WO2015144947A1 - Système de sauvetage - Google Patents

Système de sauvetage Download PDF

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Publication number
WO2015144947A1
WO2015144947A1 PCT/ES2015/000040 ES2015000040W WO2015144947A1 WO 2015144947 A1 WO2015144947 A1 WO 2015144947A1 ES 2015000040 W ES2015000040 W ES 2015000040W WO 2015144947 A1 WO2015144947 A1 WO 2015144947A1
Authority
WO
WIPO (PCT)
Prior art keywords
rescue
rpas
subsystem
emergency
rescue system
Prior art date
Application number
PCT/ES2015/000040
Other languages
English (en)
Spanish (es)
Inventor
José Manuel ANDUJAR MARQUEZ
Andrés Mejias Borrero
Marco Antonio Marquez Sanchez
María Reyes Sanchez Herrera
Original Assignee
Universidad De Huelva
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidad De Huelva filed Critical Universidad De Huelva
Publication of WO2015144947A1 publication Critical patent/WO2015144947A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J31/00—Apparatus for making beverages
    • A47J31/24—Coffee-making apparatus in which hot water is passed through the filter under pressure, i.e. in which the coffee grounds are extracted under pressure
    • A47J31/34—Coffee-making apparatus in which hot water is passed through the filter under pressure, i.e. in which the coffee grounds are extracted under pressure with hot water under liquid pressure
    • A47J31/36—Coffee-making apparatus in which hot water is passed through the filter under pressure, i.e. in which the coffee grounds are extracted under pressure with hot water under liquid pressure with mechanical pressure-producing means
    • A47J31/3604—Coffee-making apparatus in which hot water is passed through the filter under pressure, i.e. in which the coffee grounds are extracted under pressure with hot water under liquid pressure with mechanical pressure-producing means with a mechanism arranged to move the brewing chamber between loading, infusing and ejecting stations
    • A47J31/3609—Loose coffee being employed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J31/00—Apparatus for making beverages
    • A47J31/44—Parts or details or accessories of beverage-making apparatus
    • A47J31/4403—Constructional details
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • 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
    • B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft

Definitions

  • the present invention relates to a complete system, capable of reaching a person in danger of drowning (bathers, float crew, small boats, etc.) emergency equipment such as a life jacket, from a base or a rescue post located on the ground, by means of a robotic flying device, scientifically called RPAS (Remotely Piloted Aerial / Aircraft / Air System) and that adopts in society in general names such as UAV, UAS, VANT, multicopter or drone, according to its variant (hereinafter will adopt the generic name of RPAS).
  • RPAS Remote Piloted Aerial / Aircraft / Air System
  • the system is able to reach the exact point where the person is in danger of drowning automatically, keep the flight over its position and launch the emergency material at the precise point where it is located.
  • the RPAS may have a video camera that sends a real-time image (preferably with sound) to the ground rescue station of the person in danger of drowning from a low height.
  • the RPAS can have a sound receiver and a speaker, which allows the rescue post to send voice instructions.
  • the rescue system supports both a single-position configuration (a single RPAS) and a configuration with multiple RPAS that work in cooperation to cover a wider coastal area.
  • a single RPAS single-position configuration
  • RPAS multiple RPAS that work in cooperation to cover a wider coastal area.
  • the exact position of the person in danger of drowning is determined by a control system located at the rescue station on the ground, supported by other systems as described in this document.
  • This service consists of a human component (first responders, medical personnel, etc.) and a set of material resources, such as inflatable boats, jet skis or individual assistance systems (personal floats, life jackets, etc.) that the lifeguard makes reach the person in danger of drowning either by swimming or using motorized resources such as those already mentioned.
  • material resources such as inflatable boats, jet skis or individual assistance systems (personal floats, life jackets, etc.) that the lifeguard makes reach the person in danger of drowning either by swimming or using motorized resources such as those already mentioned.
  • these means require a total performance of the human component at all times and can be slow.
  • the time needed to reach the person in danger of drowning a first aid for their survival depends on factors such as the orography of the coastal area, availability of nearby rescue boats, distance from the relief team to the media and the area where the person is in danger of drowning, etc.
  • Coastal maritime rescue services based on observation towers and lifeguards on land, must cover extensive coastal areas, to provide assistance to bathers and other users in positions relatively close to the coast.
  • the time that elapses since a lifeguard locates a person in danger of drowning until he receives help at sea is a critical factor, since it its survival depends in many cases.
  • This response time can also be strongly influenced by the orography of the area, such as the presence of rocks and other obstacles.
  • the invention presented here optimizes the response time by using RPAS that immediately and directly carry a first aid to the person in danger of drowning in the form of an automatic inflation lifejacket.
  • This invention makes it possible to eliminate some of the factors that do delay the classic method (usually consisting of motorized inflatable boats, or jet skis) from the response time of a rescue system, such as terrain orography or preparation time or the availability of the rescue boat.
  • the RPAS can arrive in a straight line to the position of the person in danger of drowning or vessel at risk, regardless of the obstacles that are in that path, and that are easily avoidable by adjusting of the flight height on the way.
  • the present invention by its characteristics, optimizes the time needed to reach the person in danger of drowning a first aid, in the form of a personal rescue device, until the rescue personnel who come to their rescue can arrive.
  • the rescue system consists of at least one robotic flying device, RPAS (drone, multicopter or others), with a flight device subsystem that manages its transfer to the emergency point indicated by a rescue client subsystem which is the in charge of identifying the emergency position and transmitting the coordinates to the RPAS through a communications subsystem, for example wireless.
  • the flight device subsystem also decides on the release of the relief load.
  • the rescue client subsystem can calculate the emergency coordinates.
  • the rescue client subsystem comprises a base microphone and a wireless sound transmission system
  • the flight device subsystem comprises a wireless audio receiver connected to a speaker.
  • the flight device subsystem has a camcorder and a wireless audio / video transmission system for broadcast to a video / audio receiver arranged in the rescue client subsystem, which issues it by a lifeguard computer or control center.
  • the camcorder can be mounted on a self-stabilized stand by means of an electronic management unit, and comprise night vision means.
  • the RPAS may have elements that facilitate its location, by the person at risk (which gives certainty that the relief is coming soon) or by the emergency services that come to rescue the person at risk, who They can locate it more easily. These can be strobe lights or the speaker itself. DESCRIPTION OF THE DRAWINGS
  • Figure 1 General view of the system of the invention where its main components are indicated.
  • Figure 2 Diagram of the components of an RPAS of the flight device subsystem.
  • Figure 3 Enlarged view of the different components of the rescue client subsystem.
  • each RPAS corresponds to a multicopter.
  • the embodiment of the system of the invention shown in Figure 1 of this document preferably comprises the following main elements:
  • the emergency material will normally be a quick-inflation life jacket, preferably that it automatically inflates on contact with water or shortly after be launched by the RPAS (4), although it may include other salvage elements and auxiliary equipment such as flares or signaling buoys, concentrated foods or isotonic liquid, etc.
  • the RPAS (4) will incorporate all the necessary elements to receive the flight parameters when they are in the ground base, preferably wirelessly. This allows you to quickly program the RPAS (4) and then start the support mission.
  • This will consist of a microcontrolled system for wireless reception of flight parameters (100). This system will be based on a microprocessor board that is mounted on the RPAS itself (4), with connection to the system network (Wifi or equivalent technology), and that makes these parameters available to the navigation control system.
  • the RPAS (4) may autonomously reach the point where the person is in danger of drowning, to maintain the position on it and then return to the base station.
  • This will consist of a navigation control system (110) based on a GPS (111) or other geolocation system (radio beacons, ).
  • the system can follow a route based on the coordinates it receives on land.
  • the RPAS (4) will be able to send in real time a video image (with sound) of the area where the person is in danger of drowning (taken from the flight position).
  • a digital camcorder (120) preferably with a remotely manipulable zoom, for example through the flight control system (180) from the user interface, or an automatic zoom that regulates the image once identified by a operator or by an image recognition system the person at risk. It is recommended that you understand night vision elements.
  • the camcorder (120) will preferably be mounted on a self-stabilized support (121) by means of an electronic administration unit (122) and may have a microphone.
  • the RPAS (4) will comprise a wireless audio / video transmission system (130).
  • the receivers will be installed in the rescue client subsystems (2), thus providing the image and sound from the RPAS (4) on the computer of the rescue client subsystem.
  • the RPAS (4) will also allow you to receive a sound stream wirelessly and play it through a self-powered speaker (140) or connected to a small integrated amplifier (142).
  • the RPAS (4) will comprise a wireless audio receiver (141), which will receive the sound from the base microphone of the lifeguard who activated the mission or the control center.
  • the person in danger of drowning can receive instructions, and know that relief is on its way.
  • the load securing system (150) will be electronically controlled to release the load, usually of a small size, by means of servomotors that will release the retentions.
  • the servomotors will be controlled from the flight control system (180), by means of specific channels for it so that they do not interfere with the other functions of the flight control system (180). It is advisable to facilitate the visual location of the RPAS (4), already simple because of its low flight height, using one or more strobe lights (160) all horizon, and eventual sounds through the speaker (140).
  • the RPAS (4) will comprise the consequent engines (170) activated and controlled by the engine control system (171), at the command of the flight control system (180), as well as the corresponding power supply of all systems .
  • the lifeguard uses a rescue client subsystem (2) to determine the exact position of the person in danger of drowning who is sighting through his observation binoculars, (200), which preferably will have laser telemetry and compass or compass to correctly locate the emergency coordinates from the position, known, of the lifeguard post or observation tower.
  • the distance and orientation will be introduced by the lifeguard, or transmitted directly by the observation binoculars (200), on a computer (210), tablet digital or similar instrument, client with the control software to calculate the GPS coordinates of the emergency, and calculate the flight parameters, (altitude, destination, base station of return, maintenance of rescue position) to be sent to the device subsystem of flight (1).
  • the user interface should be simple to enter the fundamental orders without requiring great training.
  • the computer (210) will select the RPAS (4), if more than one is available, which will perform the service. Normally the one that identifies the person closest to the danger, or more prepared according to the parameters of the emergency (number of people, ...) or the state of the RPAS (4).
  • the computer (210) will have access to the RPAS database (4) of the system (resident concurrently in all client computers), to have the units that are currently operational and their conditions of loading and fuel or battery If any RPAS (4) is not operational (for example for maintenance reasons) it will be marked in the database as "non-operational". Likewise, if an RPAS (4) is performing a service, or must replace its load, it is marked during the duration of the mission as "non-operational", thus avoiding that a new support service that coincides with time may attempt to use an RPAS (4) already in service or empty.
  • the computer (210) will also proceed to the wireless transmission of data to the microcontrolled system of wireless reception of flight parameters (100) of the RPAS (4) chosen to perform the service.
  • the rescue client subsystem (2) will comprise a video / audio receiver (220) that receives from the RPAS (4) active the image and audio of the camcorder (120) located on board.
  • the video / audio receiver (220) is connected to the computer (210) that will display the video flow on the screen and provide the sound coming from the RPAS (4), preferably filtered to reduce the noise of the RPAS motors (4).
  • the invention will allow the person at risk to give information about their situation (cramps, hypothermia, wounds, ).
  • the RPAS (4) has a loudspeaker (140), and wireless sound transmission system (231)
  • the lifeguard can communicate with the person in danger of remote drowning, giving instructions and safety of his prompt assistance by his own base microphone (230).
  • the communications subsystem (3) will be formed by a wireless network that covers the land area that comprises the previous subsystems. Its mission is to maintain connectivity between the rescue client subsystems (2) and the flight device subsystems (1) of the RPAS (4) when they are on the ground (to program their flight plan and give the order to initiate the rescue service). A private network with Wifi or similar technology perfectly covers the needs of the robotic assistance system for coastal maritime rescue.
  • the communications subsystem (3) may be carried out by radio in the event of changing the emergency coordinates during the RPAS trip (4) to the emergency point, for example because the tide or currents have dragged the person in situation of emergency.
  • Example of operating mode Example of operating mode:
  • the client computer (210) of the rescue client subsystem (2) located in the lifeguard's observation tower calculates, based on these two data and the known GPS position (Global Positioning System) of the observer lifeguard, the swimmer's GPS position observed. In addition, it calculates the distance from each of the base stations where the RPAS (4) of the flight device subsystem (positions also known) are located to the person in danger of drowning, automatically choosing from this data the RPAS (4 ) closest available.
  • the computer (210) generates the flight parameters, sending them via the communications system (3) (a Wifi network) to the selected RPAS (4), which is programmed and begins the mission immediately, moving in a straight line to the place of the incident.
  • the load with the life jacket or other rescue device is released from the RPAS (4).
  • the lifeguard can see the swimmer using the RPAS camcorder (120) (4), and can instruct him by voice from the observation post.
  • the vest or other rescue device is automatically inflated, using the bottle of compressed air that it incorporates (this vest is an existing product in the market).
  • the RPAS (4) can remain in flight at the place of the incident, either static if it is a multicopter, or in circles if it is another type of drone, until a rescue boat or motorcycle arrives, thus facilitating these means to arrive at the scene of the incident by directly observing the position held by the RPAS (4), which also incorporates a strobe light pilot (160) to facilitate Your sighting Finally, the RPAS (4) returns to its base, thus terminating that rescue mission.
  • RPAS (4) it is also possible to place a plurality of RPAS (4) on a single base per beach, so that the rescue client subsystem (2) transmits to that base the azimuth and distance, as well as the position of the lifeguard (which can be detected by a geolocation system specific to the lifeguard or by the coordinates of his observation tower), and this base includes the RPAS and emergency monitoring equipment.
  • a single control center could manage several RPAS (4) and remotely manage emergency equipment over a long coastline. In this way, the lifeguard is released to remain alert to new emergencies, or to go by their means to attend to the person or people at risk.
  • control center will be able to respond to emergencies farther from the coast (within the scope of the RPAS (4)) that are received by other means, such as distress calls from vessels transferred by Maritime Rescue, which normally already will have obtained the coordinates of the emergency.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Food Science & Technology (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Emergency Alarm Devices (AREA)
  • Alarm Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de sauvetage, pour des urgences proches d'une côte, qui comprend au moins un dispositif robotisé volant, RPAS (4) (drone, multicoptère,...); un sous-système client de sauvetage (2) qui identifie la position de l'urgence et qui transmet, au moyen d'un sous-système de communications (3), par exemple sans fil, les coordonnées au RPAS (4), lequel possède un sous-système de dispositifs de vol (1) qui gère son déplacement jusqu'au site de l'urgence et la libération du chargement de secours. La position de l'urgence peut être calculée à partir des mesures d'azimut et de distance, calculées par des jumelles d'observation (200). Le RPAS (4) peut comprendre une caméra vidéo (120), un haut-parleur (140) ou des lumières stroboscopiques (160).
PCT/ES2015/000040 2014-03-28 2015-03-26 Système de sauvetage WO2015144947A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201430450A ES2549464B1 (es) 2014-03-28 2014-03-28 Sistema de salvamento
ESP201430450 2014-03-28

Publications (1)

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WO2015144947A1 true WO2015144947A1 (fr) 2015-10-01

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ES (1) ES2549464B1 (fr)
WO (1) WO2015144947A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101793434B1 (ko) * 2016-08-12 2017-11-03 이종필 드론 및 드론을 이용한 위험 모니터링 시스템
KR101804880B1 (ko) * 2016-06-20 2017-12-05 이종필 구조 요청용 드론 및 드론을 이용한 구조 요청 방법
CN109814589A (zh) * 2017-11-20 2019-05-28 南京模幻天空航空科技有限公司 基于无人机航摄技术航道事故处理系统及方法
US11136097B2 (en) * 2018-07-17 2021-10-05 BSS Technologies, Inc. System for dangerous current identification, characterization, alerting and for distressed swimmer location and assistance
KR102350056B1 (ko) * 2020-08-11 2022-01-11 공주대학교 산학협력단 튜브 투척 드론
US12057000B2 (en) 2018-07-17 2024-08-06 BSS Technologies, Inc. System for dangerous current identification, characterization, alerting and for distressed swimmer location and assistance

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CN203246590U (zh) * 2013-03-25 2013-10-23 重庆大学 空中辅助智能救援系统
GB2503207A (en) * 2012-05-30 2013-12-25 Instantview Ltd Apparatus for determining position and distance to objects

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US4949089A (en) * 1989-08-24 1990-08-14 General Dynamics Corporation Portable target locator system
US6056237A (en) * 1997-06-25 2000-05-02 Woodland; Richard L. K. Sonotube compatible unmanned aerial vehicle and system
US6558218B1 (en) * 2002-02-27 2003-05-06 The United States Of America As Represented By The Secretary Of The Navy Overboard rescue system
EP1462898A2 (fr) * 2003-03-27 2004-09-29 Saab Ab Navigation utilisant des points de repère
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101804880B1 (ko) * 2016-06-20 2017-12-05 이종필 구조 요청용 드론 및 드론을 이용한 구조 요청 방법
KR101793434B1 (ko) * 2016-08-12 2017-11-03 이종필 드론 및 드론을 이용한 위험 모니터링 시스템
CN109814589A (zh) * 2017-11-20 2019-05-28 南京模幻天空航空科技有限公司 基于无人机航摄技术航道事故处理系统及方法
US11136097B2 (en) * 2018-07-17 2021-10-05 BSS Technologies, Inc. System for dangerous current identification, characterization, alerting and for distressed swimmer location and assistance
US12057000B2 (en) 2018-07-17 2024-08-06 BSS Technologies, Inc. System for dangerous current identification, characterization, alerting and for distressed swimmer location and assistance
KR102350056B1 (ko) * 2020-08-11 2022-01-11 공주대학교 산학협력단 튜브 투척 드론

Also Published As

Publication number Publication date
ES2549464A1 (es) 2015-10-28
ES2549464B1 (es) 2016-05-27

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