CN116424501A - Autonomous search and rescue unmanned ship and autonomous search and rescue method - Google Patents
Autonomous search and rescue unmanned ship and autonomous search and rescue method Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000008447 perception Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- B63B49/00—Arrangements of nautical instruments or navigational aids
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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
-
- 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
-
- 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
- B63C9/18—Inflatable equipment characterised by the gas-generating or inflation device
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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
- B63C9/22—Devices for holding or launching life-buoys, inflatable life-rafts, or other floatable life-saving equipment
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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
- B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/005—Search and rescue [SAR] vessels
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
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- Remote Sensing (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Emergency Lowering Means (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an autonomous search and rescue unmanned ship and an autonomous search and rescue method, comprising the following steps: the unmanned ship body is provided with an information sensing module for acquiring real-time position information and real-time image information of people falling into water; the intelligent decision module is used for obtaining a control instruction of the autonomous navigation module according to the real-time position information of the person falling into water; calculating to obtain a life jacket ejection angle of the life jacket ejection module; according to the real-time image information of the person falling into the water, a command for ejecting the life-saving air cushion and a traction command are sent to the life-saving equipment ejection module; the autonomous navigation module is used for driving the unmanned ship body to navigate to a rescue berth; the life-saving equipment ejection module is used for ejecting life jackets to people falling into water according to the life jacket ejection angle of the life-saving equipment ejection module; and the device is used for ejecting the life-saving air cushion according to the command of ejecting the life-saving air cushion and pulling the person falling into the water to the life-saving air cushion according to the pulling command.
Description
Technical Field
The invention belongs to the technical field of unmanned ships, and particularly relates to an autonomous search and rescue unmanned ship and an autonomous search and rescue method.
Background
In recent years, the combination of unmanned ships and subjects such as artificial intelligence, communication and sensing technology has gradually become intelligent water craft integrating intelligent perception, autonomous decision-making and remote control, and the intelligent water craft is gradually put into various tasks such as patrol, monitoring and rescue. The current marine rescue mode is to throw out a life buoy to a person falling into water for rescue after a large rescue ship reaches a marine disaster location, the rescue mode can lead to continuous expansion of the search and rescue range due to seawater flowing, and when the large rescue ship encounters weather conditions with low visibility such as night, rain and fog and the like, the search and rescue can become more difficult, and the danger degree is greatly increased.
Disclosure of Invention
The invention aims to: in order to solve the problems that the existing rescue ship is difficult to search and rescue, high in search and rescue danger and the like in environments with low visibility such as the night, rain and fog, the invention provides an autonomous search and rescue unmanned ship and an autonomous search and rescue method, which utilize vision and millimeter wave radars to carry out target detection, can accurately detect the position of people falling into water, improve rescue efficiency and reduce rescue risks.
The technical scheme is as follows: an autonomous search and rescue unmanned ship, comprising: the unmanned ship comprises an unmanned ship body, and an information sensing module, an intelligent decision module, an autonomous navigation module and a life-saving equipment ejection module which are arranged on the unmanned ship body;
the information sensing module is used for judging whether the person falls into water or not, and acquiring real-time position information and real-time image information of the person falling into water when the person falls into water;
the intelligent decision module is used for determining an optimal rescue parking point according to the real-time position information of the person falling into water and obtaining a control instruction of the autonomous navigation module; when the unmanned ship body is sailed to the optimal rescue landing point, calculating to obtain a life jacket ejection angle of the life jacket ejection module according to the current position information of the person falling into the water; according to the real-time image information of the area where the person falling into the water is located, when the person falling into the water is judged to wear the life jacket, a command for ejecting the life jacket and a traction command are sent to the life jacket ejection module;
the autonomous navigation module is used for driving the unmanned ship body to navigate to an optimal rescue berth according to the control instruction;
the life-saving equipment ejection module is used for ejecting life jackets to people falling into water according to the life jacket ejection angle of the life-saving equipment ejection module; and the device is used for ejecting the life-saving air cushion according to the command of ejecting the life-saving air cushion and pulling the person falling into the water to the life-saving air cushion according to the pulling command.
Further, the information sensing module comprises a millimeter wave radar and a network camera, wherein the millimeter wave radar is arranged at the bow of the unmanned ship body and is used for judging whether a person falling into water exists or not, and when the person falling into water exists, the real-time distance between the person falling into water and the unmanned ship body is obtained; the network camera is arranged at the top of the unmanned ship body and is used for acquiring real-time image information of an area where the person falls into water and real-time position information of the person falling into water only when the millimeter wave radar judges that the person falling into water exists.
Further, the system also comprises a communication module, wherein the communication module is used for acquiring a search and rescue command from a rescue mother ship, and the search and rescue command comprises a search and rescue area; transmitting the search and rescue command to an intelligent decision module;
the intelligent decision module is used for obtaining a control instruction of the autonomous navigation module according to a search and rescue command from the rescue mother ship, so that the unmanned ship body navigates to a search and rescue area.
Further, the autonomous navigation module comprises an energy power device and a motion control device;
the energy power equipment is used for providing power for the unmanned ship body;
the motion control equipment is used for controlling the motion gesture of the unmanned ship body according to the control instruction.
Further, the life-saving equipment ejection module comprises a life-saving clothes ejection device, a life-saving air cushion ejection device and an ejection device control assembly;
the life jacket catapulting device comprises a plurality of self-inflatable life jackets and a plurality of traction mechanisms, one traction mechanism corresponds to one self-inflatable life jacket,
the lifesaving air cushion ejection device comprises a self-inflating lifesaving air cushion arranged at the stern of the unmanned ship body;
the ejection device control assembly is used for controlling the life jacket ejection device to eject the life jacket to a person falling into water according to the life jacket ejection angle of the life jacket ejection module of the life jacket equipment; and the device is used for controlling the life-saving air cushion ejection device to eject the life-saving air cushion according to the command of ejecting the life-saving air cushion, and controlling the corresponding traction mechanism to drag the person falling into water to the life-saving air cushion according to the traction command.
Further, the life jacket ejection device further comprises: the ejection cylinder, the supporting shaft rod and the horizontal rotating base; the self-inflatable life jacket and the traction mechanism are arranged in an ejection cylinder, the ejection cylinder is movably connected with a supporting shaft rod through a rotating bearing, and the supporting shaft rod is arranged on the unmanned ship body through a horizontal rotating base.
The invention discloses an autonomous search and rescue method, which comprises the following steps:
step 1: judging whether a person falling into water exists or not, and acquiring position information of the person falling into water only when the person falling into water exists;
step 2: planning a navigation path according to the position information of the person falling into water, and navigating to an optimal rescue parking point according to the planned navigation path;
step 3: according to the current position information of the person falling into the water, calculating to obtain a life jacket ejection angle; based on the ejection angle of the life jacket, ejecting the life jacket to people falling into water;
step 4: judging whether the person falling into the water wears the life jacket according to the image information of the area where the person falling into the water is located, and ejecting the life-saving air cushion only after the person falling into the water wears the life jacket;
step 5: and pulling the person falling into the water to the position of the lifesaving air cushion according to the current position information of the person falling into the water and the position of the lifesaving air cushion.
Further, in step 1, whether a person falls into water is judged through a millimeter wave radar.
Further, in step 1, the step of obtaining the position information of the person falling into the water includes:
only when the existence of the person falling into water is judged, acquiring image information comprising the area where the person falling into water is located through the network camera;
and obtaining the position information of the person falling into the water through an image enhancement algorithm and a target detection algorithm.
Further, the step 3 specifically includes:
according to the current position information of the person falling into the water, calculating to obtain a life jacket ejection angle;
and when the landing position of the life jacket is within a set error range, the life jacket is ejected to people falling into the water based on the ejection angle of the life jacket.
The beneficial effects are that: compared with the prior art, the invention has the following advantages:
(1) The invention utilizes the intelligent decision module of the information sensing module, the autonomous navigation module and the ejection module of the lifesaving device, can realize autonomous searching of people falling into water and timely rescue;
(2) The invention utilizes the millimeter wave radar and the camera information fusion detection, is more suitable for dark rain and fog environments, and the imaging effect of the camera is poor under the condition of low visibility, and the detection time can be increased; therefore, firstly, a millimeter wave radar is adopted to lock a region of interest and then camera target detection is carried out, so that the detection time is shortened, and the efficiency of searching and rescuing unmanned ships in dark, rainy fog and other environments for searching and rescuing people falling into water is improved;
(3) The ejection device of the life jacket device can rotate in the horizontal direction and the vertical direction, the ejection angle can be automatically adjusted according to the position of a person falling into the water, the automatic inflatable life jacket and the traction rope for connecting the ship body and the life jacket are arranged in the life jacket device, so that the life jacket can be ejected to the person falling into the water timely and accurately, and the person falling into the water can be pulled to the life jacket;
(4) The lifesaving air cushion ejection device is arranged at the stern, is internally provided with the water automatic inflatable lifesaving air cushion, has small occupied area when not in use, can carry people falling into water in the rescue process, reduces the rescue time and improves the rescue efficiency.
Drawings
FIG. 1 is a schematic perspective view of an autonomous search and rescue unmanned ship according to the present invention;
FIG. 2 is a plan cross-sectional view of the autonomous search and rescue unmanned ship of the present invention;
FIG. 3 is a rescue flow chart of the autonomous search and rescue unmanned ship of the present invention.
Detailed Description
The technical scheme of the invention is further described with reference to the accompanying drawings and the embodiments.
Example 1:
as shown in fig. 1 and fig. 2, the embodiment discloses an autonomous search and rescue unmanned ship, which mainly comprises an unmanned ship body, an information sensing module, an intelligent decision module, a communication module, an autonomous navigation module and a lifesaving equipment ejection module; the information sensing module, the intelligent decision module, the communication module, the autonomous navigation module and the life-saving equipment ejection module are all configured on the unmanned ship body.
The information sensing module mainly comprises a millimeter wave radar 2 and a network camera 3, wherein the millimeter wave radar 2 is arranged at the bow of the unmanned ship body and is used for judging whether a person falling into water exists in a detection area or not, and when the person falling into water exists, the real-time distance between the unmanned ship body and the person falling into water is acquired in real time. When the millimeter wave radar 2 returns to indicate that there is a person falling into the water in the detection area, the network camera 3 provided on the top of the unmanned ship's hull will capture the image information of the area. Meanwhile, the target detection model enhances the acquired regional image information through an algorithm, and detects the position of falling water to obtain the coordinate information of the person falling into water. The information sensing module transmits the coordinate information and the distance information to the intelligent decision module.
The intelligent decision-making module is arranged in the middle of the unmanned ship body and is used for planning a rescue path according to real-time position information of people falling into water and transmitting the planned rescue path to the autonomous navigation module. The planned rescue path refers to a control instruction for the autonomous navigation module; when the unmanned ship body sails to the rescue landing point, calculating to obtain a life jacket ejection angle of the life jacket ejection module according to the current position information of the person falling into the water; and the device is used for sending a command and a traction command for ejecting the life-saving air cushion to the life-saving equipment ejection module when the person falling into the water is judged to wear the life-saving clothes according to the real-time image information of the area where the person falling into the water is located.
The communication module is satellite communication equipment 5, the satellite communication equipment 5 is arranged at the top of the unmanned ship body, the satellite communication equipment 5 is in satellite network, wireless communication between the unmanned ship and the search and rescue mother ship is achieved, the search and rescue mother ship sends search and rescue commands to the unmanned ship, the search and rescue commands comprise search and rescue areas, and the intelligent decision-making module obtains control commands for the autonomous navigation module according to the search and rescue commands from the rescue mother ship, so that the unmanned ship body can navigate to the search and rescue areas.
The autonomous navigation module mainly comprises energy power equipment, motion control equipment and positioning navigation equipment, wherein the energy power equipment mainly comprises a motor 6, a full-rotation nacelle propeller 7 and a storage battery 8, the storage battery supplies power for the motor, and the motor drives the propeller to rotate so as to provide power for the unmanned ship; the energy power equipment is arranged at the rear side of the unmanned ship body and provides power for the unmanned ship body; the positioning navigation device of the present embodiment is disposed on top of the unmanned ship, and in some embodiments, the Beidou global positioning system 9 may be used to monitor the speed, longitude information, latitude information and time information of the unmanned ship in real time. The aim of adopting to dispose positioning navigation equipment on unmanned ship is that: the real-time position information of the unmanned ship is transmitted to the search and rescue mother ship, so that the search and rescue mother ship can conveniently monitor the related information of the search and rescue unmanned ship in real time, and the unmanned ship can be conveniently recalled and controlled under emergency conditions. The motion control device of the embodiment is arranged in the middle of the unmanned ship body, and controls the motion gesture of the unmanned ship body according to the rescue path.
The life-saving equipment ejection module mainly comprises a life-saving clothes ejection device 11, a life-saving air cushion ejection device 12 and an ejection device control component 13. The life jacket catapulting device 11 is distributed on a deck of the unmanned ship body, a self-inflatable life jacket is arranged in the life jacket catapulting device 11, a traction rope is arranged on the self-inflatable life jacket, and the other end of the traction rope is fixed on the unmanned ship body. The life jacket ejection device 11 of the embodiment can rotate 180 degrees in the horizontal direction and 90 degrees in the vertical direction, so that the life jacket ejection device 11 can perform self-inflatable life jacket ejection around the unmanned ship body by 360 degrees. Specifically, the life jacket ejection device 11 of the embodiment includes an ejection cylinder, a supporting shaft lever, a horizontal rotation base and a self-inflatable life jacket; the self-inflatable life jacket is arranged in an ejection cylinder, a rotatable bearing is arranged between the ejection cylinder and a supporting shaft rod, and the rotation in the vertical direction is supported; a horizontal rotating base is arranged between the supporting shaft rod and the ship body and supports the horizontal rotation. The life-saving air cushion ejection device 12 of the embodiment is arranged at the stern of the unmanned ship body, when the network camera detects that a person falling into water wears life jackets, the intelligent decision module 4 sends out instructions, the ejection device control component 13 controls the life-saving air cushion ejection device 12 to eject water into water from the inflatable life-saving air cushion, controls the life jacket ejection device 11 to adjust the angle, and withdraws the traction rope to draw the person falling into water to the life-saving air cushion.
According to the autonomous search and rescue unmanned ship, the network cameras are utilized to detect the people falling into the water, the millimeter wave radar measures the information such as the distance of the people falling into the water, the detection information is fused to output the coordinates of the people falling into the water, the angle of the ejection device of the lifesaving device is adjusted according to the output coordinates, the purposes of rapidly and accurately rescuing the positions of the people falling into the water and timely rescuing the people falling into the water are achieved, the positions of the people falling into the water can be accurately detected under the environment with low visibility such as rain, fog, night and the like, the life jacket is ejected to the people falling into the water in time, the people falling into the water are carried back into the search and rescue mother ship, and the rescue efficiency is improved. As shown in fig. 3, the search and rescue process of this embodiment mainly includes:
step 1: the search and rescue mother ship inputs a search and rescue area signal to the search and rescue unmanned ship and sends out a navigation instruction;
step 2: starting the unmanned search and rescue ship to independently navigate to a search and rescue area, starting a millimeter wave radar and a network camera to search targets in the search and rescue area, detecting the search and rescue area by the millimeter wave radar, judging whether people falling into water exist in the detection area, and returning to the target real-time distance; if the radar wave returns to indicate that people fall into water, the camera captures the image information of the area. Meanwhile, the target detection model enhances the acquired image through an algorithm, detects the position of the person falling into water in real time by a radar and a camera, and transmits the position coordinates and the distance to an intelligent decision module;
step 3: the intelligent decision module determines an optimal rescue parking point according to the received real-time coordinates and distance of the target, and performs navigation path planning, and the unmanned ship runs to the path planning target position;
step 4: the unmanned ship keeps real-time detection and positioning of the person falling into water in the running process, and after the unmanned ship runs to a target berthing point, the position coordinates of the person falling into water are output and transmitted to the intelligent decision module;
step 5: the method comprises the steps of adjusting the ejection angle of the life jacket in real time according to the position coordinates of the person falling into the water, and controlling the life jacket ejection device to eject the life jacket by the ejection device control component when the position coordinates of the person falling into the water and the ejection coordinates of the life jacket are within an error range;
step 6: the camera keeps real-time detection of the rescue scene, and after detecting that all people falling into water wear life jackets, the ejection device control component controls the life-saving air cushion ejection device to eject the life-saving air cushion;
step 7: after the life-saving air cushion is ejected and inflated, the angle of the life-saving clothes ejection device is adjusted, and the traction rope is retracted to draw all people falling into the water to the life-saving air cushion;
step 8: after detecting that the rescue workers all log on the rescue cushion, the unmanned search and rescue ship sends a return application to the mother search and rescue ship, and starts to return to the mother ship after receiving a return signal, so that rescue behavior is completed.
When the system and the method are used for executing tasks, the network cameras and millimeter wave radar information can be fused, specific position detection of people falling into water can be searched in severe environments such as darkness and rain fog, and the life-saving device can be accurately launched to the people falling into water, so that the perception capability of the unmanned search and rescue ship is improved, the search and rescue tasks can be completed rapidly and accurately, the rescue efficiency is improved, and the manual rescue cost and risk are reduced.
Claims (10)
1. An autonomous search and rescue unmanned ship, which is characterized in that: comprising the following steps: the unmanned ship comprises an unmanned ship body, and an information sensing module, an intelligent decision module, an autonomous navigation module and a life-saving equipment ejection module which are arranged on the unmanned ship body;
the information sensing module is used for judging whether the person falls into water or not, and acquiring real-time position information and real-time image information of the person falling into water when the person falls into water;
the intelligent decision module is used for determining an optimal rescue parking point according to the real-time position information of the person falling into water and obtaining a control instruction of the autonomous navigation module; when the unmanned ship body is sailed to the optimal rescue landing point, calculating to obtain a life jacket ejection angle of the life jacket ejection module according to the current position information of the person falling into the water; according to the real-time image information of the area where the person falling into the water is located, when the person falling into the water is judged to wear the life jacket, a command for ejecting the life jacket and a traction command are sent to the life jacket ejection module;
the autonomous navigation module is used for driving the unmanned ship body to navigate to an optimal rescue berth according to the control instruction;
the life-saving equipment ejection module is used for ejecting life jackets to people falling into water according to the life jacket ejection angle of the life-saving equipment ejection module; and the device is used for ejecting the life-saving air cushion according to the command of ejecting the life-saving air cushion and pulling the person falling into the water to the life-saving air cushion according to the pulling command.
2. An autonomous search and rescue unmanned ship as defined in claim 1, wherein: the information sensing module comprises a millimeter wave radar and a network camera, wherein the millimeter wave radar is arranged at the bow of the unmanned ship body and is used for judging whether a person falling into water exists or not, and when the person falling into water exists, the real-time distance between the person falling into water and the unmanned ship body is obtained; the network camera is arranged at the top of the unmanned ship body and is used for acquiring real-time image information of an area where the person falls into water and real-time position information of the person falling into water only when the millimeter wave radar judges that the person falling into water exists.
3. An autonomous search and rescue unmanned ship as defined in claim 1, wherein: the system also comprises a communication module, wherein the communication module is used for acquiring a search and rescue command from the rescue mother ship, and the search and rescue command comprises a search and rescue area; transmitting the search and rescue command to an intelligent decision module;
the intelligent decision module is used for obtaining a control instruction of the autonomous navigation module according to a search and rescue command from the rescue mother ship, so that the unmanned ship body navigates to a search and rescue area.
4. An autonomous search and rescue unmanned ship as defined in claim 1, wherein: the autonomous navigation module comprises energy power equipment and motion control equipment;
the energy power equipment is used for providing power for the unmanned ship body;
the motion control equipment is used for controlling the motion gesture of the unmanned ship body according to the control instruction.
5. An autonomous search and rescue unmanned ship as defined in claim 1, wherein: the life-saving equipment ejection module comprises a life-saving clothes ejection device, a life-saving air cushion ejection device and an ejection device control assembly;
the life jacket catapulting device comprises a plurality of self-inflatable life jackets and a plurality of traction mechanisms, one traction mechanism corresponds to one self-inflatable life jacket,
the lifesaving air cushion ejection device comprises a self-inflating lifesaving air cushion arranged at the stern of the unmanned ship body;
the ejection device control assembly is used for controlling the life jacket ejection device to eject the life jacket to a person falling into water according to the life jacket ejection angle of the life jacket ejection module of the life jacket equipment; and the device is used for controlling the life-saving air cushion ejection device to eject the life-saving air cushion according to the command of ejecting the life-saving air cushion, and controlling the corresponding traction mechanism to drag the person falling into water to the life-saving air cushion according to the traction command.
6. An autonomous search and rescue unmanned ship as defined in claim 1, wherein: the life jacket ejection device further comprises: the ejection cylinder, the supporting shaft rod and the horizontal rotating base; the self-inflatable life jacket and the traction mechanism are arranged in an ejection cylinder, the ejection cylinder is movably connected with a supporting shaft rod through a rotating bearing, and the supporting shaft rod is arranged on the unmanned ship body through a horizontal rotating base.
7. An autonomous search and rescue method is characterized in that: the method comprises the following steps:
step 1: judging whether a person falling into water exists or not, and acquiring position information of the person falling into water only when the person falling into water exists;
step 2: planning a navigation path according to the position information of the person falling into water, and navigating to an optimal rescue parking point according to the planned navigation path;
step 3: according to the current position information of the person falling into the water, calculating to obtain a life jacket ejection angle; based on the ejection angle of the life jacket, ejecting the life jacket to people falling into water;
step 4: judging whether the person falling into the water wears the life jacket according to the image information of the area where the person falling into the water is located, and ejecting the life-saving air cushion only after the person falling into the water wears the life jacket;
step 5: and pulling the person falling into the water to the position of the lifesaving air cushion according to the current position information of the person falling into the water and the position of the lifesaving air cushion.
8. The autonomous search and rescue method as defined in claim 7, wherein: in the step 1, whether people falling into water exist or not is judged through a millimeter wave radar.
9. The autonomous search and rescue method as defined in claim 7, wherein: in step 1, the step of obtaining the position information of the person falling into the water includes:
only when the existence of the person falling into water is judged, acquiring image information comprising the area where the person falling into water is located through the network camera;
and obtaining the position information of the person falling into the water through an image enhancement algorithm and a target detection algorithm.
10. The autonomous search and rescue method as defined in claim 7, wherein: the step 3 specifically comprises the following steps:
according to the current position information of the person falling into the water, calculating to obtain a life jacket ejection angle;
and when the landing position of the life jacket is within a set error range, the life jacket is ejected to people falling into the water based on the ejection angle of the life jacket.
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