the ships and prevent the personnel from falling into water is an extremely important link. At present, the main safety protection measures are to warn passengers by arranging guardrails at the edges of decks; the life buoy is placed at a corresponding position on the ship for use at any time, and can be thrown down for use when people fall into the water; and the crew is arranged to regularly patrol, so that the crew can timely persuade to deal with some dangerous situations. However, the above methods all require manual rescue judgment, have certain hysteresis and randomness, and cannot find a dangerous state in real time or dissuade rescue in time for a drowning situation. Therefore, the prior art has the problem that the personnel condition on the ship cannot be monitored in real time.
Disclosure of Invention
The invention aims to provide an intelligent life-saving system for people falling into water. The invention has the characteristics of monitoring the personnel condition on the ship in real time and quickly judging and processing the personnel condition on the ship.
The technical scheme of the invention is as follows: the intelligent lifesaving system for the person falling into the water comprises an intelligent lifesaving platform for the person falling into the water, wherein the input end of the intelligent lifesaving platform for the person falling into the water is connected with an intelligent camera in a wireless connection mode, and the output end of the intelligent lifesaving platform for the person falling into the water is connected with an intelligent lifesaving unit.
In the intelligent lifesaving system for people falling into water, the input end of the intelligent lifesaving platform for people falling into water is also connected with a GPS/BD and a compass; the output end of the intelligent lifesaving platform for people falling into water is also connected with an audible and visual alarm.
In the intelligent lifesaving system for people falling into water, the intelligent lifesaving unit comprises a wireless gateway, an intelligent lifebuoy and a rescue release box.
In the above intelligent lifesaving system for people falling into water, the specific lifesaving operation process is as follows: monitoring the personnel conditions in the designated area in real time by using an intelligent camera, and making corresponding response according to the corresponding conditions; when the intelligent camera judges that a person falls into water, an alarm rescue signal is sent out, a falling-water position signal is analyzed, the falling-water position signal is sent to the intelligent life saving platform for the person falling into water, the intelligent life saving platform for the person falling into water analyzes and calculates the longitude and latitude coordinates of the falling-water position of the person according to the real-time information of a GPS and a compass, an intelligent life buoy is released, the longitude and latitude coordinates are sent to the intelligent life buoy on the intelligent life saving platform for the person falling into water, and the intelligent life buoy can automatically drive to the person falling into water after receiving a command; the intelligent lifesaving platform for people falling into water can display the direction of people falling into water and the running track of the intelligent life buoy in real time, so that people on a ship can conveniently master the rescue dynamics.
In the above intelligent lifesaving system for people falling into water, the step of judging the behavior of the people with the intelligent camera is as follows:
first, setting the detection boundary
The detection boundaries comprise a detection boundary of a deck and a detection boundary of a corridor; the detection boundary of the deck defines an area which is a closed area enclosed by a ship board and a range of 3 to 5 meters close to the ship board; the detection boundary of the corridor is a straight line detection boundary-guardrail;
second, detecting the pedestrian
After the artificial detection target is appointed, the equipment detects the appointed target; detecting pedestrians appearing in the detection boundary region set in the first step, wherein the detected pedestrians are all selected by the rectangular frame, behaviors of the detected pedestrians in the set region are all judged by the algorithm, and the judged result is displayed at the upper left corner of the rectangular frame, namely the attribute of the pedestrians;
thirdly, identifying the attributes of the person in the second step
Attributes of people are divided into two categories: danger and safety; the danger attribute defines 2 attribute values, which are: the crossing guardrail and the body are positioned outside the guardrail; security attributes define 1 attribute value: walking;
fourthly, judging according to the geometric relation between the human and the detected boundary
Making a behavior judgment for the pedestrian within the detection boundary in the first step;
in the warning surface area of the deck, when one or two feet of the pedestrian leave the ground, namely the pedestrian tends to cross the guardrail, the pedestrian is judged to be in dangerous behavior; when a pedestrian leans on the guardrail, a part of the body of the pedestrian stretches out of the guardrail, the height of the pedestrian on the warning surface is reduced to 90% of the original height and below the original height according to the judgment, the threshold value is set to be 0.9, and the pedestrian is judged to be dangerous behavior when the threshold value is smaller than the threshold value;
when the target is from A → B, the alarm is triggered when the target crosses from A to B, and simultaneously, the alarm is triggered when the target is from A → B
Indicating that the target triggers an alarm bidirectionally.
In the intelligent lifesaving system for people falling into water, in the second step, a monitoring video is obtained in a video stream mode and is used as the input of a detection system to detect pedestrians in each frame of the video; the data input end adopts a mode of Mosaic data enhancement to process the input of the picture, and the processing of the Mosaic data enhancement on the input picture comprises the following steps: and splicing in a random scaling, random cutting and random arrangement mode.
In the above-mentioned intelligent lifesaving system for people falling into water, in the fourth step, the alarm triggering basis is performed by calculating the degree of the target entering the warning surface, the calculation formula is S =100-S1/ST × 100, S1 is the area of the target entering the warning surface, and ST is the actual area of the target.
In the above intelligent lifesaving system for people falling into water, the method for positioning the position of people falling into water comprises:
firstly, acquiring longitude and latitude position information through a shipborne GPS, and then determining an angle of a bow deviating from the due north direction according to a compass; then, the coordinates of the position of the person falling into the water in the image are (U, V) which can be obtained by a fixed intelligent camera, a homography matrix M, namely a 3X3 matrix describing the point mapping relation from the ground plane to the phase plane is utilized to calculate (X, Y, W) = (U, V, 1) = M so as to obtain the position information of the falling point, the position information of the falling point is converted into a 3X3 matrix, and the values from the first row to the third row of the matrix are respectively lower X, Y and z information; the matrix obtained at the man-over-water point is localMtx, the world coordinate matrix is world coordinate matrix, and the conversion matrix from the hull coordinate to the world coordinate is ItWMtx, so that the transformation worldMtx = localMtx ItWMtx from the man-over-water point to the world coordinate system can be obtained.
Compared with the prior art, the intelligent lifesaving device comprises an intelligent lifesaving platform for people falling into water, an intelligent camera and an intelligent lifesaving unit, wherein the intelligent camera is used for monitoring the condition of people in a specific area of a deck in real time, the intelligent lifesaving platform for people falling into water is used for making various judgment treatments, the behavior of people on a ship in the specific area can be monitored uninterruptedly in real time, and the intelligent lifesaving device can quickly respond to an unexpected condition and make corresponding treatment. After the personnel fall into the water, the audible and visual alarm is linked to remind the commander that someone falls into the water, and the intelligent camera locking personnel position that falls into the water sends the personnel intelligence lifesaving platform that falls into the water, and the commander commands rescue release case release intelligence life buoy after confirming the information that falls into the water and falls into the water, and the intelligence life buoy is according to the position information that the intelligent camera sent the platform to go to the personnel position that falls into the water, independently is close the personnel that fall into the water, carries out timely and accurate rescue. In conclusion, the invention has the characteristics of monitoring the personnel condition on the ship in real time and quickly judging and processing the personnel condition on the ship.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention.
Examples are given. The intelligent life-saving system for people falling into water comprises an intelligent life-saving platform for people falling into water, wherein the input end of the intelligent life-saving platform for people falling into water is connected with an intelligent camera (installed on a ship deck) in a wireless connection mode, and the output end of the intelligent life-saving platform for people falling into water is connected with an intelligent life-saving unit (installed on the side face of a ship).
The intelligent camera mainly has the following functions:
1. reminding: automatically identifying and judging whether a person enters a key area
Send and remind, the automatic propaganda directed to communicate of intelligent camera: the ship navigation operation environment is complex, and people do not need to approach the gunwale or lean against the railing and pay attention to safety. ";
selecting yellow frames of people to be presented in the video signal;
real-time video is sent to a lifesaving platform;
2. early warning: intelligent analysis of dangerous actions of personnel in key areas
Send out the early warning, intelligent camera is automatic to be shout: "danger of extending the balustrade, please leave immediately. ";
selecting the persons with dangerous actions in a red frame in the video signal;
synchronizing the early warning information and 3 early warning videos to a lifesaving platform;
the intelligent camera receives the audio stream of the lifesaving platform to carry out shout (artificial shout), and the priority of the artificial shout is higher than that of the automatic shout of the intelligent camera;
3. and (4) alarming: intelligent analysis of drowning behavior of person in key area
Send out the warning, the automatic propaganda directed to communicate of intelligent camera: people fall into water and rescue immediately. "video signal is output to the platform;
synchronous alarm information, namely intercepting videos from 5 seconds before the personnel fall into the water to 5 seconds after the personnel fall into the water, and sending the videos to a lifesaving platform;
calculating a water falling point (relative to the position of the intelligent camera) and synchronizing the water falling point to the lifesaving platform;
the intelligent camera receives the audio stream of the lifesaving platform to carry out artificial shouting (the priority of the artificial shouting is higher than that of the automatic shouting of the intelligent camera);
the intelligent drowning alarm camera outputs two paths of passive contacts to local and remote alarm.
The intelligent lifesaving platform for people falling into water mainly comprises the following functions:
displaying real-time pictures (accessing video signals of the intelligent camera) of key areas;
processing early warning information
Recording early warning information (including early warning video screenshots);
checking real-time early warning information;
remotely controlling the intelligent camera to speak (manually speaking on a platform, and transmitting an audio signal to the intelligent camera to play in real time);
checking the early warning history;
processing the alarm information;
recording alarm information (including alarm video);
outputting signals to a local acousto-optic alarm system and a monitoring room acousto-optic alarm system;
controlling a general alarm system to alarm;
controlling the searchlight to irradiate directionally;
checking a man falling-into-water picture captured by the camera;
automatically controlling the lifebuoy release box to release the lifebuoy;
remotely controlling the intelligent camera to call (manually calling on a platform, and transmitting an audio signal to the intelligent camera to play in real time);
synchronizing the real-time drowning position to the wireless gateway, and controlling the life buoy to track the drowning person in real time;
controlling a spherical camera to directionally capture a target and track the target in real time;
receiving the relative position of the personnel falling into the water, which is given by a GPS, a compass bow direction and a camera, calculating the position of the personnel falling into the water, sending position information to the life buoy, and automatically driving the life buoy to the position of the personnel falling into the water;
controlling the direction and speed of the life buoy;
checking alarm records and data reports;
alarm response, stop alarm information (manual stop alarm, automatic stop alarm);
the life buoy enters a designated rescue area of the ship at the real-time position to be rescue ended (automatic rescue ended and manual rescue ended).
The input end of the intelligent lifesaving platform for people falling into water is also connected with a GPS/BD and a compass; the output end of the intelligent lifesaving platform for people falling into water is also connected with an audible and visual alarm.
The intelligent lifesaving unit comprises a wireless gateway, an intelligent life buoy and a rescue release box.
Rescue release box: placing an intelligent life buoy; supplying power and charging for the life buoy; the remote release lifebuoy and local manual release lifebuoy receiving device has the functions of receiving the remote release lifebuoy and locally manually releasing the lifebuoy.
The intelligent life buoy is: the wireless gateway has the function of receiving wireless gateway signals and automatically drives to the latest target position; the remote controller has the function of receiving remote controller signals.
Platform interface command mode: the rescue workers click commands on the information platform, the platform sends the commands to the wireless gateway fixedly installed on the ship, and the wireless gateway sends the commands to the intelligent life buoy in a wireless mode to control the movement of the intelligent life buoy. The information included in the platform command includes longitude and latitude coordinates of the rescued person and longitude and latitude coordinates of the rescue ship. The commands issued by the platform are: and driving to a target, returning to the home, waiting, cruising on site and the like. Through programming for the control circuit in the intelligent life buoy, the intelligent life buoy can work according to a platform command, can also automatically judge information such as electric quantity, communication state and the like, and automatically return to the air under the conditions of insufficient electric quantity, communication failure and the like. The rescue personnel can send commands to drive the intelligent life buoy to move towards the target through the platform.
Aiming at the rescue function of the remote control life buoy, the wireless data transmission control function of the life buoy is realized firstly, and the movement of the life buoy can be controlled by sending a control command in a digital mode to the life buoy in a wireless mode. The implementation method is that on the basis of remotely controlling the life buoy, an instruction control function is developed, the life buoy integrates a wireless communication module and a GPS/BD positioning module, can receive data instructions and moves to the specified coordinate according to the instructions. Functionally, the platform needs to integrate a communication protocol with the life buoy and to be able to send the coordinates of the target to the life buoy by command when the life buoy needs to be dispatched.
Still include the searchlight: directionally irradiating according to longitude and latitude information input by the lifesaving platform;
the audible and visual alarm includes: the local audible and visual alarm controls an alarm switch according to the passive signal of the intelligent camera; the monitoring room audible and visual alarm controls an alarm switch according to the passive signal of the intelligent camera; the general alarm system starts alarm according to the alarm signal input by the lifesaving platform;
the lifesaving platform is characterized by also comprising a spherical camera for directionally capturing a scene picture according to longitude and latitude data provided by the lifesaving platform;
the wireless gateway: synchronizing the real-time position of the lifebuoy to the platform; receiving a control signal of the life-saving platform, and remotely controlling the life buoy; the transmission distance is more than or equal to 2km; 5 life buoys are supported to communicate simultaneously;
the specific lifesaving operation process comprises the following steps: monitoring the personnel conditions in the designated area in real time by using an intelligent camera, and making corresponding response according to the corresponding conditions; when the intelligent camera judges that a person falls into water, an alarm rescue signal is sent out, a falling-water position signal is analyzed, the falling-water position signal is sent to the intelligent life saving platform for the person falling into water, the intelligent life saving platform for the person falling into water analyzes and calculates the longitude and latitude coordinates of the falling-water position of the person according to the real-time information of the GPS/BD and the compass, then the intelligent life buoy is released and sends the longitude and latitude coordinates to the intelligent life buoy through the intelligent life saving platform for the person falling into water, and the intelligent life buoy can automatically drive to the person falling into water after receiving a command; the intelligent lifesaving platform for people falling into water can display the direction of the people falling into water and the running track of the intelligent life buoy in real time, and people on a ship can conveniently master the dynamic rescue.
The method comprises the following steps of:
first, setting the detection boundary
The detection boundaries comprise a detection boundary of a deck and a detection boundary of a corridor; the detection boundary of the deck defines an area which is a closed area enclosed by a ship board and a range of 3 to 5 meters close to the ship board; the detection boundary of the corridor is a straight line detection boundary-guardrail;
second step, detecting the pedestrian
After the artificial detection target is appointed, the equipment detects the appointed target; detecting pedestrians appearing in the detection boundary region set in the first step, wherein the detected pedestrians can be selected by the rectangular frame, behaviors of the detected pedestrians in the set region can be judged by the algorithm, and the judged result can be presented at the upper left corner of the rectangular frame, namely the attribute of the pedestrians;
thirdly, identifying the attributes of the person in the second step
Attributes of people are divided into two categories: danger and safety; the danger attribute defines 2 attribute values, which are: the crossing guardrail and the body are positioned outside the guardrail; security attributes define 1 attribute value: walking;
fourthly, judging according to the geometric relation between the person and the detected boundary
Making a behavior determination for a pedestrian within the detection boundary in the first step;
in the warning surface area of the deck, when one or two feet of a pedestrian leave the ground, namely the pedestrian tends to cross the guardrail, the pedestrian is judged to be in dangerous behavior; when a pedestrian leans on the guardrail, a part of the body of the pedestrian stretches out of the guardrail, the height of the pedestrian on the warning surface is reduced to 90% of the original height and below the original height according to the judgment, the threshold value is set to be 0.9, and the pedestrian is judged to be dangerous behavior when the threshold value is smaller than the threshold value;
when the target is from A → B, the target crosses the boundary from A to B, the alarm is triggered, and simultaneously, the alarm is carried out
Indicating that the target triggers an alarm in both directions.
In the second step, a monitoring video is obtained in a video stream mode and is used as the input of a detection system, and pedestrian detection is carried out on each frame in the video; the data input end adopts a mode of Mosaic data enhancement to process the input of the picture, and the processing of the Mosaic data enhancement on the input picture comprises the following steps: and splicing in a random scaling, random cutting and random arrangement mode.
And in the fourth step, the alarm triggering basis is carried out by calculating the degree of the target entering the warning surface, wherein the calculation formula is S =100-S1/ST × 100, S1 is the area of the target entering the warning surface, and ST is the actual area of the target.
The method for positioning the position of the person falling into the water comprises the following steps:
firstly, acquiring longitude and latitude position information through a ship-borne GPS/BD, and then determining the angle of a bow deviating from the due north direction according to a compass; then, the coordinates of the position of the person falling into the water in the image are (U, V) which can be obtained by a fixed intelligent camera, a homography matrix M, namely a 3X3 matrix describing the point mapping relation from the ground plane to the phase plane is utilized to calculate (X, Y, W) = (U, V, 1) = M so as to obtain the position information of the falling point, the position information of the falling point is converted into a 3X3 matrix, and the values from the first row to the third row of the matrix are respectively lower X, Y and z information; the matrix obtained at the man-over-water point is localMtx, the world coordinate matrix is world coordinate matrix, and the conversion matrix from the hull coordinate to the world coordinate is ItWMtx, so that the transformation worldMtx = localMtx ItWMtx from the man-over-water point to the world coordinate system can be obtained.
Claims (8)
1. Intelligent lifesaving system that personnel fall into water, its characterized in that: the intelligent lifesaving device comprises an intelligent lifesaving platform for people falling into water, wherein the input end of the intelligent lifesaving platform for people falling into water is connected with an intelligent camera in a wireless connection mode, and the output end of the intelligent lifesaving platform for people falling into water is connected with an intelligent lifesaving unit.
2. The intelligent rescue system for people overboard according to claim 1, wherein: the input end of the intelligent lifesaving platform for people falling into water is also connected with a GPS/BD and a compass; the output end of the intelligent lifesaving platform for people falling into water is also connected with an audible and visual alarm.
3. The intelligent life-saving system in man overboard according to claim 1, wherein: the intelligent lifesaving unit comprises a wireless gateway, an intelligent life buoy and a rescue release box.
4. The intelligent lifesaving system for the person overboard according to claim 1, wherein the specific lifesaving operation process is as follows: monitoring the personnel conditions in the designated area in real time by using an intelligent camera, and making corresponding response according to the corresponding conditions; when the intelligent camera judges that a person falls into water, an alarm rescue signal is sent out, a falling-water position signal is analyzed, the falling-water position signal is sent to the intelligent life saving platform for the person falling into water, the intelligent life saving platform for the person falling into water analyzes and calculates the longitude and latitude coordinates of the falling-water position of the person according to the real-time information of a GPS and a compass, an intelligent life buoy is released, the longitude and latitude coordinates are sent to the intelligent life buoy on the intelligent life saving platform for the person falling into water, and the intelligent life buoy can automatically drive to the person falling into water after receiving a command; the intelligent lifesaving platform for people falling into water can display the direction of the people falling into water and the running track of the intelligent life buoy in real time, and people on a ship can conveniently master the dynamic rescue.
5. The intelligent rescue system for people overboard according to claim 4,
the method comprises the following steps of:
first, setting the detection boundary
The detection boundaries comprise a detection boundary of a deck and a detection boundary of a corridor; the detection boundary of the deck defines an area which is a closed area enclosed by a ship board and a range of 3 to 5 meters close to the ship board; the detection boundary of the corridor is a straight line detection boundary-guardrail;
second step, detecting the pedestrian
After the artificial detection target is appointed, the equipment detects the appointed target; detecting pedestrians appearing in the detection boundary region set in the first step, wherein the detected pedestrians are all selected by the rectangular frame, behaviors of the detected pedestrians in the set region are all judged by the algorithm, and the judged result is displayed at the upper left corner of the rectangular frame, namely the attribute of the pedestrians;
thirdly, identifying the attributes of the person in the second step
Attributes of people are divided into two categories: danger and safety; the risk attribute defines 2 attribute values, which are: the crossing guardrail and the body are positioned outside the guardrail; security attributes define 1 attribute value: walking;
fourthly, judging according to the geometric relation between the human and the detected boundary
Making a behavior judgment for the pedestrian within the detection boundary in the first step;
in the warning surface area of the deck, when one or two feet of the pedestrian leave the ground, namely the pedestrian tends to cross the guardrail, the pedestrian is judged to be in dangerous behavior; when a pedestrian leans on the guardrail, a part of the body of the pedestrian stretches out of the guardrail, the height of the pedestrian on the warning surface is reduced to 90% of the original height and below according to the judgment, the threshold value is set to be 0.9, and the pedestrian is judged to be dangerous behavior when the threshold value is smaller than;
when the target is from A → B, the alarm is triggered when the target crosses from A to B, and simultaneously, the alarm is triggered when the target is from A → B
Indicating that the target triggers an alarm bidirectionally.
6. The intelligent rescue system for people overboard according to claim 5, wherein in the second step, a monitoring video is obtained in a video stream mode, the monitoring video is used as an input of a detection system, and pedestrian detection is performed on each frame in the video; the data input end adopts a mode of Mosaic data enhancement to process the input of pictures, and the processing of the Mosaic data enhancement on the input pictures comprises the following steps: and splicing in a random scaling, random cutting and random arrangement mode.
7. The intelligent life-saving system for people falling into water as claimed in claim 6, wherein in the fourth step, the basis for triggering the alarm is calculated by calculating the degree of the target entering the warning surface, the calculation formula is S =100-S1/ST x 100, S1 is the area of the target entering the warning surface, and ST is the actual area of the target.
8. The intelligent life-saving system for people falling into water as claimed in claim 4, wherein the method for positioning the position of people falling into water is as follows:
firstly, acquiring longitude and latitude position information through a shipborne GPS, and then determining an angle of a bow deviating from the due north direction according to a compass; then, the coordinates of the position of the person falling into the water in the image are (U, V) which can be obtained by a fixed intelligent camera, a homography matrix M, namely a 3X3 matrix describing the point mapping relation from the ground plane to the phase plane is utilized to calculate (X, Y, W) = (U, V, 1) = M so as to obtain the position information of the falling point, the position information of the falling point is converted into a 3X3 matrix, and the values from the first row to the third row of the matrix are respectively lower X, Y and z information; the matrix obtained at the man overboard point is localMtx, the world coordinate matrix is world mtx, and the conversion matrix from the ship body coordinate to the world coordinate is ItWMtx, so that the transformation worldMtx = localMtx ItWMtx from the overboard point to the world coordinate system can be obtained.
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