Diver distress signal response type automatic cruise positioning lifeboat system and method

Abstract

The invention discloses a diver distress signal response type automatic cruise positioning lifeboat system and a method thereof, and relates to the field of underwater emergency rescue. The method comprises the following steps: transmitting a distress signal containing identity and position information through a distress signal transmitting device carried by a diver, receiving and decoding the signal by a lifeboat, and extracting information of the diver; the navigation and positioning module is based on GPS and inertial navigation data, combines magnetometer sensor information to improve positioning precision, and uses an A * algorithm and an improved Dijkstra algorithm to optimize a cruise path; and the control module controls the lifeboat to automatically cruise to the diver position according to the planned path, and performs real-time communication with a shore command center through the communication module to optimize a rescue strategy. According to the method, the problems of slow rescue response, low positioning precision, non-optimization of the rescue path and the like in a traditional rescue method are solved, and the technical effects of improving the underwater emergency rescue efficiency, improving the positioning precision and optimizing the path planning are achieved. The system and the method have wide application prospects, and particularly have important social value and practical application significance in automatic rescue of emergency help seeking of divers.

Description

Technical Field

[0001] The present invention relates to the technical field of marine rescue, and particularly relates to a lifeboat system based on automatic navigation and path planning, which is used to respond to the distress signal of divers and achieve rapid positioning and rescue. Background Art

[0002] During marine diving activities, divers may send distress signals due to equipment failures, physical discomfort, or other emergencies. Existing rescue methods usually rely on manual operation of lifeboats, which have problems such as inaccurate positioning, low path planning efficiency, and long rescue times, especially in complex marine environments (such as the presence of reefs, shoals, and other obstacles). Therefore, there is an urgent need for a lifeboat system that can automatically cruise, accurately position, and efficiently plan paths to improve rescue efficiency and success rate. Summary of the Invention

[0003] The present invention provides a diver distress signal-responsive automatic cruise positioning lifeboat system and method to solve the problems of slow rescue response speed, low positioning accuracy, and insufficient path planning efficiency in the prior art.

[0004] To achieve the above object, a diver distress signal-responsive automatic cruise positioning lifeboat system of the present invention is based on a lifeboat device. Through the real-time positioning and communication of the diver's equipment, combined with the real-time communication of the onshore command center, the lifeboat automatically moves towards the diver's direction at a desired speed and trajectory, thereby achieving the purpose of rescue. Its characteristics are as follows: A diver distress signal-responsive automatic cruise positioning lifeboat system and method, including a diver's equipment (1), a lifeboat body (2), and an onshore command center (3); Further, a magnetometer sensor (4) is arranged on the diver's equipment (1) to detect the attitude and magnetic field changes of the diver underwater and assist in precise positioning; Further, a distress information generating device (5) is arranged on the diver's equipment (1) to emit a distress signal in case of an emergency, and the distress signal includes the diver's identity information and position information; Further, a signal receiving and processing module (6): is arranged on the lifeboat body (2) to receive the distress signal sent by the diver, decode and process the signal, and extract the diver's position information; Further, a navigation and positioning module (7): is arranged on the lifeboat body (2) to plan the optimal cruise path according to the diver's position information and achieve the precise positioning and automatic navigation of the lifeboat; the navigation and positioning module uses the A* algorithm to calculate the initial optimal path and performs shortest path optimization based on the Dijkstra algorithm; Further, a control module (8) is provided on the lifeboat body (2), communicatively connected to the signal receiving and processing module, the navigation and positioning module, and the power system, and is configured to coordinate the work of each module and control the automatic cruising and rescue operations of the lifeboat; Further, a communication module (9) is provided on the lifeboat body (2) and is configured to perform real-time communication with the onshore command center or other rescue equipment to transmit the distress information of the diver and the status information of the lifeboat; Further, a communication module (10) is provided on the onshore command center (3) and is configured to receive the distress information and status information transmitted by the lifeboat, send commands for course adjustment or rescue strategy optimization, and coordinate rescue operations.

[0005] Among them, the magnetometer sensor (4) and the distress signal transmitting device (5) are integrated inside the diver equipment; the distress signal transmitting device (5) is connected to the signal receiving and processing module (6) wirelessly; the module (6) and the navigation and positioning module (7) are connected through a data bus; the module (7) and the control module (8) are connected through a communication interface; the control module (8) controls the operation of the propulsion system and transmits data to the communication module (9); the communication module (9) performs data interaction with the onshore communication module (10) through a cellular network.

[0006] The working principle of the present invention is as follows: After a diver encounters danger underwater, the distress signal transmitting device (5) worn on their equipment is triggered. Inside this device, there is a magnetometer sensor (4) that can collect attitude data in real time, assist in positioning, and generate a distress signal containing latitude and longitude information in combination with a GPS module. This signal is broadcast via ZigBee wireless communication. The signal is received by the signal receiving and processing module (6) on the lifeboat body. This module uses a high-sensitivity Bluetooth receiver to decode the signal and extract the diver's identity and location information. The decoded information is transmitted via the internal communication bus of the hull to the navigation and positioning module (7). The latter is equipped with a GPS positioning unit and an inertial navigation unit, and corrects the positioning error based on sensor data fusion technology. Path planning uses the A* algorithm to generate a preliminary path and the Dijkstra algorithm for dynamic optimization. The generated path data is sent to the control module (8). The control module uses an ARM Cortex-M processor and runs the uC / OS-III real-time operating system, which has functions such as task management, path tracking, and control signal output. Its output control instructions are used to dispatch the electric thrusters to achieve the automatic navigation operation of the lifeboat. The control module also sends the hull status information to the communication module (9), including the current position, ship speed, task status, etc. The communication module uploads the data to the communication module (10) of the onshore command center via the 4G / 5G network. The onshore command center monitors all data streams through the background command system and can issue new instructions through the remote control platform to adjust the rescue strategy in real time.

[0007] The advantages of the present invention are as follows: Through the distress signal transmitting device worn on the diver, a distress signal containing position information and attitude information can be quickly sent when the diver is in danger, thus enabling a rapid response. Combining the A* and Dijkstra path planning algorithms, the lifeboat can dynamically generate the optimal path based on real-time data, improving the rescue efficiency. At the same time, by using the data fusion technology of magnetometers, GPS, and inertial navigation units, the positioning accuracy in the underwater environment is greatly improved. The system realizes full-automatic control through an embedded real-time operating system, reducing the burden of manual operation, and maintains real-time data interaction with the onshore command center through the 4G / 5G communication module, ensuring the timeliness and accuracy of command and dispatch. The overall system has a high degree of integration, can be quickly deployed, and has good scalability and adaptability, is suitable for various rescue scenarios, and has strong practical value and promotion prospects. Brief Description of the Drawings

[0008] Figure 1 It is a flowchart of the system of the present invention.

[0009] Figure 2 It is a flowchart of path planning.

[0010] Figure 3 It is a technical roadmap of the A* algorithm.

[0011] Figure 4 It is the technical roadmap of Dijkstra's algorithm. Specific implementation manner

[0012] A diver distress signal responsive automatic cruise positioning rescue boat system of the present invention is mainly applied to diver rescue. The specific implementation manner of the present invention will be described according to the attached drawings.

[0013] Figure 1 It is a flowchart of a diver distress signal responsive automatic cruise positioning rescue boat system. As Figure 1 shown, the specific implementation manner of the present invention is as follows: A diver distress signal responsive automatic cruise positioning rescue boat system of the present invention includes a diver equipment (1), a rescue boat body (2), and a shore command center (3).

[0014] The above magnetometer sensor (4) is used to detect the attitude and magnetic field change of the diver underwater, and generate accurate position information in combination with GPS data.

[0015] The above distress signal transmitting device (5) uses the low-power ZigBee protocol to transmit distress signals. The signal transmission frequency is 2.4 GHz, and the coverage range is 150 meters. The distress signal includes the attitude and position information (latitude and longitude coordinates) of the diver.

[0016] The above signal receiving and processing module (6) uses a high-sensitivity Bluetooth receiver to receive distress signals. The received signals extract the identity information and position information of the diver through a decoding algorithm, and transmit the data to the navigation and positioning module (7).

[0017] The above navigation and positioning module (7) includes a GPS positioning unit and an inertial navigation unit, and performs multi-source data fusion in combination with the data of the magnetometer sensor (4) to improve the positioning accuracy. Figure 2 It is a path planning flowchart. As Figure 2 shown, the path planning uses the A* algorithm to calculate the initial optimal path, and uses Dijkstra's algorithm to optimize the shortest path.

[0018] The above control module (8) is an embedded ARM Cortex-M series processor, embedded with the real-time operating system uC / OS-III, and combines a dynamic task priority scheduling mechanism for multi-task management. The control module is connected to the signal receiving and processing module, the navigation and positioning module, and the power system through a communication interface, coordinates the work of each module, and controls the automatic cruise and rescue operations of the rescue boat.

[0019] The above communication module (9) adopts 4G / 5G communication technology to communicate with the communication module (10) of the onshore command center or other rescue equipment in real time, and transmit the distress information of the diver and the status information of the rescue boat (such as position, speed, battery status, etc.).

[0020] Figure 3 For the technical route of the A* algorithm, as Figure 3 shown, the above A* algorithm is a heuristic search algorithm, which has the advantages of preferring the shortest path point and best-first search. The specific implementation is as follows:

[0021] The evaluation function used by the A* algorithm is: f(n) = g(n) + h(n) Where: f(n) is the total evaluation value of node n; g(n) is the actual cost from the starting point to node n; h(n) is the estimated cost (heuristic function) from node n to the target point.

[0022] Heuristic function selection: 1. Manhattan distance: applicable to four-way movement

[0023] 2. Euclidean distance: applicable to movement in any direction

[0024] 3. Chebyshev distance: applicable to eight-way movement

[0025] For the water surface environment, we need to consider sea conditions and obstacles, and a weighted Euclidean distance can be defined:

[0026] Where: α is the distance weight coefficient; β is the obstacle weight coefficient; is the obstacle influence factor, and its value range is [0,1].

[0027] Proof of admissibility and consistency For the heuristic function h(n), if it satisfies: 1. , where d(n, goal) is the actual shortest distance from n to the target, which is called admissible; 2. , where c(n, m) is the cost from n to m and is called consistent.

[0028] When the Euclidean distance is used as the heuristic function, it clearly satisfies admissibility because the straight-line distance is always less than or equal to the actual path distance.

[0029] For consistency, for any adjacent nodes n and m:

[0030] According to the triangle inequality:

[0031] That is , which satisfies consistency.

[0032] Figure 4 The figure shows the technical roadmap of Dijkstra's algorithm. Dijkstra's algorithm is a greedy algorithm for solving the single-source shortest path problem. As Figure 4 shown, the specific implementation is as follows: 1. Initialize the distance array (for all other vertices v) 2. Create a priority queue containing all vertices 3. Each time, extract the vertex u with the smallest distance value from the queue 4. For each adjacent vertex v of u, if , then update .

[0033] In the lifeboat cruising problem, Dijkstra's algorithm is used to optimize the initial path generated by the A* algorithm. Define the edge weight as:

[0034] Where: is the actual distance; is the water flow influence factor; is the obstacle influence factor; λ and μ are weight coefficients.

Claims

1. A diver distress signal responsive automatic cruise positioning lifeboat system. The lifeboat system is a lifeboat based on the diver's distress device on hand, the lifeboat body and its various modules, and conducts diver distress signal responsive automatic cruise positioning and rescue through the shore command center transmitting wireless signals. Its characteristics are as follows: The lifeboat system includes a diver equipment (1), a lifeboat body (2) and a shore command center (3); The diver equipment (1) includes: a magnetometer sensor (4), which is arranged on the diver equipment and is used to detect the diver's attitude and magnetic field changes underwater; a distress signal transmitting device (5), which is arranged on the diver equipment and is used to transmit a distress signal containing the diver's identity information and location information in case of an emergency; The lifeboat body (2) includes: a hull, a power system, life-saving equipment, and multiple modules for performing automatic cruise and rescue tasks. Among them, the signal receiving and processing module (6) is used to receive the distress signal sent by the diver, decode the signal and extract the diver's identity and location information; the navigation and positioning module (7) is used to plan the optimal cruise path according to the diver's location information and realize the precise positioning and automatic navigation of the lifeboat; the navigation and positioning module combines GPS, inertial navigation unit and magnetometer sensor data, and uses the extended Kalman filter algorithm for data fusion to locate the diver's position; the control module (8) combines the dynamic task priority scheduling mechanism to optimize the system control efficiency and stability; the control module is communicatively connected to the signal receiving and processing module, the navigation and positioning module, the power system and the communication module (9) to coordinate the work of each module and control the automatic cruise and rescue operations of the lifeboat; The shore command center (3) coordinates the rescue, receives the distress information and status information transmitted by the lifeboat, and sends instructions for course adjustment or rescue strategies.

2. A diver distress signal responsive automatic cruise positioning rescue method based on the system described in claim 1, characterized in that: The diver wears the diver equipment (1) and sends a distress signal containing identity information and location information through the distress signal transmitting device (5). The signal is assisted by the magnetometer sensor (4) to generate high-precision position data; the signal receiving and processing module (6) on the lifeboat body (2) receives the distress signal, decodes and extracts the diver's identity and location information; the navigation and positioning module (7) calculates the initial optimal cruise path using the A* algorithm according to the extracted location information, and optimizes the path by combining the improved Dijkstra algorithm (considering dynamic obstacles) to generate the final navigation path; the control module (8) adjusts the power system in real time according to the final navigation path to drive the lifeboat body to automatically cruise to the diver's position; during the cruise of the lifeboat, it continuously transmits the real-time status information of the lifeboat (including position, speed, oxygen concentration status) and the diver's distress information to the shore command center through the communication module, and at the same time receives the instructions from the shore command center and dynamically adjusts the course or optimizes the rescue strategy according to the instructions; after the lifeboat arrives at the diver's position, it performs rescue tasks, including but not limited to deploying life-saving equipment or assisting the diver to board the ship; after the rescue is completed, the communication module feeds back the rescue result to the shore command center and saves the task data for subsequent analysis.

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