阅读说明：本技术 智能型水上追踪救生装置及其工作方法 (Intelligent water tracking lifesaving device and working method thereof ) 是由 邓一兵 于 2020-05-21 设计创作，主要内容包括：本发明涉及一种智能型水上追踪救生装置及其工作方法,其主体为救生艇,救生艇内设有控制器。救生艇内部沿水平面环形均等分布设有用于接收求救定位讯号的讯号收发器,其中至少一个讯号收发器位于救生艇的正前端位置,讯号收发器电连接所述控制器,控制器设有将各讯号收发器接收的讯号强度比较的比较器,救生艇设定为：始终调整前进方向至正前端位置的讯号收发器所接收的讯号为最强,且该正前端位置的讯号收发器相比相邻两侧讯号收发器的讯号强度差值相同,直至所有讯号收发器中至少三个不在同一方向的讯号收发器所接收的讯号强度均达到救援设定值时,停止前进,实现自动救援操作,弥补了现有救生艇仅依靠导航救援,搜救可靠性不足的问题。(The invention relates to an intelligent water tracking life-saving device and a working method thereof. The interior of the lifeboat is provided with signal transceivers which are used for receiving positioning signals for asking for help in an annular and equal distribution manner along a horizontal plane, wherein at least one signal transceiver is positioned at the positive front end of the lifeboat, the signal transceivers are electrically connected with the controller, the controller is provided with a comparator which compares the signal intensity received by each signal transceiver, and the lifeboat is set as follows: the signal transceiver at the front end position is adjusted to be the strongest signal all the time, the signal transceiver at the front end position has the same signal intensity difference compared with the signal transceivers at the two adjacent sides, and the signal transceiver stops advancing until the signal intensities received by at least three signal transceivers which are not in the same direction in all the signal transceivers reach the rescue set value, so that the automatic rescue operation is realized, and the problem of insufficient search and rescue reliability caused by the fact that the existing lifeboat only depends on navigation rescue is solved.)

1. An intelligent water tracking life saving device, the main body of which is a lifeboat (1) with a built-in locator and a power device, wherein a controller which is remotely connected with a remote controller and controls each function of the lifeboat is arranged in the lifeboat; the rescue positioning device is characterized in that signal transceivers (6) for receiving rescue positioning signals are arranged in the lifeboat (1) in an annular equal distribution mode along a horizontal plane, at least one signal transceiver is located at the front end of the lifeboat and electrically connected with the controller, the controller is provided with a comparator for comparing the signal strength of signals received by the signal transceivers, and the lifeboat is set as follows: the signal transceiver of the positive front position is adjusted to receive the strongest signal all the time, and the signal strength difference value of the signal transceiver of the positive front position compared with the signal transceivers of the two adjacent sides is the same, until the signal strength received by at least three signal transceivers which are not in the same direction in all the signal transceivers is the same or all the signal strength reaches the identification upper limit value, the forward movement is stopped.

2. The intelligent water tracking life saving device according to claim 1, wherein the front end and the rear end of the lifeboat (1) are respectively provided with a camera A (2) and a camera B (3) for identifying and tracking the image of the person seeking help, the remote controller is provided with a display for displaying the image information of the camera A and the camera B, when the camera A and the camera B identify the image information of the person seeking help, the camera A and the camera B are set to shoot one image at a time interval, the controller is provided with an image processor which is used for calculating and comparing the image information shot before and after the time period and obtaining the direction information of the person seeking help, and the controller controls the advancing direction of the lifeboat according to the direction information of the person seeking help, when the advancing direction is different from the advancing direction judged by the signal transceiver, the direction information of the distress person processed by the image processor is used as the advancing direction of the lifeboat.

3. The intelligent water tracking life-saving device according to claim 2, wherein the image tracking information of the camera a (2) and the camera B (3) comprises human body features, colors and brightness, and the priority is from top to bottom, namely, the three are consistent, the two are consistent, and the human body features, the colors and the brightness are consistent.

4. The intelligent water tracking life saving device according to claim 2, wherein the camera A (2) and the camera B (2) are automatically focused, and the image processor calculates and compares the positions of the focus points shot from front to back in the image to obtain the azimuth information between the lifeboat (1) and the distress positioning signal transmitter (7).

5. An intelligent water tracking life saving device according to claim 2, wherein the lifeboat (1) is provided with stabilizing rudders (4) at both sides, the stabilizing rudders at both sides are provided with distance sensors (5) for sensing peripheral obstacles, and the distance sensors are electrically connected with the controller.

6. An intelligent water tracking life-saving device as claimed in claim 2, wherein the controller is provided with a time timer for starting timing when the lifeboat (1) stops at the position of the distress positioning signal transmitter (7), the remote controller is provided with an alarm, and when the time timer reaches an upper limit, the alarm gives an alarm in voice.

7. An intelligent water tracking life saving device according to claim 2, characterized in that a pressure sensor for sensing the weight of the passengers is arranged in the lifeboat (1).

8. An intelligent water tracking life saving device according to claim 2, characterized in that the lifeboat (1) is provided with a lighting device at the front end.

9. An operating method of the intelligent water tracking life saving device as claimed in claim 1, wherein the remote controller and the lifeboat (1) in the life saving device are provided with a one-key return button for controlling the return of the lifeboat; the rescue system is characterized in that the lifeboat (1) starts a locator and a signal transceiver (6) and reaches a designated search and rescue area according to manual remote control or automatic coordinate setting; after reaching the appointed search and rescue area, the signal transceiver receives the distress positioning signal sent by the distress positioning signal sender (7), the strength of the distress positioning signal is compared through a comparator in the controller, the advancing direction of the lifeboat is adjusted, so that the signal strength received by the signal transceiver at the front end position is always strongest, and the signal strength difference value of the signal transceiver at the front end position compared with the signal transceivers at the two adjacent sides is the same; when the signal intensity received by at least three signal transceivers which are not in the same direction in all the signal transceivers is the same or all the signal intensities reach the identification upper limit value, the lifeboat stops advancing; when a person seeking help climbs the lifeboat and presses a one-key return-to-the-fly button, the lifeboat automatically returns to the place of origin to finish rescue work.

10. An operation method of the intelligent water tracking life saving device as claimed in claim 6, wherein the remote controller and the lifeboat in the life saving device are provided with a one-key return button for controlling the return of the lifeboat (1); the method is characterized by comprising the following steps:

step 1: starting;

step 2: the initial point coordinate (X) of the lifeboat (1) is initially set₁、Y₁) And starting the lifeboat positioner and the controller;

step 3: selecting a search and rescue mode, and if the manual mode is selected, executing Step 4; if the automatic mode is selected, Step7 is executed;

step 4: the manual remote control lifeboat reaches a designated search and rescue point (X) according to the image information of the camera A and the camera B₂、Y₂) Confirming the target, and stopping after approaching the target;

step 5: judging whether the person seeking help takes the lifeboat or not according to the image information of the camera B, if so, executing Step 16; if not, returning to execute Step 4;

step 6: the lifeboat searches for and rescues the coordinate (X) according to presuming₂、Y₂) Automatically reaching the designated search and rescue range;

step 7: whether the signal strength received by at least three signal transceivers in all the signal transceivers (6) is the same or all the signal strength reaches the identification upper limit value, if so, Step9 is executed; if not, executing Step 8;

step8, adjusting the advancing direction of the lifeboat to the point that the signal intensity received by the signal transceiver at the front end is the strongest, and the signal transceivers at the front end have the same signal intensity difference compared with the signal transceivers at the two adjacent sides;

step 9: whether the camera A and the camera B identify the person seeking help or not is judged, if yes, Step10 is executed; if not, executing Step 11;

step 10: the lifeboat obtains the direction information of the person seeking help by calculation and processing through matching with the image processor according to the image information of the camera A and the camera B, and the lifeboat approaches the person seeking help according to the direction information;

step 11: judging whether the person seeking help takes the lifeboat or not according to the image information of the camera B or a one-key return flight button, if so, executing Step 16; if not, executing Step 12;

step 12: automatically controlling the lifeboat to keep the lifeboat at a position close to rescue with the help seeker;

step 13: a time timer in the controller starts timing, whether the rescue time exceeds an upper limit is judged, and if yes, Step14 is executed; if not, executing Step 11;

step 14: the lifeboat sends a signal to the remote controller, and an alarm of the remote controller gives out a voice alarm to prompt manual intervention operation;

step 15: when the manual intervention is operated, Step4 is executed; when the manual operation is not performed, Step16 is executed;

step 16: the lifeboat is returned to the starting place, and rescue is finished.

Technical Field

The invention relates to a water rescue device, in particular to an intelligent water tracking life-saving device and a working method thereof.

Background

There are a number of devices for rescue in water, of which lifeboats are the most common. At present, an advanced lifeboat can realize unmanned automatic rescue, namely the lifeboat automatically runs to a designated area according to a navigation and positioning system, and a person seeking help is tracked and identified according to a camera provided by the lifeboat, and after the person seeking help gets on the lifeboat, the lifeboat automatically confirms the success of rescue according to image information and automatically navigates back. Although the lifeboat has powerful functions, the lifeboat mainly depends on a powerful navigation system, and once navigation positioning fails, rescue operation cannot be realized. Based on the problem, if the lifeboat automatic driving rescue can be realized without depending on navigation positioning, the success rate of rescue can be greatly improved. Therefore, a water life-saving device which does not completely depend on navigation positioning needs to be designed to ensure the success rate of rescue.

Disclosure of Invention

In order to overcome the defects, the invention aims to provide an intelligent water tracking lifesaving device and a working method thereof for the field, so that the technical problem that the existing lifeboat only depends on navigation positioning to realize rescue, and the rescue reliability is insufficient is solved. The purpose is realized by the following technical scheme.

An intelligent water tracking life-saving device, the main body of which is a lifeboat with a built-in locator and a power device, wherein a controller which is remotely connected with a remote controller and controls each function of the lifeboat is arranged in the lifeboat; the rescue positioning device is characterized in that signal transceivers used for receiving rescue positioning signals are arranged in the lifeboat in an annular equal distribution mode along a horizontal plane, at least one of the signal transceivers is located at the front end of the lifeboat, the signal transceivers are electrically connected with the controller, the controller is provided with a comparator used for comparing the signal strength of signals received by the signal transceivers, and the lifeboat is set as: the signal received by the signal transceiver which is adjusted to the positive front position in the advancing direction is the strongest all the time, and the signal strength difference value of the signal transceiver at the positive front position compared with the signal transceivers at the two adjacent sides is the same, and the advancing is stopped until the signal strength received by at least three signal transceivers which are not in the same direction in all the signal transceivers reaches the rescue set value. Through the structure, the lifeboat can automatically adjust the advancing direction according to the strength of the distress positioning signal of the rescuer, so that the lifeboat still can drive to the rescuer to perform rescue operation without navigation accurate positioning, and the problem that the existing lifeboat is only dependent on navigation rescue and has insufficient search and rescue reliability is solved.

Based on the structure, the working method of the intelligent water-based tracking life-saving device is that the lifeboat starts a locator and a signal transceiver, and reaches a designated search and rescue area according to manual remote control or automatic set coordinates; after reaching the appointed search and rescue area, the signal transceiver receives the distress positioning signal sent by the distress positioning signal transmitter, the strength of the distress positioning signal is compared through a comparator in the controller, the advancing direction of the lifeboat is adjusted, the signal strength received by the signal transceiver at the front end is always strongest, and the signal strength difference value of the signal transceiver at the front end is the same compared with the signal transceivers at the two adjacent sides; when the lifeboat runs to three or two signal transceivers which are not in the same direction among all the signal transceivers and the received signal strength reaches the rescue set value, the lifeboat stops advancing; when a person seeking help climbs the lifeboat and presses a one-key return-to-the-fly button, the lifeboat automatically returns to the place of origin to finish rescue work.

Furthermore, the front end and the rear end of the lifeboat are respectively provided with a camera A and a camera B which are used for identifying the person seeking help and tracking images, the remote controller is provided with a display for displaying the image information of the camera A and the camera B, when the camera A and the camera B identify the image information of the person seeking help, the camera A and the camera B are set to shoot one image at a time interval, the controller is provided with an image processor for calculating and comparing the image information shot before and after the time interval and obtaining the direction information of the person seeking help, the controller controls the advancing direction of the lifeboat according to the direction information of the person seeking help, and when the advancing direction is different from the advancing direction judged by the signal transceiver, the direction information of the person seeking help processed by the image processor is used as the advancing direction of the lifeboat. Through camera A and camera B, make the lifeboat realize more accurate position control to improve the rescue success rate.

The image tracking information shot by the camera A and the camera B comprises a human body characteristic part, a color and a brightness, and the priority is consistent with the human body characteristic part, the color and the brightness from top to bottom. The rescue accuracy is improved by identifying the characteristics of the rescue object.

The camera A and the camera B are automatically focused, and the image processor calculates and compares the positions of the focus points shot in front and back in the image to obtain the direction information between the lifeboat and the distress positioning signal transmitter.

The two sides of the lifeboat are provided with stabilizing rudders, the stabilizing rudders on the two sides are provided with distance sensors for sensing peripheral obstacles, and the distance sensors are electrically connected with the controller. Through the structure, the lifeboat has the function of automatically avoiding obstacles, and the safety during rescue is improved.

The controller is internally provided with a time timer which starts timing when the lifeboat stops at the position of the distress positioning signal transmitter, the remote controller is provided with an alarm, and when the time timer reaches the upper limit, the alarm gives an alarm in voice. Through the structure, the rescue state can be conveniently and timely judged, the rescue time is strived for or the rescue mode is changed, and the rescue success rate is improved.

And a pressure sensor for sensing the weight of the passengers is arranged in the lifeboat. Through this structure, whether the person of conveniently judging SOS has taken on the lifeboat to the timely return stroke operation of lifeboat is controlled as required.

The front end of the lifeboat is provided with the lighting device, so that the lighting operation is convenient.

The remote controller and the lifeboat in the intelligent water tracking life saving device are both provided with a one-key return button for controlling the lifeboat to return, and based on the structure, the working method of the life saving device comprises the following steps:

step 1: starting;

step 2: initial setting of lifeboat starting point coordinates (X)₁、Y₁) And starting the lifeboat positioner and the controller;

step 3: selecting a search and rescue mode, and if the manual mode is selected, executing Step 4; if the automatic mode is selected, Step7 is executed;

Step4：the manual remote control lifeboat reaches a designated search and rescue point (X) according to the image information of the camera A and the camera B₂、Y₂) Confirming the target, and stopping after approaching the target;

step 5: judging whether the person seeking help takes the lifeboat or not according to the image information of the camera B, if so, executing Step 16; if not, returning to execute Step 4;

step 6: the lifeboat searches for and rescues the coordinate (X) according to presuming₂、Y₂) Automatically reaching the designated search and rescue range;

step 7: whether the signal intensity received by at least three signal transceivers in all the signal transceivers reaches the rescue set value or not is judged, if yes, Step9 is executed; if not, executing Step 8;

step8, adjusting the advancing direction of the lifeboat to the point that the signal intensity received by the signal transceiver at the front end is the strongest, and the signal transceivers at the front end have the same signal intensity difference compared with the signal transceivers at the two adjacent sides;

step 9: whether the camera A and the camera B identify the person seeking help or not is judged, if yes, Step10 is executed; if not, executing Step 11;

step 10: the lifeboat obtains the direction information of the person seeking help by calculation and processing through matching with the image processor according to the image information of the camera A and the camera B, and the lifeboat approaches the person seeking help according to the direction information;

step 11: judging whether the person seeking help takes the lifeboat or not according to the image information of the camera B or a one-key return flight button, if so, executing Step 16; if not, executing Step 12;

step 12: automatically controlling the lifeboat to keep the lifeboat at a position close to rescue with the help seeker;

step 13: a time timer in the controller starts timing, whether the rescue time exceeds an upper limit is judged, and if yes, Step14 is executed; if not, executing Step 11;

step 14: the lifeboat sends a signal to the remote controller, and an alarm of the remote controller gives out a voice alarm to prompt manual intervention operation;

step 15: when the manual intervention is operated, Step4 is executed; when the manual operation is not performed, Step16 is executed;

step 16: the lifeboat is returned to the starting place, and rescue is finished.

The invention has the advantages that the invention can realize accurate and reliable water rescue operation without completely depending on a navigation positioning system, improves the success rate of rescue, and is suitable for being used as various water rescue devices or the structural improvement of the similar devices.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

FIG. 2 is a schematic diagram of the positioning method of the present invention, in which S1-S12 are signal transceivers.

Fig. 3 is a schematic diagram of a previous image captured at intervals by the camera a according to the present invention.

Fig. 4 is a schematic diagram of the last image captured at intervals by the camera a according to the present invention.

Fig. 5 is a control principle reference diagram of the present invention.

Fig. 6 is a flow chart of the working method of the invention.

The sequence numbers and names in the figure are: 1. lifeboat, 2, camera A, 3, camera B, 4, stabilize the rudder, 5, distance sensor, 6, signal transceiver, 7, SOS location signal transmitter.

Detailed Description

The invention will now be further described with reference to the accompanying drawings.

As shown in fig. 1, 2 and 5, the main body of the intelligent water tracking life saving device is a lifeboat 1 with a built-in locator and a power device, a controller which is remotely connected with a remote controller and controls each function of the lifeboat is arranged in the lifeboat, and the remote controller and the controller are both provided with a one-key return button for controlling the lifeboat to automatically return. The main design of the invention is that signal transceivers 6 for receiving positioning signals for asking for help are distributed in the lifeboat along the horizontal plane in a circular and equal way, as shown in fig. 2, twelve signal transceivers S1-S12 are arranged, one of the signal transceivers is positioned at the front end of the lifeboat, the signal transceiver is electrically connected with a controller, and the controller is provided with a comparator for comparing the signal intensity of the signals received by each signal transceiver. The lifeboat is set as follows: the signal received by the signal transceiver which is adjusted to the positive front position in the advancing direction is the strongest all the time, and the signal strength difference value of the signal transceiver at the positive front position is the same compared with the signal transceivers at the two adjacent sides, until the signal strength received by at least three signal transceivers (such as S1, S2 and S3) which are not in the same direction in all the signal transceivers reaches the rescue set value, the lifeboat stops advancing. The identification upper limit value of the signal transceiver is the maximum signal intensity value which can be identified by the signal transceiver, and when the signal intensity received by the signal transceiver is closer to the maximum signal intensity value, the lifeboat is closer to the position of the person seeking help, so the signal intensity range received by the signal transceiver is wider, the accuracy is higher, and the rescue is more beneficial.

The front end and the rear end of the lifeboat are respectively provided with a camera A2 and a camera B3 which are used for identifying and tracking the image of the person seeking help, the remote controller is provided with a display for displaying the image information of the camera A and the camera B, when the camera A and the camera B identify the image information of the person seeking help, the camera A and the camera B are set to shoot one image at a time interval, the controller is provided with an image processor which is used for calculating and comparing the image information shot before and after the time interval and obtaining the direction information of the person seeking help, the controller controls the advancing direction of the lifeboat according to the direction information of the person seeking help, and when the advancing direction is different from the advancing direction judged by the signal transceiver, the direction information of the person seeking help processed by the image processor is used as the advancing direction of the lifeboat. The camera A and the camera B are automatically focused, and the image processor calculates and compares the positions of the focus points shot from front to back in the image to obtain the direction information between the lifeboat and the distress positioning signal transmitter 7. For example, as shown in fig. 3 and 4, the camera a takes the previous picture at an interval of (X) within the image coordinates₁、Y₁) The latter picture is (X) in image coordinates₂、Y₂) The difference value change of the front coordinate and the back coordinate is utilized, and the comparison operation is carried out by combining the difference value shot by the camera for multiple times at intervals, so that the direction change information between the rescuer and the lifeboat is obtained, and the structure can be used for controlling the fine tracking of the lifeboat.

The image tracking information shot by the camera A and the camera B comprises a human body characteristic part, a color and a brightness, and the priority is consistent with the human body characteristic part, the color and the brightness from top to bottom.

Furthermore, stabilizing rudders 4 are arranged on two sides of the lifeboat 1, distance sensors 5 used for sensing surrounding obstacles are arranged on the stabilizing rudders on the two sides, and the distance sensors are electrically connected with a controller, so that the lifeboat can be conveniently controlled to avoid obstacles. Besides, a pressure sensor used for sensing the weight of the passenger can be arranged in the lifeboat, and the gravity sensor is electrically connected with the controller, so that whether the person seeking help takes the lifeboat or not can be conveniently identified. The front end of the lifeboat can also be provided with a lighting device which is electrically connected with the controller, thereby being convenient for lighting. The controller is internally provided with a time timer which starts timing when the lifeboat stops at the position of the distress positioning signal transmitter, the remote controller is provided with an alarm, and when the time timer reaches the upper limit, the alarm gives an alarm by voice.

Based on the structure, the working method of the invention is as shown in fig. 6, wherein the function of the distress positioning signal transmitter is integrated in accessories such as a bracelet, a watch and the like which are carried along by a person seeking help, and the working method comprises the following steps:

step 1: and starting.

Step 2: initial setting of lifeboat starting point coordinates (X)₁、Y₁) And activating the lifeboat positioner and controller.

Step 3: selecting a search and rescue mode, and if the manual mode is selected, executing Step 4; if the auto mode is selected, Step7 is executed.

Step 4: the manual remote control lifeboat reaches a designated search and rescue point (X) according to the image information of the camera A and the camera B₂、Y₂) The target is confirmed and stopped after approaching the target.

Step 5: judging whether the person seeking help takes the lifeboat or not according to the image information of the camera B, if so, executing Step 16; if not, the process returns to Step 4.

Step 6: the lifeboat searches for and rescues the coordinate (X) according to presuming₂、Y₂) And automatically reaching the designated search and rescue range.

Step 7: starting signal receiving by all signal transceivers, obtaining signal intensity values from S1 to S12, comparing the signal intensity values by using a comparator in the controller, obtaining whether the signal intensity values received by at least three signal transceivers in the strongest signal reach a rescue set value, and if so, executing Step 9; if not, Step8 is executed.

Step8, coarse orientation tracking, adjusting the advancing direction of the lifeboat to the point that the signal intensity received by the signal transceiver at the front end is the strongest, and the signal intensity difference of the signal transceiver at the front end position is the same compared with the signal transceivers at the two adjacent sides.

Step 9: fine orientation tracking, whether the camera A and the camera B identify the person seeking help or not, if so, executing Step 10; if not, Step11 is executed.

Step 10: the lifeboat obtains the position information of the person seeking help by calculating and processing the lifeboat according to the image information of the camera A and the camera B and matching with the image processor, and the lifeboat approaches the person seeking help according to the position information.

Step 11: judging whether the person seeking help takes the lifeboat or not according to the image information of the camera B or a one-key return flight button, if so, executing Step 16; if not, Step12 is executed.

Step 12: the lifeboat is automatically controlled to keep the rescue close position between the lifeboat and the person seeking help.

Step 13: starting timing by a time timer in the controller, judging whether the rescue time exceeds an upper limit, and if so, executing Step 14; if not, Step11 is executed.

Step 14: the lifeboat sends a signal to the remote controller, and an alarm of the remote controller gives out a voice alarm to prompt manual intervention operation;

step 15: when the manual intervention is operated, Step4 is executed; when the human does not intervene, Step16 is executed.

Step 16: the lifeboat is returned to the starting place, and rescue is finished.