A power allocation method for self-navigating lifebuoy based on path planning

Abstract

The present invention discloses a method for distributing power of a self-patrol lifebuoy based on path planning, and belongs to the field of path planning and wireless communication technology. The steps for implementing the method are as follows: Step 1: basic data preparation; Step 2: calculating the position range that can be successfully rescued according to the basic data; Step 3: establishing an actual output power optimization model of the self-patrol lifebuoy according to the basic data and the position range; Step 4: optimizing the power distribution during the rescue process according to the actual output power optimization model. The present invention uses Beidou positioning to obtain the position information of the person who falls into the water, the position information of the self-patrol lifebuoy, and combines the real-time sea condition information to quickly determine the slowest position and the fastest position for successful rescue, and then adaptively adjusts the navigation, data acquisition and communication power of the self-patrol lifebuoy through the power optimization method, so as to achieve the optimal distribution of navigation, data acquisition and communication power, and improve the cruising mileage of the self-patrol lifebuoy under the premise of ensuring the success of the rescue.

Description

Technical Field

[0001] The invention belongs to the technical field of path planning and wireless communication, and in particular relates to a power distribution method of a self-navigating life buoy based on path planning. Background Art

[0002] When people fall into the water on an offshore platform, the traditional rescue method requires the emergency dispatch of large ships to organize rescue. This rescue method has a long process cycle and poor timeliness, which seriously threatens the life safety of offshore workers. In addition, it depends on the sea conditions and climate, and the comprehensive cost of emergency rescue is high. The self-patrol lifebuoy is a small emergency rescue equipment. It not only has low equipment cost and simple and fast deployment, but can also be directly deployed on a large scale near the offshore platform. Moreover, the entire rescue process is automated and has extremely high mobility, which can provide reliable protection for the life safety of offshore workers.

[0003] Although the self-propelled life buoy is powerful, its endurance is limited. During the rescue process, it needs to drive the motor to navigate, and it needs to frequently collect basic data and frequently exchange remote information with the drowning personnel. Therefore, under the condition of limited endurance, the self-propelled life buoy needs to balance the distribution of power output, data acquisition and communication power.

[0004] On the one hand, in severe sea conditions, the rescue target drifts dynamically, requiring the self-patrol lifebuoy to be able to adaptively adjust the rescue path. The speed of the self-patrol lifebuoy is generally several meters per second, which is at the same order of magnitude as the seawater flow rate. An inappropriate heading will inevitably lead to serious power loss. Since the self-patrol lifebuoy cannot be compared with traditional large-scale fuel-powered equipment in terms of speed and mileage, the seawater flow rate should be fully considered, and the speed and heading of the self-patrol lifebuoy should be combined to obtain the best navigation posture, so as to reduce the useless power consumption of the self-patrol lifebuoy.

[0005] On the other hand, the high-speed driving of the self-patrol lifebuoy determines the timeliness of rescue, but the basis of high-speed driving must be based on frequent data collection and frequent long-distance communication, all of which have urgent power requirements. Therefore, during the rescue process, it is necessary to solve the power distribution problem between power output, data collection, and wireless communication functions on the premise of ensuring the success of the rescue, adjusting the driving mode and optimizing the rescue path.

[0006] In terms of rescue path planning algorithms, artificial intelligence algorithms such as neural networks require many training times during modeling, have low efficiency, slow algorithm convergence or no convergence, and are prone to forming local optimal points. The uncertainty of the position of people falling into the water will significantly increase the number of model training times. Slow algorithm convergence, no convergence, or the formation of local optimal points will seriously affect rescue. Summary of the invention

[0007] In view of this, the present invention provides a power allocation method for a self-patrol lifebuoy based on path planning, which uses Beidou positioning to obtain the position information of the person who falls into the water and the position information of the self-patrol lifebuoy, and combines real-time sea condition information to quickly determine the slowest position and the fastest position for successful rescue, that is, determine the successful rescue range. On the basis of this rescue range, the navigation, data acquisition and communication power of the self-patrol lifebuoy are adaptively adjusted through a power optimization method to achieve the best allocation of navigation, data acquisition and communication power, and improve the cruising mileage of the self-patrol lifebuoy while ensuring the success of the rescue.

[0008] A method for allocating power of a self-navigating lifebuoy based on path planning, the steps of implementing the method are as follows:

[0009] Step 1: Basic data preparation;

[0010] Step 2: Calculate the range of locations where successful rescue can be performed based on basic data;

[0011] Step 3: Establish an actual output power optimization model of the self-patrol lifebuoy based on basic data and location range;

[0012] Step 4: Optimize the power allocation during the rescue process according to the actual output power optimization model.

[0013] Furthermore, the basic data preparation in step one includes establishing a system coordinate system, collecting basic data and establishing a self-patrol lifebuoy motor speed adjustment mechanism.

[0014] Furthermore, in the system coordinate system, the origin is the offshore operating platform, the X-axis is the east, and the Y-axis is the north.

[0015] Furthermore, the basic data include: the driving speed V generated by the motor drive of the self-propelled life buoy in still water 电机 , the position information of the self-patrol lifebuoy itself (X boat ,Y boat ), the location information of the person who fell into the water (X human ,Y human ), speed of the person falling into the water V human and direction θ1, the speed of the self-propelled lifebuoy when it is impacted by seawater and its direction of action θ2.

[0016] Furthermore, the process of establishing the motor speed adjustment mechanism of the self-propelled life buoy is as follows: the self-propelled life buoy provides driving force through the propellers on the left and right sides, and adjusts the direction of travel by adjusting the speed difference between the left and right sides. The maximum speed provided by the motor is recorded as V max 电机In the actual driving process, when the distance to the person who falls into the water is less than ε1, the self-patrol lifebuoy stays and waits for the person who falls into the water to dock with the self-patrol lifebuoy.

[0017] Furthermore, the calculation of the position range for successful rescue in step 2 includes: calculating the slowest rescue point for the self-patrol lifebuoy, determining the propulsion speed range of the motor for the self-patrol lifebuoy, and calculating the fastest rescue point for the self-patrol lifebuoy.

[0018] Furthermore, the steps of calculating the slowest rescue point for the self-patrol lifebuoy are as follows:

[0019] (1) Calculate the current position of the person in the water, recorded as position 2, and the distance S1 between the person and the self-patrolling lifebuoy;

[0020] (2) Calculate the time t0 from the patrolling lifebuoy to position 2, based on the current drifting speed V human , calculate the distance S2 that the drowning person moves at t0. At this time, the drowning person drifts to position 3, which is the slowest rescue point for self-patrol to the lifebuoy;

[0021] (3) Taking the length of S1 as the radius of the solution domain circle, calculate the intersection point between the line connecting position 3 and the self-patrol lifebuoy and the solution domain circle;

[0022] (4) The self-patrol lifebuoy uses position 3 or the intersection point in step (3) as the initial point of the local optimal solution of the path to determine the target direction and adjust the posture.

[0023] Furthermore, the steps of determining the propulsion speed range of the self-navigating lifebuoy motor are as follows:

[0024] (1) Establish a rotation control model for a self-propelled life buoy. The propellers on the left and right sides of the self-propelled life buoy provide driving force, and the direction of travel is adjusted by adjusting the speed difference between the left and right sides. The maximum speed of the self-propelled life buoy is recorded as V max 电机 ;

[0025] (2) The distance between the self-patrol lifebuoy and position 3 is denoted as S3. Based on S1, S3 and time t0, the average speed V of the self-patrol lifebuoy and the drowning person at position 3 is determined. min boat ;

[0026] (3) Calculate V based on the longitude and latitude information between position 3 and the self-patrol lifebuoy, as well as the drifting direction of the personnel. min boat and The angle α between them;

[0027] (4) When the actual speed of the self-patrol reaching the lifebuoy is V min boatWhen the speed is calculated according to the vector calculation method of speed synthesis, the speed provided by the self-patrol lifebuoy motor drive is calculated as the minimum driving speed for successful rescue, which is recorded as V min 电机 ;

[0028] (5) When the motor provides the maximum drive speed V max 电机 When the self-patrol arrives at the lifebuoy and goes to position 3 for rescue, the maximum speed V of the self-patrol arriving at the lifebuoy during the rescue process is calculated according to the vector calculation method of speed synthesis. max boat .

[0029] Furthermore, the steps of calculating the fastest rescue point of the lifebuoy are as follows:

[0030] (1) The binary search method is used to obtain a trial solution. The midpoint between position 2 and position 3 is used as the trial solution of the actual rescue position. At this time, the coordinate position of position 4 is determined, and the distance between position 4 and the self-patrol lifebuoy and the heading of the self-patrol lifebuoy can be determined, thereby determining V max 电机 direction;

[0031] (2) According to the drifting speed V human and V max boat Speed, distance S between position 2 and position 4 2,4 , the distance S between position 4 and the self-patrol lifebuoy 0,4 , calculate the time required for the drowning person to drift to position 4 And the time required for the self-propelled lifebuoy to reach position 4

[0032] (3) If Then select the midpoint of position 2 and position 4, position 4”, as the new position 4; if If the distance between the person who falls into the water and the self-patrolling lifebuoy is greater than ε1, the position 4' shown as the midpoint between position 3 and position 4 is selected as the new position 4;

[0033] (4) Repeat (1) to (3) above. If And the distance between the person who falls into the water and the self-patrolling lifebuoy is less than ε1. At this time, the determined position 4 is the fastest rescue position.

[0034] Furthermore, the actual output power optimization model of the self-navigating lifebuoy in step 3 is as follows:

[0035] The actual output power P of the self-patrolling lifebuoy act Acting on the motor power output P 电机 , Data acquisition power consumption P 数采 , and wireless communication P通信 ;

[0036] P act =P 电机 +P 数采 +P 通信 (1)

[0037] The output power of the motor is related to the driving speed of the motor;

[0038] P 电机 =f1(V 电机 )=α1·V 电机 (2)

[0039] Data acquisition power P 数采 The speed V of the self-patrol lifebuoy boat And with L boat_human All are linearly correlated;

[0040] P 数采 =f2(V boat ,L boat_human )=α2·V boat +η·L boat_human (3)

[0041] Communication power and the speed V of the self-patrol lifebuoy boat And with L boat_human Related;

[0042] P 通信 =f3(V boat ,L boat_human )=α3·V boat +γ·L 3 boat_human (4)

[0043] α1, α2, α3 are the optimization parameters of motor, data acquisition and wireless communication power respectively, γ and η are empirical parameters; Determination of α1, α2, α3 parameters: After determining that a person has fallen into the water, the self-patrol lifebuoy will enter the rescue mode with high-speed navigation, high-speed data acquisition and high-frequency communication, P 电机 , P 数采 , P 通信 are all in a known state, according to V 电机 、V boat Determine α1, α2, and α3.

[0044] Furthermore, the power optimization process in the rescue process of step 4 is as follows:

[0045] (1) Compare the average speed of the self-patrol to the lifebuoy within a fixed time period ΔT With V min boat ,like Adjust V 电机 Make P 电机 Increase, go to step (3), if Adjust V 电机 Make P 电机 Increase, go to step (2);

[0046] in,

[0047] (2) When the self-patrolling lifebuoy approaches the person who falls into the water, L boat_human The distance decreases. According to formulas (3) and (4), P 数采 With P 通信 Reduce, according to formula (2) can reduce V 电机 , that is, P 电机 The actual output power P of the self-patrol lifebuoy is reduced. act reduce;

[0048] (3) Adjust V 电机 Make P 电机 Increase, then V boat Increase, according to formula (3) and (4), P 数采 With P 通信 Increase, that is, increase the frequency of data acquisition and wireless communication.

[0049] Beneficial effects:

[0050] 1. The power allocation method of the self-patrol lifebuoy based on path planning of the present invention is based on the current limited output power (equivalent to V 电机 ), the self-patrol lifebuoy uses the current water flow speed to adjust the navigation posture to obtain the optimal speed, and can reasonably distribute the limited energy when the cruising range of the self-patrol lifebuoy is limited. At the same time, using this method, after determining the optimal navigation direction and speed of the self-patrol lifebuoy, the self-patrol lifebuoy can be fed back to adjust the motor output power (i.e. V 电机 of adjustment).

[0051] 2. The calculation of the position range for successful rescue in step 2 of the present invention is achieved by calculating the slowest rescue point for the self-patrol lifebuoy to reach the lifebuoy, determining the propulsion speed range of the motor of the self-patrol lifebuoy, and calculating the fastest rescue point for the self-patrol lifebuoy to reach the lifebuoy. Therefore, the fastest rescue point and the slowest rescue point in the rescue process can be quickly determined. This method uses a reliable local optimal solution initial point as the starting point, determines the solution range of the path planning, and can effectively avoid repeated training calculations in conventional algorithms, thereby improving the reliability of rescue path planning.

[0052] 3. When calculating the fastest rescue point of the self-patrol lifebuoy, the present invention uses a binary search method for rapid iteration based on a determined rescue range, which can avoid the problem of slow convergence or non-convergence in conventional algorithms and greatly reduce the computational burden.

[0053] 4. In establishing the actual output power optimization model of the self-patrol lifebuoy and the power optimization process during the rescue process, the present invention establishes a P 电机 , P 数采 , P 通信 The multi-power optimization method solves the problem of power allocation optimization between different functions of the self-patrol lifebuoy in a dynamic environment and improves the cruising range of the self-patrol lifebuoy. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a flow chart of the steps of the power distribution method of the self-patrol lifebuoy based on path planning of the present invention;

[0055] Figure 2 A schematic diagram of establishing a system coordinate system in an embodiment of the present invention;

[0056] Figure 3 A schematic diagram of calculating the current position of a person falling into water in an embodiment of the present invention;

[0057] Figure 4 It is a schematic diagram of calculating the propulsion speed of the motor of the self-patrol lifebuoy in an embodiment of the present invention;

[0058] Figure 5 Schematic diagram of the relative positions of successful rescue in an embodiment of the present invention

[0059] Figure 6 Schematic diagram of the relative positions of successful rescue in an embodiment of the present invention

[0060] Figure 7 This is a schematic diagram of the final rescue path in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0062] As attached Figure 1 As shown, the present invention provides a method for allocating power of a self-patrolling lifebuoy based on path planning, and the steps for implementing the method are as follows:

[0063] Step 1: Establish a coordinate system with the offshore platform as the origin, the north as the Y-axis, and the east as the X-axis.

[0064] Step 2: Basic data collection. The driving motor power of the self-propelled life buoy is linearly related to the still water speed of the self-propelled life buoy. 电机 It indicates the speed of the self-propelled life buoy driven by the motor in still water.

[0065] (1) The self-patrolling lifebuoy obtains its own location information through the built-in Beidou module (X boat ,Y boat ), the personnel positioning helmet worn by the drowning person has a built-in Beidou module to obtain the position information of the drowning person (X human ,Y human ) and transmit it wirelessly to the self-patrolling lifebuoy.

[0066] (2) The self-patrolling lifebuoy calculates the speed V of the person falling into the water based on the front and rear position information of the person. human and direction θ1, and calculate the speed of the self-patrol lifebuoy caused by the impact of seawater through the front and rear position information and hydrological information of the self-patrol lifebuoy and its direction of action θ2.

[0067] Step 3: Establish a speed adjustment mechanism for the motor of the self-patrolling life buoy.

[0068] The self-propelled lifebuoy is driven by the propellers on the left and right sides, and the direction of travel is adjusted by adjusting the speed difference between the left and right sides. The maximum speed provided by the motor is recorded as V max 电机 .

[0069] During the actual driving process, when the distance to the person who falls into the water is less than ε1, the self-patrol lifebuoy will stay and wait for the person who falls into the water to dock with the self-patrol lifebuoy.

[0070] Step 4: Calculate the slowest rescue point for the lifebuoy to be reached by self-patrol.

[0071] (1) Calculate the current position of the person who fell into the water, as shown in the following figure: Figure 3 As shown, it is recorded as position 2, and the distance S1 between it and the self-patrolling lifebuoy.

[0072] (2) Calculate the time t0 from the patrolling lifebuoy to position 2, based on the current drifting speed V human , calculate the distance S2 that the drowning person moves at t0. At this time, the drowning person drifts to position 3, which is the slowest rescue point for self-patrol to reach the lifebuoy. Figure 3 shown.

[0073] (3) Taking the length of S1 as the radius of the solution domain circle, calculate the intersection point between the line connecting position 3 and the self-patrol lifebuoy and the solution domain circle.

[0074] (4) The self-patrol lifebuoy uses position 3 or the intersection point in step (3) as the initial point of the local optimal solution of the path to determine the target direction and adjust the posture.

[0075] Step 5: Calculate the propulsion speed of the self-patrol lifebuoy motor.

[0076] After the calculation of the initial point of the local optimal solution is completed according to step 4, the direction of the self-patrol lifebuoy is adjusted considering the influence of the water flow to achieve the attitude adaptive control of the self-patrol lifebuoy. The specific steps are as follows:

[0077] (1) Establish a rotation control model for the self-propelled life buoy. The propellers on the left and right sides of the self-propelled life buoy provide driving force, and the direction of travel is adjusted by adjusting the speed difference between the left and right sides. The maximum speed of the self-propelled life buoy is recorded as V max 电机 .

[0078] (2) The distance between the self-patrol lifebuoy and position 3 is denoted as S3. Based on S1, S3 and time t0, the average speed V of the self-patrol lifebuoy and the drowning person at position 3 is determined. min boat .

[0079] (3) Calculate V based on the longitude and latitude information between position 3 and the self-patrol lifebuoy, as well as the drifting direction of the personnel. min boat and The angle α between them.

[0080] (4) When the actual speed of the self-patrol reaching the lifebuoy is V min boat When the speed is calculated according to the vector calculation method of speed synthesis, the speed provided by the self-patrol lifebuoy motor drive is calculated as the minimum driving speed for successful rescue, which is recorded as V min 电机 .

[0081] (5) When the motor provides the maximum drive speed V max 电机 When the self-patrol arrives at the lifebuoy and goes to position 3 for rescue, the maximum speed V of the self-patrol arriving at the lifebuoy during the rescue process is calculated according to the vector calculation method of speed synthesis. max boat .

[0082] Step 6: Calculate the fastest rescue point for the lifebuoy.

[0083] In the actual rescue process, the speed of the self-patrol lifebuoy should be [V min boat ,V max boat] interval, and position 3 is the extreme rescue position, that is, the rescue time will be the longest if rescue is carried out at this location.

[0084] When the self-patrol lifebuoy performs rescue in high-speed mode, the actual successful rescue relative position is as follows Figure 5 As shown, position 4 has uncertainty and is solved using an iterative method.

[0085] (1) The binary search method is used to obtain a trial solution. The midpoint between position 2 and position 3 is used as the trial solution of the actual rescue position. At this time, the coordinate position of position 4 is determined, and the distance between position 4 and the self-patrol lifebuoy and the heading of the self-patrol lifebuoy can be determined, so that V can be determined. max 电机 direction.

[0086] (2) According to the drifting speed V human and V max boat Speed, distance S between position 2 and position 4 2,4 , the distance S between position 4 and the self-patrol lifebuoy 0,4 , we can calculate the time required for the drowning person to drift to position 4 And the time required for the self-propelled lifebuoy to reach position 4

[0087] (3) If Then select the midpoint between position 2 and position 4 as shown in the following figure. Figure 5 The position shown is 4" as the new position 4; if If the distance between the person who falls into the water and the self-patrolling lifebuoy is greater than ε1, the midpoint between position 3 and position 4 is selected as shown in the following figure. Figure 6 Position 4' is shown as new position 4.

[0088] (4) Repeat (1) to (3) above. If And the distance between the person who falls into the water and the self-patrolling lifebuoy is less than ε1. At this time, the determined position 4 is the fastest rescue position.

[0089] Step 7: Data update and path replanning.

[0090] Repeat step 2 to complete the update of basic data. Under the new relative position of the self-patrol lifebuoy and the person who falls into the water, repeat steps 3 to 6 to update position 3 and position 4, that is, determine the fastest rescue point (position 4) and the slowest rescue point (position 3) of the self-patrol lifebuoy.

[0091] Step 8: Establish an actual output power optimization model of the self-patrol lifebuoy.

[0092] According to steps 1 to 7, the rescue range of the self-patrol lifebuoy when a rescue is successful is determined, and the actual output power of the self-patrol lifebuoy is optimized within this rescue range, so that the self-patrol lifebuoy has a larger cruising range while ensuring the success of the rescue.

[0093] The actual output power P of the self-patrolling lifebuoy act Mainly acts on the motor power output P 电机 , Data acquisition power consumption P 数采 , and wireless communication P 通信 .

[0094] P act =P 电机 +P 数采 +P 通信 (1)

[0095] The output power of the motor is related to the driving speed of the motor, and the two are in a square proportional relationship, as shown in formula (2);

[0096] P 电机 =f1(V 电机 )=α1·V 电机 (2)

[0097] Data acquisition power P 数采 The speed V of the self-patrol lifebuoy boat And with L boat_human They are all linearly correlated. When the self-patrol lifebuoy is sailing at high speed, a faster data collection frequency needs to be allocated. When the distance between the self-patrol lifebuoy and the person falling into the water is significantly reduced, the movement posture of the self-patrol lifebuoy is good at this time, and the data collection power can be reduced.

[0098] P 数采 =f2(V boat ,L boat_human )=α2·V boat +η·L boat_human (3)

[0099] Communication power and the speed V of the self-patrol lifebuoy boat And with L boat_human When the self-patrol lifebuoy is sailing at high speed, it needs to communicate at a high frequency. On the other hand, when the distance is far, the self-patrol lifebuoy needs to communicate with a larger power, and the signal is sent to all directions. 通信 With distance L boat_human is proportional to the cube of .

[0100] P 通信 =f3(V boat ,L boat_human )=α3·V boat +γ·L3 boat_human (4)

[0101] According to steps 1 to 7, the distance L between the self-patrol lifebuoy and the person falling into the water can be obtained boat_human , V 电机 , V boat wait.

[0102] α1, α2, α3 are the optimization parameters of motor, data acquisition and wireless communication power respectively, γ and η are empirical parameters; Determination of α1, α2, α3 parameters: After determining that a person has fallen into the water, the self-patrol lifebuoy will enter the rescue mode with high-speed navigation, high-speed data acquisition and high-frequency communication, P 电机 , P 数采 , P 通信 are all in a known state, according to V 电机 、V boat Determine α1, α2, and α3.

[0103] Step 9: Power optimization process during rescue

[0104] (1) Compare the average speed of the self-patrol to the lifebuoy within a fixed time period ΔT With V min boat ,like Adjust V 电机 Make P 电机 Increase, go to step (3), if Adjust V 电机 Make P 电机 Increase and go to step (2).

[0105] in,

[0106] (2) When the self-patrolling lifebuoy approaches the person who falls into the water, L boat_human As the distance decreases, according to formulas (3) to (4), P 数采 With P 通信 Reduce, according to formula (2) can reduce V 电机 , that is, P 电机 The actual output power P of the self-patrol lifebuoy is reduced. act reduce.

[0107] (3) Adjust V 电机 Make P 电机 Increase, then V boat Increase, according to formula (3) ~ (4), P 数采 With P 通信 Increase, that is, increase the frequency of data acquisition and wireless communication.

[0108] Step 10: Roadbed planning for self-patrol lifebuoy.

[0109] Repeat steps 1 to 9, based on the path planning, according to P 电机 , P 数采 , P 通信 The dynamic adjustment between the two solves the power distribution problem of the self-patrol lifebuoy. The final rescue path is as shown in the attached figure. Figure 7 shown.

[0110] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for allocating power of a self-navigating lifebuoy based on path planning, characterized in that: The steps to implement this method are as follows: Step 1: Basic data preparation; Step 2: Calculate the range of locations where successful rescue can be performed based on basic data; Step 3: Establish an actual output power optimization model of the self-patrol lifebuoy based on basic data and location range; Step 4: Optimize the power allocation during the rescue process according to the actual output power optimization model; The calculation of the position range for successful rescue in step 2 includes: calculating the slowest rescue point for the self-patrol lifebuoy, determining the propulsion speed range of the motor for the self-patrol lifebuoy, and calculating the fastest rescue point for the self-patrol lifebuoy; The steps of calculating the slowest rescue point of the self-patrol lifebuoy are as follows: (1) Calculate the current position of the person who falls into the water, recorded as position 2, and the distance between the person and the self-patrolling lifebuoy ; (2) Calculate the time from the patrolling lifebuoy to position 2 , according to the current drifting speed of personnel , calculate the number of people falling into the water Distance of movement At this time, the person who fell into the water drifted to position 3, which is the slowest rescue point for self-patrol to reach the lifebuoy; (3) The length is the radius of the solution domain circle, and the intersection point between the line connecting position 3 and the self-patrol lifebuoy and the solution domain circle is calculated; (4) The self-navigating lifebuoy uses position 3 or the intersection point in step (3) as the initial point of the local optimal solution of the path to determine the target direction and adjust the posture.

2. The method for distributing power of a self-navigating lifebuoy based on path planning as claimed in claim 1, characterized in that: The basic data preparation in step 1 includes establishing a system coordinate system, collecting basic data and establishing a self-patrol lifebuoy motor speed adjustment mechanism.

3. The method for distributing power of a self-navigating lifebuoy based on path planning as claimed in claim 2, characterized in that: In the system coordinate system, the origin is the offshore operating platform. The axis is east, The axis is north.

4. The method for distributing power of a self-navigating lifebuoy based on path planning as claimed in claim 3, characterized in that: The basic data include: the driving speed of the self-propelled life buoy driven by the motor in still water , the position information of the self-patrol lifebuoy , the location information of the person who fell into the water , Movement speed of people falling into water and direction , the speed of the self-propelled lifebuoy caused by the impact of seawater Its direction of action .

5. The method for allocating power of a self-navigating lifebuoy based on path planning as claimed in claim 4, characterized in that: The process of establishing the motor speed adjustment mechanism of the self-propelled life buoy is as follows: the self-propelled life buoy provides driving force through the propellers on the left and right sides, and adjusts the direction of travel by adjusting the speed difference between the left and right sides. The maximum speed provided by the motor is recorded as , in actual driving, when the distance to the person who fell into the water is less than At this time, the self-patrol lifebuoy will stay there, waiting for the people who fall into the water to connect with the self-patrol lifebuoy.

6. The method for allocating power of a self-navigating lifebuoy based on path planning as claimed in claim 1, characterized in that: The steps for determining the propulsion speed range of the self-propelled lifebuoy motor are as follows: (1) The rotation control model of the self-propelled life buoy is established. The propellers on the left and right sides of the self-propelled life buoy provide driving force, and the direction of travel is adjusted by adjusting the speed difference between the left and right sides. The maximum speed of the self-propelled life buoy is recorded as ; (2) The distance between the self-patrol lifebuoy and position 3 is recorded as ,according to , and time Determine the average speed of the self-propelled lifebuoy when it meets the drowning person at position 3 ; (3) Calculate the latitude and longitude information between position 3 and the self-patrol lifebuoy, as well as the drifting direction of the person and The angle between ; (4) When the actual speed of the self-patrol reaching the lifebuoy is When the speed is calculated according to the vector calculation method of speed synthesis, the speed provided by the self-patrol lifebuoy motor drive is calculated as the minimum driving speed for successful rescue, which is recorded as ; (5) When the motor provides the maximum drive speed When the self-patrol arrives at the lifebuoy and goes to position 3 for rescue, the maximum speed of the self-patrol arriving at the lifebuoy during the rescue process is calculated according to the vector calculation method of speed synthesis. .

7. The method for allocating power of a self-navigating lifebuoy based on path planning as claimed in claim 6, characterized in that: The steps of calculating the fastest rescue point of the self-patrol lifebuoy are as follows: (1) The binary search method is used to obtain a trial solution. The midpoint between position 2 and position 3 is used as the trial solution of the actual rescue position. At this time, the coordinate position of position 4 is determined, and the distance between position 4 and the self-patrol lifebuoy and the heading of the self-patrol lifebuoy can be determined, thereby determining direction; (2) According to the drifting speed of the personnel as well as Speed, distance between position 2 and position 4 , the distance between position 4 and the self-patrol lifebuoy , calculate the time required for the drowning person to drift to position 4 , and the time required for the self-patrol lifebuoy to reach position 4 ; (3) If , then select the midpoint between position 2 and position 4 as the new position 4; if , and the distance between the person falling into the water and the self-patrolling lifebuoy is greater than , then select the position shown as the midpoint between position 3 and position 4 as new position 4; (4) Repeat (1) to (3) above. If , and the distance between the person falling into the water and the self-patrolling lifebuoy is less than At this time, the determined position 4 is the fastest rescue position.

8. The method for allocating power of a self-navigating lifebuoy based on path planning as claimed in claim 1, characterized in that: The actual output power optimization model of the self-patrol lifebuoy in step 3 is as follows: The actual output power of the self-patrolling lifebuoy Acting on the motor power output , Data acquisition power consumption , and wireless communications ; (1) The output power of the motor is related to the driving speed of the motor; (2) Data acquisition power The speed of the self-patrol lifebuoy and All are linearly correlated; (3) Communication power and the speed of self-patrol to lifebuoy and Related; (4) are the optimized parameters of motor, data acquisition and wireless communication power respectively, The distance between the lifebuoy and the person who falls into the water. and is an empirical parameter; Parameter determination: After determining that someone has fallen into the water, the self-patrol lifebuoy will enter the rescue mode with high-speed navigation, high-speed data acquisition, and high-frequency communication. , , are all in a known state, according to , Sure .

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