CN116009534A - Offshore emergency burst search and rescue treatment method based on island reef-unmanned ship platform - Google Patents
Offshore emergency burst search and rescue treatment method based on island reef-unmanned ship platform Download PDFInfo
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- CN116009534A CN116009534A CN202211552171.6A CN202211552171A CN116009534A CN 116009534 A CN116009534 A CN 116009534A CN 202211552171 A CN202211552171 A CN 202211552171A CN 116009534 A CN116009534 A CN 116009534A
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Abstract
The invention discloses an offshore emergency burst search and rescue treatment method based on an island reef-unmanned ship platform, which comprises the following steps: acquiring a monitoring range, and constructing a plurality of cruising paths of the offshore unmanned ship based on the monitoring range; enabling the unmanned marine vessel to navigate at a constant speed according to the cruising path; acquiring an accident occurrence position, and determining an offshore unmanned ship nearest to the accident occurrence position based on the accident occurrence position; carrying out search and rescue route planning on the offshore unmanned ship closest to the accident occurrence position; enabling the offshore unmanned ship closest to the accident position to be reached according to the search and rescue route; and acquiring a search and rescue target based on the offshore unmanned ship and searching and rescuing the search and rescue target. According to the invention, the automation of the maritime search and rescue scheme is realized through the application of the unmanned ship, the full coverage of the maritime monitoring range and the rapid monitoring of maritime accidents are realized through the planning of the cruising path, the emergency rescue efficiency is improved through the planning and calculation of the search and rescue route, and the risk of ship collision is avoided.
Description
Technical Field
The invention belongs to the field of offshore emergency search and rescue, and particularly relates to an offshore emergency burst search and rescue treatment method based on an island reef-unmanned ship platform.
Background
With the development of unmanned ship technical equipment, unmanned ships and vessels at sea for long voyages have become an important force for cruise and law enforcement at sea. The unmanned ship on the sea does not need personnel for berthing, personnel support facilities are not needed to be configured on the ship, the unmanned ship is remotely controlled by shore-based personnel, and a navigation control module is used as a basic function module for interaction between a base station system and the unmanned ship, so that functions of unmanned ship such as route task planning, manual and automatic control, video monitoring, parameter configuration, navigation playback, data chart analysis and the like are realized; meanwhile, the navigation environment around the unmanned ship can be displayed, the functions of analyzing and displaying sea charts, radars, videos and other various sensor data, dangerous prompt, target identification and the like are realized, the collision prevention early warning display of the unmanned ship is carried out, and the navigation safety is effectively ensured.
In the existing maritime unmanned search and rescue scheme, accurate planning and control of unmanned ship routes are difficult to realize, and collision risks in the navigation process are difficult to identify.
Disclosure of Invention
The invention aims to provide an offshore emergency burst search and rescue treatment method based on an island reef-unmanned ship platform, so as to solve the problems in the prior art.
In order to achieve the above purpose, the invention provides an offshore emergency burst search and rescue treatment method based on an island reef-unmanned ship platform, which comprises the following steps:
acquiring a monitoring range, and constructing a plurality of cruising paths of the offshore unmanned ship based on the monitoring range;
enabling the unmanned marine vessel to navigate at a constant speed according to the cruising path; the navigation speeds and directions of a plurality of the offshore unmanned ships are different;
acquiring an accident occurrence position, and determining an offshore unmanned ship nearest to the accident occurrence position based on the accident occurrence position;
carrying out search and rescue route planning on the offshore unmanned ship closest to the accident occurrence position;
enabling the offshore unmanned ship closest to the accident position to be reached according to the search and rescue route;
and acquiring a search and rescue target based on the offshore unmanned ship and searching and rescuing the search and rescue target.
Optionally, the monitoring range is a circular range, and the process of constructing the cruise path of the unmanned marine vessel based on the monitoring range includes:
setting ship monitoring equipment in the offshore unmanned ship, and acquiring a monitoring range of the ship monitoring equipment;
determining the cruising quantity of the unmanned marine vessels based on the monitoring range and the monitoring range of the ship monitoring equipment, and cruising the starting point of each unmanned marine vessel;
and constructing a cruising path of each offshore unmanned ship based on the monitoring range and the cruising starting point of each offshore unmanned ship.
Optionally, the process of determining the cruising quantity of the unmanned marine vessel and the cruising starting point of each unmanned marine vessel based on the monitoring range and the monitoring range of the ship monitoring device includes:
acquiring the circular diameter of the monitoring range, and acquiring the circular monitoring diameter of each offshore unmanned ship based on the monitoring range of the ship monitoring equipment;
determining the cruising quantity based on a ratio of the circular diameter to the circular monitoring diameter;
and segmenting the circular diameter based on the circular monitoring diameter, and taking the central point of each segmented segment as a cruising starting point of each offshore unmanned ship.
Optionally, the process of constructing the cruising path of each unmanned marine vessel based on the monitoring range and the cruising start point of each unmanned marine vessel comprises:
and constructing a cruising path of each offshore unmanned ship by taking the central point of the monitoring range as an origin point and taking the distance from the cruising starting point of each offshore unmanned ship to the origin point as a radius.
Optionally, the process of conducting search and rescue routing on the offshore unmanned ship closest to the accident occurrence position comprises,
determining whether the accident occurrence position is in the navigation path of the offshore unmanned ship closest to the accident occurrence position; if yes, determining a route with the shortest distance based on the accident occurrence position and the navigation path, and taking the route with the shortest determined distance as the search and rescue route;
if not, acquiring the linear distance between the accident occurrence position and the closest offshore unmanned ship, and planning a search and rescue route based on the linear distance.
Optionally, the process of conducting search and rescue route planning based on the linear distance comprises the following steps:
judging whether the closest offshore unmanned ship collides with other offshore unmanned ships on the way to the accident position; if yes, the navigation speed of other offshore unmanned vessels is adjusted; if not, the offshore unmanned ship closest to the sea is made to search and rescue according to the straight line distance.
Optionally, the process of determining whether the closest offshore unmanned ship will collide with other offshore unmanned ships on its way to the accident site comprises:
determining the intersection position of the straight line distance and the cruising paths of other offshore unmanned vessels;
acquiring a first sailing speed of the closest offshore unmanned ship and a second sailing speed of other offshore unmanned ships at the intersection position;
acquiring a current first position of the closest offshore unmanned ship and a current second position of the other offshore unmanned ships;
acquiring a first time for the closest offshore unmanned ship to reach the intersection position based on the distance between the first position and the intersection position in a straight line and the first navigation speed;
acquiring the voyage of other offshore unmanned vessels to the intersection position based on the cruising path of the second position and the other offshore unmanned vessels, and acquiring the second time of the other offshore unmanned vessels to the intersection position based on the second voyage speed;
if the first time is the same as the second time, judging that the two times are about to collide; and if the first time is different from the second time, judging that the first time and the second time are not in collision.
Optionally, in the process of adjusting the navigation speed of other offshore unmanned vessels, judging whether the unmanned vessels collide or not once after each adjustment, and stopping adjustment when judging that the unmanned vessels do not collide.
Optionally, the ship monitoring device in the offshore unmanned ship setting includes, but is not limited to, a mobile middle and open sea area AIS transceiver station, a radar detection station, a CCTV navigation station, and the process of acquiring the search and rescue target and searching and rescuing the search and rescue target based on the offshore unmanned ship includes:
identifying a search and rescue target based on the ship monitoring equipment;
setting rescue facilities in the unmanned marine vessel, and searching and rescuing the search and rescue target based on the rescue facilities; the rescue facilities include, but are not limited to, small patrol acorn boats, unmanned boats.
The invention has the technical effects that:
according to the invention, the automation of the maritime search and rescue scheme is realized through the application of the unmanned ship, the full coverage of the maritime monitoring range and the rapid monitoring of maritime accidents are realized through the planning of the cruising path, the emergency rescue efficiency is improved through the planning and calculation of the search and rescue route, and the risk of ship collision is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a flowchart of an offshore emergency burst search and rescue treatment method based on an island-unmanned ship platform in an embodiment of the invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The large unmanned cruiser has the advantages of large platform, long voyage, strong wind resistance, high multipurpose of the platform and the like, and is a base stone for realizing cruising in a middle and high sea water area. Compared with fixed monitoring information stations established in islands, lighthouses, security bases and the like in the middle and open sea water areas, the movement arrival attribute of the large-scale cruising ship platform can realize the advantage function of 'where to need and go to where'. The large cruise law enforcement ship can utilize the maneuverability of the ship, and a dedicated navigation line is set up according to the distribution of hot spot areas, so that important cruising is performed on the hot spot areas, and the maritime handling strength can be quickly and accurately reached when the maritime emergency occurs.
Because no personnel ship is required to operate, the unmanned ship can realize long-period, long-distance and large-area cruising at one trip. The networking unmanned crews formed by the unmanned vessels can form a normalized formation networking cruising cover nearby the security base. The unmanned ship platform has good compatibility and moderate size, and can carry various carrier-borne devices.
The area of the middle and open sea water area is large, so that the normalized large-area cruising is realized, and the operation and maintenance convenience of the island, the lighthouse, the guarantee base, the petroleum platform and other sea fixed fulcrums on the middle and open sea is needed to be utilized, so that the operation and maintenance guarantee capability of the island base on the sea is improved. The unmanned patrol ship is deployed to realize the cruising of the area around the scattered base, so that the three-dimensional monitoring network of the middle and open sea water area can be further tamped. The marine fixed supporting points are matched sufficiently, an unmanned cruising fleet established based on the marine fixed supporting points can realize the formation type networking operation to expand cruising water areas from point to plane, and the quick arrival of disposal force and quick search and rescue are realized through full force.
Based on the above features and advantages, in this embodiment, an offshore emergency burst search and rescue treatment method based on an island-unmanned ship platform is provided, as shown in fig. 1, and includes the following steps:
acquiring a circular monitoring range of maritime search and rescue, and constructing a plurality of cruising paths of the maritime unmanned ship based on the monitoring range; specifically: the marine unmanned ship is internally provided with ship monitoring equipment, such as a movable middle and high sea water area AIS transceiver station, a radar detection station, a CCTV navigation station and the like; acquiring a monitoring range of the ship monitoring equipment; and determining the cruising quantity of the offshore unmanned ships and the cruising starting point of each offshore unmanned ship according to the overall circular monitoring range of the maritime search and rescue and the monitoring range of the ship monitoring equipment, and constructing the cruising path of each offshore unmanned ship according to the circular monitoring range of the maritime search and the cruising starting point of each offshore unmanned ship.
The navigation speed and the direction of the plurality of the unmanned marine vessels are different, the specific speed and direction setting can be improved according to actual requirements, and the embodiment is not limited, but all the unmanned marine vessels are within the protection scope of the application; the cruise path planning for the unmanned ship has been completed up to this point for coverage of the circular monitoring range.
As a preferred implementation manner of the method, the specific implementation manner of determining the cruising quantity of the offshore unmanned ship and the cruising starting point of each offshore unmanned ship based on the round monitoring range and the monitoring range of the ship monitoring equipment is as follows:
acquiring the circular diameter of a monitoring range, and acquiring the circular monitoring diameter of each offshore unmanned ship according to the monitoring range of ship monitoring equipment;
determining the cruising quantity based on a ratio of the circular diameter to the circular monitoring diameter;
and segmenting the circular diameter based on the circular monitoring diameter, and taking the central point of each segmented segment as a cruising starting point of each offshore unmanned ship.
As a preferred implementation manner of the method, the specific implementation manner of constructing the cruising path of each unmanned ship according to the circular monitoring range of maritime search and rescue and the cruising starting point of each unmanned ship comprises the following steps:
and constructing a cruising path of each offshore unmanned ship by taking the central point of the monitoring range as an origin point and taking the distance from the cruising starting point of each offshore unmanned ship to the origin point as a radius.
When an accident occurs, acquiring an accident occurrence position, and determining an offshore unmanned ship closest to the accident occurrence position through the accident occurrence position; planning a search and rescue route for the offshore unmanned ship closest to the accident occurrence position according to the accident occurrence position, so that the offshore unmanned ship closest to the accident occurrence position is reached according to the search and rescue route; and finally, acquiring a search and rescue target by the unmanned marine vessel and searching and rescuing the search and rescue target.
As a preferred embodiment of the application, the specific steps of searching and rescuing the unmanned marine vessel closest to the accident occurrence position comprise:
determining whether the accident occurrence position is in a navigation path of the closest offshore unmanned ship; if so, determining a route with the shortest distance according to the accident occurrence position and the navigation path of the unmanned ship, and taking the route with the shortest distance as a search and rescue route of the ship;
if not, acquiring the linear distance between the accident occurrence position and the closest offshore unmanned ship, and planning a search and rescue route according to the linear distance. Specifically:
judging whether the closest offshore unmanned ship collides with other offshore unmanned ships on the way to the accident position; if so, adjusting the navigation speed of other offshore unmanned vessels, judging whether the unmanned vessels collide or not once after each adjustment in the adjustment process, and stopping adjustment when judging that the unmanned vessels do not collide; if not, the offshore unmanned ship closest to the sea is made to search and rescue according to the straight line distance.
For the possibility judgment of collision, the embodiment adopts the following method:
determining the intersection position of the straight line distance and the cruising paths of other offshore unmanned vessels;
acquiring a first sailing speed of the closest offshore unmanned ship and a second sailing speed of other offshore unmanned ships at the intersection position;
acquiring a current first position of the closest offshore unmanned ship and a current second position of the other offshore unmanned ships;
acquiring a first time for the closest offshore unmanned ship to reach the intersection position based on the distance between the first position and the intersection position in a straight line and the first navigation speed;
acquiring the voyage of other offshore unmanned vessels to the intersection position based on the cruising path of the second position and the other offshore unmanned vessels, and acquiring the second time of the other offshore unmanned vessels to the intersection position based on the second voyage speed;
if the first time is the same as the second time, judging that the two times are about to collide; and if the first time is different from the second time, judging that the first time and the second time are not in collision.
After the ship reaches the accident position, rescue work is started, diversified water ship monitoring equipment is carried in the unmanned cruise ship, for example, the unmanned cruise ship is used as a movable middle and open sea water area AIS transceiver station, a radar detection station, a CCTV navigation station and the like, personnel needing rescue at the accident site are found through the ship monitoring equipment, static and dynamic information of middle and far sea ship navigation and positioning identification of personnel losing can be obtained through the AIS and the radar system, and the CCTV video monitoring system integrating the advanced sensing technology is the most direct and effective mode for obtaining the image information of the sea ship and monitoring the sea pollution situation. The ship accident site monitoring system comprises an AIS receiving and transmitting station, a CCTV video monitoring station, a radar detection station, a radar antenna, a radar signal processing system and a control system.
Meanwhile, a remote accurate throwing lifesaving device is additionally arranged in the unmanned marine vessel, and rescue facilities such as a small patrol rubber boat, an unmanned small boat and the like are provided. After the marine distress personnel are accurately searched, rescue personnel or rescue equipment can be carried by putting down a small rubber boat or an unmanned ship to accurately arrive at a rescue position in a remote control mode due to the fact that the height of the large ship is high, so that rescue is carried out on the marine distress personnel.
The method comprises the steps that an ejection type survival bin is carried in an offshore unmanned ship, after an accident sea area is reached, scene images of the accident position are obtained according to ship monitoring equipment, the contrast of different color channels in the scene images are subjected to color level adjustment by adopting an automatic color level algorithm, image enhancement is completed, sea conditions of the accident position are judged according to the enhanced scene images, when the sea conditions are bad, lifesaving materials can be accurately projected to the accident ship and a range within 10 meters of personnel, when the sea conditions are good, the offshore unmanned ship can sail to the accident specific position to directly perform search and rescue work, meanwhile, a small unmanned ship is carried in the offshore unmanned ship, and the unmanned ship is flying in the accident sea area after reaching the accident sea area, and is in a three-dimensional monitoring and rescue state.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An offshore emergency burst search and rescue treatment method based on an island-unmanned ship platform is characterized by comprising the following steps of:
acquiring a monitoring range, and constructing a plurality of cruising paths of the offshore unmanned ship based on the monitoring range;
enabling the unmanned marine vessel to navigate at a constant speed according to the cruising path; the navigation speeds and directions of a plurality of the offshore unmanned ships are different;
acquiring an accident occurrence position, and determining an offshore unmanned ship nearest to the accident occurrence position based on the accident occurrence position;
carrying out search and rescue route planning on the offshore unmanned ship closest to the accident occurrence position;
enabling the offshore unmanned ship closest to the accident position to be reached according to the search and rescue route;
and acquiring a search and rescue target based on the offshore unmanned ship and searching and rescuing the search and rescue target.
2. The island-unmanned ship platform-based offshore emergency burst search and rescue treatment method according to claim 1, wherein the monitoring range is a circular range, and the process of constructing the cruising path of the offshore unmanned ship based on the monitoring range comprises:
setting ship monitoring equipment in the offshore unmanned ship, and acquiring a monitoring range of the ship monitoring equipment;
determining the cruising quantity of the unmanned marine vessels based on the monitoring range and the monitoring range of the ship monitoring equipment, and cruising the starting point of each unmanned marine vessel;
and constructing a cruising path of each offshore unmanned ship based on the monitoring range and the cruising starting point of each offshore unmanned ship.
3. The island-unmanned ship platform-based offshore emergency burst search and rescue disposal method according to claim 2, wherein the process of determining the cruising number of the unmanned ships and the cruising starting point of each unmanned ship based on the monitoring range and the monitoring range of the ship monitoring device comprises:
acquiring the circular diameter of the monitoring range, and acquiring the circular monitoring diameter of each offshore unmanned ship based on the monitoring range of the ship monitoring equipment;
determining the cruising quantity based on a ratio of the circular diameter to the circular monitoring diameter;
and segmenting the circular diameter based on the circular monitoring diameter, and taking the central point of each segmented segment as a cruising starting point of each offshore unmanned ship.
4. A method of handling offshore emergency burst searches and rescue based on an island-unmanned ship platform according to claim 3, wherein the process of constructing a cruising path of each unmanned ship based on the monitoring range and the cruising start point of each unmanned ship comprises:
and constructing a cruising path of each offshore unmanned ship by taking the central point of the monitoring range as an origin point and taking the distance from the cruising starting point of each offshore unmanned ship to the origin point as a radius.
5. The method for performing emergency burst search and rescue on an offshore unmanned ship based on an island-unmanned ship platform according to claim 1, wherein the process of performing search and rescue routing on the offshore unmanned ship nearest to the accident occurrence location comprises,
determining whether the accident occurrence position is in the navigation path of the offshore unmanned ship closest to the accident occurrence position; if yes, determining a route with the shortest distance based on the accident occurrence position and the navigation path, and taking the route with the shortest determined distance as the search and rescue route;
if not, acquiring the linear distance between the accident occurrence position and the closest offshore unmanned ship, and planning a search and rescue route based on the linear distance.
6. The island-unmanned ship platform-based offshore emergency burst search and rescue disposal method according to claim 5, wherein the process of search and rescue routing based on the straight line distance comprises:
judging whether the closest offshore unmanned ship collides with other offshore unmanned ships on the way to the accident position; if yes, the navigation speed of other offshore unmanned vessels is adjusted; if not, the offshore unmanned ship closest to the sea is made to search and rescue according to the straight line distance.
7. The island-unmanned ship platform-based offshore emergency burst search and rescue method according to claim 6, wherein the process of judging whether the closest offshore unmanned ship will collide with other offshore unmanned ships on its way to the accident-occurrence location comprises:
determining the intersection position of the straight line distance and the cruising paths of other offshore unmanned vessels;
acquiring a first sailing speed of the closest offshore unmanned ship and a second sailing speed of other offshore unmanned ships at the intersection position;
acquiring a current first position of the closest offshore unmanned ship and a current second position of the other offshore unmanned ships;
acquiring a first time for the closest offshore unmanned ship to reach the intersection position based on the distance between the first position and the intersection position in a straight line and the first navigation speed;
acquiring the voyage of other offshore unmanned vessels to the intersection position based on the cruising path of the second position and the other offshore unmanned vessels, and acquiring the second time of the other offshore unmanned vessels to the intersection position based on the second voyage speed;
if the first time is the same as the second time, judging that the two times are about to collide; and if the first time is different from the second time, judging that the first time and the second time are not in collision.
8. The island-unmanned ship platform-based offshore emergency burst search and rescue method according to claim 6, wherein in the process of adjusting the navigation speed of other offshore unmanned ships, judgment of collision is carried out once after each adjustment, and when the collision is not judged, the adjustment is stopped.
9. The island-unmanned ship platform-based marine emergency burst search and rescue method according to claim 1, wherein the ship monitoring equipment in the marine unmanned ship comprises, but is not limited to, a mobile middle and open sea water area AIS transceiver station, a radar detection station and a CCTV navigation station, and the process of acquiring a search and rescue target based on the marine unmanned ship and performing search and rescue on the search and rescue target comprises the following steps:
identifying a search and rescue target based on the ship monitoring equipment;
setting rescue facilities in the unmanned marine vessel, and searching and rescuing the search and rescue target based on the rescue facilities; the rescue facilities include, but are not limited to, small patrol acorn boats, unmanned boats.
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| CN202211552171.6A CN116009534A (en) | 2022-12-05 | 2022-12-05 | Offshore emergency burst search and rescue treatment method based on island reef-unmanned ship platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116337083A (en) * | 2023-05-22 | 2023-06-27 | 江苏物润船联网络股份有限公司 | Navigation method and system for ship rescue path |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116337083A (en) * | 2023-05-22 | 2023-06-27 | 江苏物润船联网络股份有限公司 | Navigation method and system for ship rescue path |
| CN116337083B (en) * | 2023-05-22 | 2023-08-04 | 江苏物润船联网络股份有限公司 | Navigation method and system for ship rescue path |
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