A self-floating offshore unmanned aerial vehicle and its water rescue system

Abstract

The present invention discloses a self-floating offshore drone, which includes a fuselage and wings. The wings are arranged on both sides of the fuselage, and vertical takeoff and landing arms are provided on both wings. The fuselage is made of carbon composite PVC foam material; the wings are made of Kevlar composite PVC foam material; the vertical takeoff and landing arms are made of 3K carbon fiber material; through material and airframe aerodynamic design, it is ensured that it can float on the water surface after falling into the water. It also discloses a water rescue system for triggering alarm, floating modeling analysis and command rescue operation of the drone falling into the water. The system includes a drone, a Beidou satellite transmitter, an AIS base station, a command terminal and multiple AIS ship terminals. The command terminal arranges ships for salvage nearby through modeling calculation and analysis according to the Beidou positioning information of the drone and the AIS identification information of the AIS ship terminals. The invention facilitates the search and rescue and salvage of the drone falling into the water, reduces the salvage cost, and the search and rescue process is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of maritime unmanned aerial vehicle search and rescue, and particularly to a self-floating maritime unmanned aerial vehicle and its water-falling search and rescue system. Background Art

[0002] In recent years, compared with the traditional maritime boat operation mode, unmanned aerial vehicles have the advantages of being flexible, having a wide flight area, having a wide view, being economical and convenient, being easy to operate, and effectively reducing the risk of human life. Their applications in maritime supervision and emergency disposal, search and rescue have increasingly attracted the attention of maritime and salvage departments. The maritime department and the maritime rescue department have used electric multi-rotor unmanned aerial vehicles to conduct certain exploratory applications in aspects such as maritime aerial photography, oil spill monitoring, and ship exhaust gas detection. However, due to the restriction of the complex maritime meteorological environment, the risk of the unmanned aerial vehicle falling into the water due to the influence of the wind is relatively large. Therefore, the unmanned aerial vehicle is mainly used for aerial photography of the coastline near under good weather conditions and has not been more deeply applied. Problems such as the wind resistance of the flight platform and the safety guarantee not meeting the requirements still exist, making the application of maritime unmanned aerial vehicles still a shortcoming in the technical applications in this field. The application of civilian maritime unmanned aerial vehicles in search and rescue is still in the initial trial stage.

[0003] After retrieval, the invention patent with the Chinese patent publication number CN109358653A discloses a distributed intelligent search and rescue system for maritime unmanned aerial vehicles. The search and rescue system includes an unmanned aerial vehicle and a search and rescue ship. The unmanned aerial vehicle is arranged on the search and rescue ship, and the control unit of the unmanned aerial vehicle is a sub-module of the search and rescue ship controller. The controller serves as the overall control center and can realize the control of multiple control units, that is, the number of unmanned aerial vehicles exceeds two to achieve distributed search, and the search effect is better. The above patent has the following deficiencies: 1. Using the unmanned aerial vehicle on the ship to search and rescue the water-falling unmanned aerial vehicle, the unmanned aerial vehicle on the ship still has the risk of falling into the water during the search and rescue process; 2. Although multiple unmanned aerial vehicles can expand the search and rescue range, it also brings an increase in search and rescue costs; 3. The water-falling unmanned aerial vehicle is very likely to sink to the bottom of the sea due to the harsh maritime environment, and even if the position of the unmanned aerial vehicle is found, salvage operations cannot be carried out. In view of this, we propose a self-floating maritime unmanned aerial vehicle and its water-falling search and rescue system. Summary of the Invention

[0004] The purpose of the present invention is to provide a self-floating maritime unmanned aerial vehicle and its water-falling search and rescue system to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A self-floating maritime unmanned aerial vehicle, the unmanned aerial vehicle includes a fuselage and wings. The wings are arranged on both sides of the fuselage, and vertical take-off and landing arms are arranged on both wings. The fuselage is made of carbon composite PVC foam material;

[0007] The wing is made of Kevlar composite PVC foam material;

[0008] The vertical takeoff and landing arm is made of 3K carbon fiber material.

[0009] The present invention also provides a water rescue system for the search and rescue operation of the drone. The water rescue system includes: a drone, a Beidou satellite transmitter, an AIS base station, a command terminal, and a plurality of AIS ship terminals;

[0010] The drone is equipped with a Beidou positioning system for sending Beidou positioning information and short messages;

[0011] The Beidou satellite transmitter is communicatively connected to the Beidou positioning system on the drone through Beidou satellites for sending the Beidou positioning information of the drone;

[0012] The command terminal is communicatively connected to the Beidou satellite transmitter through a server for receiving the Beidou positioning information of the drone;

[0013] The server of the command terminal is also communicatively connected to the AIS ship terminal through the AIS base station for receiving and sending the AIS identification information of the AIS ship terminal sent through the AIS base station;

[0014] The command terminal processes the received Beidou positioning information of the drone and the AIS identification information of the AIS ship terminal, and performs analysis and modeling in combination with information such as wind direction, ocean current, and ship speed, and sends the Beidou positioning information and AIS instructions of the drone to the AIS ship terminal near the drone, so that the fallen drone can be salvaged by the nearby AIS ship terminal.

[0015] Preferably, the command terminal sending the Beidou positioning information and AIS instructions nearby includes the following steps:

[0016] Step 1: The command terminal receives the AIS identification information of the AIS ship terminal through the AIS base station and stores the AIS identification information in the ship data storage module. The AIS identification information includes the longitude and latitude information of the location where the AIS ship terminal is located;

[0017] Step 2: The command terminal stores the received Beidou positioning information of the drone in the Beidou data storage module and extracts the longitude and latitude information of the location where the drone is located from the Beidou positioning information;

[0018] Step 3: The command terminal filters the longitude and latitude information of the nearby AIS ship terminals with the location where the drone is located as the center according to the longitude and latitude information where the drone is located;

[0019] Step 4: According to the longitude and latitude information of the ship terminals near the drone screened out, as well as the longitude and latitude information of the location where the drone drifts, select the AIS ship terminal closest to the expected floating position of the drone, and send the longitude and latitude information of the drone to this closest AIS ship terminal to achieve the near-by salvage operation of the drone.

[0020] Preferably, in step 1, the AIS ship terminal is a ship equipped with an AIS system, and the command terminal collects the ship position information through the AIS network.

[0021] Preferably, in step 2, the drone is a drone equipped with a Beidou positioning system, and the command terminal receives the Beidou positioning information of the drone through the Beidou network.

[0022] Preferably, in step 3, with the position of the drone as the center, a screening of AIS ship terminals is carried out with a radius of 5 - 10 nautical miles.

[0023] Preferably, the command terminal combines the wind direction, ocean current, and ship speed information for analysis and modeling, and selects the AIS ship terminal closest to the expected floating position of the drone. The algorithm model used is as follows:

[0024]

[0025] Where: i is the i-th drone; n is the number of ships passing by in the waters around the falling position of the i-th drone, and the magnitude of n is related to factors such as the geographical location of the falling waters, time, ship traffic flow density, and the size of the search and rescue scope for finding and performing the salvage task, etc.; Pr i (k) is the probability that the i-th drone is rescued by the k-th candidate ship, 0 ≤ k ≤ n;

[0026] The factors affecting Pr i (k) mainly include: the distance, relative azimuth, relative speed, etc. between the oncoming ship and the drone, and can be expressed by the following formula:

[0027] Pr i (k) = Pr(d ik , c ik , v ik );

[0028] Where: d ik is the distance between the i-th drone and the k-th candidate ship, calculated from the longitude and latitude coordinates of the drone's falling point and the longitude and latitude coordinates of the ship; c ik is the relative azimuth between the i-th drone and the k-th candidate ship; v ik is the relative speed between the i-th drone and the k-th candidate ship, v ikIt changes with the marine meteorological conditions of the water area where the UAV falls into the water. Under the condition of calm wind and no waves, the navigation speed of the candidate ship can be simply considered. Under the action of sea level wind and waves, the drift speed of the UAV formed by the wind and waves also needs to be considered;

[0029] To sum up, solving the optimization problem (1) is transformed into solving Pr i (k), and solving Pr i (k) can be essentially regarded as a multi-attribute decision-making problem. Therefore, by establishing a multi-attribute decision-making model, the problem of selecting candidate ships for UAV recovery after falling into the water is solved; the formula is as follows:

[0030]

[0031] Among them: α1, α2, α3 are weight coefficients;

[0032] d' ik , c' ik , v' ik are the normalized results of the influencing factors d ik , c ik , v ik respectively;

[0033] Among them, d' ik = f(d ik ) / ∑f(d ik ), f(d ik ) is the normalization function;

[0034] c' ik = ρ(c ik ) / ∑ρ(c ik ), ρ(c ik ) is the normalization function;

[0035] is the normalization function.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] 1. This self-floating offshore UAV, through the characteristics of its own materials, not only meets the harsh offshore operation environment, but also can float on the sea surface after falling into the water, facilitating search and rescue and salvage operations;

[0038] 2. This search and rescue system after falling into the water, by installing a Beidou positioning system on the UAV, realizes accurate positioning. At the same time, the command center sends the falling water position to the nearest AIS ship terminal for search and rescue and salvage according to the UAV falling water position, reducing the salvage cost and avoiding the collision risk when multiple ships conduct search and rescue. The search and rescue process is safe and reliable. Description of the Drawings

[0039] Figure 1 It is the top view of the structure of the self-floating unmanned aerial vehicle in Embodiment 1 of the present invention;

[0040] Figure 2 It is the schematic diagram of the structure of the water rescue system in Embodiment 2 of the present invention;

[0041] Figure 3 It is the block diagram of the structure of the water rescue system in Embodiment 2 of the present invention;

[0042] Figure 4 It is the flowchart of the method for the AIS ship terminal to conduct nearby search and rescue in Embodiment 2 of the present invention.

[0043] In the figure: 1, fuselage; 2, wing; 3, vertical takeoff and landing arm; 4, unmanned aerial vehicle; 5, Beidou satellite transmitter; 6, AIS base station; 7, server; 8, AIS ship terminal.

[0044] 6, AIS base station; 7, server; 8, AIS ship terminal. Specific implementation manner

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] Embodiment 1

[0047] A self-floating unmanned aerial vehicle for the sea, as Figure 1 shown, the unmanned aerial vehicle includes a fuselage 1 and wings 2. The wings 2 are arranged on both sides of the fuselage 1. Vertical takeoff and landing arms 3 are arranged on both wings 2. The fuselage 1 is made of carbon composite PVC foam material; the wings 2 are made of Kevlar composite PVC foam material; the vertical takeoff and landing arms 3 are made of 3K carbon fiber material, so that the unmanned aerial vehicle can float on the water surface in the case of falling into the water, and the composite material makes the fuselage 1 and the wings 2 have better strength, which is convenient for adapting to the complex flight environment at sea, and floating on the water surface after falling into the water is convenient for later search and rescue and salvage. In this embodiment, the net weight of the whole unmanned aerial vehicle is 3.8 kg.

[0048] Embodiment 2

[0049] As Figure 2 and Figure 3 shown, a water rescue system for the search and rescue operation of the unmanned aerial vehicle includes: an unmanned aerial vehicle 4, a Beidou satellite transmitter 5, an AIS base station 6, a command terminal 7 and a plurality of AIS ship terminals 8;

[0050] The drone 4 is equipped with a Beidou positioning system for sending Beidou positioning information and short messages;

[0051] The Beidou satellite transmitter is communicatively connected to the Beidou positioning system on the drone 4 via Beidou satellites for sending the Beidou positioning information of the drone 4;

[0052] The command terminal 7 is communicatively connected to the Beidou satellite transmitter via a server for receiving the Beidou positioning information of the drone 4;

[0053] The server of the command terminal 7 is also communicatively connected to the AIS ship terminal 8 via the AIS base station 6 for receiving and sending the AIS identification information of the AIS ship terminal 8 sent via the AIS base station 6;

[0054] The command terminal 7 processes the received Beidou positioning information of the drone 4 and the AIS identification information of the AIS ship terminal 8, and performs analysis and modeling in combination with information such as wind direction, ocean current, and ship speed, and sends the Beidou positioning information and AIS commands of the drone 4 to the AIS ship terminal 8 near the drone 4, so that the fallen drone 4 can be salvaged by the nearby AIS ship terminal 8.

[0055] As Figure 4 shown, the command terminal 7 sending the Beidou positioning information and AIS commands nearby includes the following steps:

[0056] Step 1: The command terminal 7 receives the AIS identification information of the AIS ship terminal 8 via the AIS base station 6 and stores the AIS identification information in the ship data storage module. The AIS identification information includes the longitude and latitude information of the location where the AIS ship terminal 8 is located;

[0057] Step 2: The command terminal 7 stores the received Beidou positioning information of the drone 4 in the Beidou data storage module and extracts the longitude and latitude information of the location where the drone 4 is located from the Beidou positioning information;

[0058] Step 3: The command terminal 7 filters the longitude and latitude information of the nearby AIS ship terminal 8 with the location where the drone 4 is located as the center according to the longitude and latitude information where the drone 4 is located;

[0059] Step 4: According to the filtered longitude and latitude information of the ship terminal near the drone 4 and the longitude and latitude information of the drifting position where the drone 4 is located, the AIS ship terminal 8 closest to the expected floating position of the drone 4 is selected, and the longitude and latitude information of the drone 4 is sent to the AIS ship terminal 8 closest to this distance, realizing the nearby salvage operation of the drone 4.

[0060] In Step 1, the AIS ship terminal 8 is a ship equipped with an AIS system, and the command terminal 7 collects ship position information through the AIS network.

[0061] In step 2, the drone 4 is a drone equipped with a Beidou positioning system, and the command terminal 7 receives the Beidou positioning information of the drone 4 through the Beidou network.

[0062] In step 3, with the position of the drone 4 as the center, the AIS ship terminals 8 are screened within a radius of 5 - 10 nautical miles.

[0063] It should be noted that the command terminal 7 analyzes and models by combining wind direction, ocean current, and ship speed information, and selects the AIS ship terminal 8 closest to the expected floating position of the drone 4. The algorithm model used is as follows:

[0064]

[0065] Where: i is the i-th drone; n is the number of ships passing by in the waters around the falling position of the i-th drone. The magnitude of n is related to factors such as the geographical location of the falling waters, time, ship traffic flow density, and the size of the search and rescue range for finding and performing salvage tasks; Pr i (k) is the probability that the i-th drone is rescued by the k-th candidate ship, 0 ≤ k ≤ n;

[0066] The factors affecting Pr i (k) mainly include: the distance, relative azimuth, relative speed, etc. between the approaching ship and the drone, which can be expressed by the following formula:

[0067] Pr i (k) = Pr(d ik , c ik , v ik );

[0068] Where: d ik is the distance between the i-th drone and the k-th candidate ship, calculated from the longitude and latitude coordinates of the drone's falling point and the longitude and latitude coordinates of the ship; c ik is the relative azimuth between the i-th drone and the k-th candidate ship; v ik is the relative speed between the i-th drone and the k-th candidate ship, and v ik varies with the change of the marine meteorological conditions in the waters where the drone falls. Under the condition of calm wind and no waves, it can be simply considered as the sailing speed of the candidate ship. Under the action of sea level wind and waves, the drift speed of the drone formed by the wind and waves also needs to be considered;

[0069] In summary, solving the optimization problem (1) is transformed into solving Pr i (k), and solving Pr i (k) is essentially a multi-attribute decision-making problem. Therefore, by establishing a multi-attribute decision-making model, the problem of selecting candidate ships for drone salvage when it falls into the water is solved; the formula is as follows:

[0070]

[0071] wherein: α1, α2, and α3 are weight coefficients; d' ik , c' ik , v' ik are respectively the normalization results of the influencing factors d ik , c ik , v ik ; wherein d' ik = f(d ik ) / ∑f(d ik ), f(d ik ) is a normalization function; c' ik = ρ(c ik ) / ∑ρ(c ik ), ρ(c ik ) is a normalization function; is a normalization function.

[0072] When the self-floating marine drone of the present invention is in use, since the fuselage 1 of the drone 4 is made of carbon composite PVC foam material, the wings 2 are made of Kevlar composite PVC foam material, and the vertical takeoff and landing arms 3 are made of 3K carbon fiber material, the drone can float on the water surface in the event of falling into the water, and the composite material makes the fuselage 1 and the wings 2 have better strength, facilitating adaptation to the complex flight environment at sea, and floating on the water surface after falling into the water is convenient for later search and rescue and salvage;

[0073] For the water-entry search and rescue system for marine drones of the present invention, a Beidou positioning system is installed on the drone 4, and the command terminal 7 set on the shore receives the longitude and latitude information of the water-entry position of the drone 4. At the same time, the command terminal 7 collects the longitude and latitude information of the AIS ship terminal 8 within a range of 5 - 10 nautical miles near the water-entry position of the drone 4, and sends the longitude and latitude information of the drone 4 to the nearest AIS ship terminal 8 for search and rescue and salvage operations, facilitating the recovery and salvage of the drone 4 after completing marine operations, and selecting the AIS ship terminal 8 nearby for salvage, reducing the salvage cost while avoiding the collision risk when multiple AIS ship terminals 8 conduct search and rescue. The search and rescue process is safe and reliable, facilitating popularization and promotion.

[0074] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A water rescue system for the search and rescue operations of drones, characterized in that: The described drowning search and rescue system includes: a drone, a Beidou satellite transmitter, an AIS base station, a command terminal, and multiple AIS ship terminals; A Beidou positioning system is installed on the drone for sending Beidou positioning information and short messages; The Beidou satellite transmitter is communicatively connected to the Beidou positioning system on the drone through Beidou satellites for sending the Beidou positioning information of the drone; The command terminal is communicatively connected to the Beidou satellite transmitter through a server for receiving the Beidou positioning information of the drone; The server of the command terminal is also communicatively connected to the AIS ship terminals through the AIS base station for receiving and sending the AIS identification information of the AIS ship terminals sent through the AIS base station; The command terminal processes the received Beidou positioning information of the drone and the AIS identification information of the AIS ship terminals, and performs analysis and modeling in combination with wind direction, ocean current, and ship speed information, and sends the Beidou positioning information and AIS commands of the drone to the AIS ship terminals near the drone, so that the fallen drone can be salvaged by the nearest AIS ship terminal; The command terminal performs analysis and modeling in combination with wind direction, ocean current, and ship speed information, and selects the AIS ship terminal closest to the expected floating position of the drone. The algorithm model used is as follows: Where: i is the i-th unmanned aerial vehicle; n is the number of ships passing by in the waters around the water entry position of the i-th unmanned aerial vehicle, and the magnitude of n is related to factors such as the geographical location of the water entry area, time, ship traffic flow density, and the size of the search and rescue scope for finding and performing salvage tasks; Pr i (k) is the probability that the i-th unmanned aerial vehicle is searched and rescued by the k-th candidate ship, where 0 ≤ k ≤ n.

2. The water rescue system according to claim 1, characterized in that: The drone is a self-floating marine drone. The drone includes a fuselage and wings. The wings are arranged on both sides of the fuselage. Vertical takeoff and landing arms are arranged on both wings. The fuselage is made of carbon composite PVC foam material; The wings are made of Kevlar composite PVC foam material; The vertical takeoff and landing arms are made of 3K carbon fiber material.

3. The water rescue system according to claim 1, characterized in that: The command terminal sending Beidou positioning information and AIS commands nearby includes the following steps: Step 1: The command terminal receives the AIS identification information of the AIS ship terminal through the AIS base station and stores the AIS identification information in the ship data storage module. The AIS identification information includes the longitude and latitude information of the location where the AIS ship terminal is located; Step 2: The command terminal stores the received Beidou positioning information of the drone in the Beidou data storage module and extracts the longitude and latitude information of the location where the drone is located from the Beidou positioning information; Step 3: The command terminal filters the longitude and latitude information of nearby AIS ship terminals with the location where the drone is located as the center according to the longitude and latitude information where the drone is located; Step 4: According to the filtered longitude and latitude information of the ship terminals near the drone and the longitude and latitude information of the location where the drone drifts, select the AIS ship terminal closest to the expected floating position of the drone, and send the longitude and latitude information of the drone to the AIS ship terminal closest in distance to realize the nearby salvage operation of the drone.

4. The water rescue system according to claim 3, characterized in that: In Step 1, the AIS ship terminal is a ship equipped with an AIS system, and the command terminal collects ship position information through the AIS network.

5. The water rescue system according to claim 3, characterized in that: In Step 2, the drone is a drone equipped with a Beidou positioning system, and the command terminal receives the Beidou positioning information of the drone through the Beidou network.

6. The water rescue system according to claim 3, characterized in that: In step 3, the AIS ship terminals are screened with the location of the UAV as the center and a radius of 5 - 10 nautical miles.

7. The water rescue system according to claim 3, characterized in that: Factors affecting Pr i (k) mainly include: the distance, relative bearing, and relative speed between the approaching ship and the UAV, which are expressed by the following formula: Pr i Pr(k) = Pr(d ik , c ik , v ik ); where: d ik is the distance between the i-th drone and the k-th candidate ship, calculated from the longitude and latitude coordinates of the drone's water entry point and the ship's longitude and latitude coordinates; c ik is the relative bearing between the i-th drone and the k-th candidate ship; v ik is the relative velocity between the i-th drone and the k-th candidate ship, v ik varies with the marine meteorological conditions in the drone's water entry area. Under calm conditions, it can be considered as the sailing speed of the candidate ship. Under the action of sea surface wind and waves, the drone drift speed formed by wind and waves also needs to be considered; The solution of the optimization problem is transformed into the solution of Pr i (k), and the solution of Pr i (k) is a multi-attribute decision-making problem. Therefore, by establishing a multi-attribute decision-making model, the problem of selecting candidate ships for drone water salvage is solved; the formula is as follows: Where: α1, α2, and α3 are weight coefficients; d′ ik 、c′ ik 、v′ ik are the normalization results of influencing factors d ik 、c ik 、v ik respectively; where d' ik = f(d ik ) / ∑f(d ik ), and f(d ik ) is a normalization function; c′ ik = ρ(c ik ) / ∑ρ(c ik ), where ρ(c ik ) is a normalization function; is a normalization function.

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