A method of and system for directing observation of a boat being launched or recovered

Abstract

The application provides a kind of command observation method and command observation system for boat launching and landing, by real-time acquisition of boat and launching and landing device in the whole process of launching and landing process data, extraction of launching and landing area boundary of launching and landing device, profile information and motion data of boat, make commander to judge whether the operation of launching and landing is reasonable according to launching and landing area boundary and boat launching and landing state expected trajectory, realize the function of effectively observing the launching and landing operation of boat in the case of sudden weather or special environment, including fog, light is dark, sight is blocked and so on.The application gives the safety operation processing idea of commander in the process of boat launching and landing operation, ensures the safety of commander and command equipment in the process of boat launching and landing operation.The application proposes the method of launching and landing area boundary generation and boat launching and landing state expected trajectory generation, provides reliable basis for commander to judge whether the operation of launching and landing is reasonable.

Description

Technical Field

[0001] This invention belongs to the field of small boat launching and launching technology, specifically relating to a command and observation method and system for launching and launching small boats. Background Technology

[0002] Large ships typically carry a number of small boats for tasks such as counter-terrorism, rescue, shipboard maintenance, and transporting small numbers of personnel or supplies. These small boats require specialized launching and retrieval equipment before and after each mission. Currently, during these operations, command personnel generally observe from the side of the ship (including the hull side and stern edge). In rough seas, this poses safety risks such as command personnel falling overboard and command equipment being lost or submerged. Furthermore, the larger the ship, the higher the small boat is positioned during launch and retrieval, potentially increasing the difficulty of observation. In addition, in severe weather conditions such as fog, obstructed visibility, or low light, command personnel may be unable to assess the operational situation, hindering effective observation and command. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a command and observation method and system for launching and retrieving small boats, which can be used to effectively observe and command the launching and retrieving operations of small boats in special environments.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: a command and observation method for launching and retrieving small boats, comprising the following steps:

[0005] S0: Establish a command and observation system for launching and recovering small boats, including a camera system, a video image processing system, a terminal display enhancement system, the small boats, and the launching and recovering device; the camera system is connected to the video image processing system; the camera system includes camera equipment and a data transmission link; the number of camera equipment in the camera system is set according to the actual ship conditions, with at least one camera equipment; the video image processing system includes computing components and data processing programs; the terminal display enhancement system includes display terminals and terminal display enhancement programs; the small boats can be manned or unmanned; if the small boats are manned, a display terminal is added to the driving position of the manned small boats; if the small boats are unmanned, a display terminal is added to the launching and recovering operation station of the unmanned small boats; the launching and recovering device adopts launching and recovering technologies including launching and recovering basket type lifting technology or single-point lifting and double-point lifting technology; when the launching and recovering basket is replaced with launching and recovering slide, the launching and recovering position of the small boat is changed from launching and recovering from the side of the small boat to launching and recovering from the stern slide;

[0006] S1: Deployment of small boats; specific steps are as follows:

[0007] S11: The camera system collects real-time data on the entire process of the small boat being lowered and released, as well as its separation from the launch basket.

[0008] S12: The video image processing system extracts the outline information of the launch basket after it enters the water, the outline and motion information of the small boat after it enters the water, and indicates the direction of travel and predicts the trajectory to the command personnel.

[0009] S13: By observing and predicting the trajectory, the commander will determine whether the small boat may come into contact with obstacles such as the launch basket during its departure, and issue instructions such as acceleration, deceleration and course adjustment as appropriate.

[0010] S2: Conduct small boat recovery operations; specific steps are as follows:

[0011] S21: The camera system collects real-time data on the entire process of docking preparation, docking, and lifting between the small boat and the launch basket;

[0012] S22: The video image processing system extracts the contour information and motion data of the underwater launch basket, and generates the launch area boundary of the launch basket in real time through data processing; it also extracts the contour information and motion data of the small boat, and generates the expected motion trajectory of the small boat in the launch state in real time through data processing.

[0013] S23: Based on the boundary of the launch and recovery area and the expected trajectory of the small boat during launch and recovery, the commander makes a comprehensive judgment on whether the launch and recovery operation is reasonable, and issues instructions in a timely manner, including acceleration and deceleration, course adjustment, continuing or abandoning the recovery operation.

[0014] According to the above plan, the following steps are also included:

[0015] If the surrounding environment suddenly becomes less visible during launch and retrieval operations, the data collected by the camera system will be blurry. The terminal display enhancement system will extract the position information of the small boat and launch and retrieval device, call up the three-dimensional information of the small boat and launch and retrieval device stored in the background, and highlight the outline of the small boat and launch and retrieval device to the command personnel, so as to minimize the adverse effects of low visibility on command and observation.

[0016] According to the above scheme, in step S2, the motion data of the small boat includes speed, direction of travel, and turning acceleration.

[0017] A command and observation system for launching and retrieving a small boat includes a camera system, a video image processing system, a terminal display enhancement system, a small boat, and a launching and retrieving device. The camera system is connected to the video image processing system. The camera system is used to collect and transmit data from the launching and retrieving operations. The video image processing system is used to process the data from the camera system, generate launching and retrieving boundaries, and predict the launching and retrieving trajectories of the small boat. A computing component is used to identify and process data from the launching and retrieving device to generate launching and retrieving area boundaries, identify and process small boat data to determine the small boat's motion attitude, generate the predicted launching and retrieving trajectories of the small boat, and brighten and clarify the camera data to make the final displayed image information clear and bright, which is beneficial for terminal observation. The terminal display enhancement system is used to enhance the display of the small boat and launching and retrieving device in inclement weather or during periods of low light.

[0018] Furthermore, the camera system includes camera equipment and data transmission links; the number of camera equipment in the camera system is set according to the actual ship conditions, with at least one camera equipment; the video image processing system includes computing components and data processing programs; the terminal display enhancement system includes display terminals and terminal display enhancement programs; the small boat can be manned or unmanned; the launching and recovering device adopts launching and recovering technologies including launching and recovering basket type lifting technology or single-point lifting and double-point lifting technology; when the launching and recovering basket is replaced with launching and recovering slipway, the launching and recovering position of the small boat is changed from launching and recovering from the side of the small boat to launching and recovering from the stern slipway type lifting technology.

[0019] Furthermore, if the small boat is a manned small boat, a display terminal is added to the driving position of the manned small boat to provide operational reference for the driver during the launching and retrieval operations; if the small boat is an unmanned small boat, a display terminal is added to the launching and retrieval operation station of the unmanned small boat to provide operational reference for the operator of the unmanned small boat during the launching and retrieval operations.

[0020] A computer storage medium containing a computer program executable by a computer processor, the computer program executing a command and observation method for launching and retrieving small boats.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The present invention provides a command and observation method and system for launching and retrieving small boats. By collecting real-time data of the small boat and launching and retrieving device throughout the launching and retrieving process, the system extracts the launching and retrieving area boundary of the launching and retrieving device, the outline information of the small boat, and motion data. This allows the commanding personnel to comprehensively judge whether the launching and retrieving operation is reasonable based on the launching and retrieving area boundary and the predicted motion trajectory of the small boat. This enables the system to effectively observe and command the launching and retrieving operation of small boats in adverse weather conditions or special environments, including fog, low light, and obstructed visibility.

[0023] 2. This invention provides a safe operating procedure for the commander during the launching and retrieval of small boats, ensuring the safety of the commander and command equipment during the launching and retrieval of small boats.

[0024] 3. This invention proposes a method for generating the boundary of the launch and recovery area and the predicted motion trajectory of the small boat during launch and recovery, providing a reliable basis for commanders to comprehensively judge whether the launch and recovery operation is reasonable. Attached Figure Description

[0025] Figure 1 This is a system composition diagram of an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram illustrating an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram illustrating a period of severe weather or low light conditions according to an embodiment of the present invention.

[0028] In the diagram: 1. Camera equipment; 2. Data transmission link; 3. Video image processing system; 4. Terminal display enhancement system; 5. Small boat; 6. Launching and recovering device. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0030] See Figure 1 The embodiments of the present invention include a camera system, a video image processing system 3, and a terminal display enhancement system 4. The camera system 4 is mainly used for data acquisition and transmission during the launch and retrieval operations, and mainly includes camera equipment 1, data transmission link 2, etc. The small boat 5 can be a manned boat or an unmanned boat. Figure 1 The diagram only shows the launching basket portion of the rigging-type launching and recovering device. The video image processing system 3 is primarily used for data processing of the camera system and generating the predicted motion trajectory of the launching and recovering boundaries and the launching and recovering state of the small boat. It mainly includes computing components and data processing programs. The terminal display enhancement system 4 is mainly used for display enhancement of the small boat and launching and recovering device in inclement weather or during low-light conditions. It mainly includes a display terminal and terminal display enhancement programs.

[0031] The number of cameras in the video surveillance system is determined based on the actual ship conditions, but generally at least one camera is required. The data collected by the camera system is transmitted to the video image processing system for processing.

[0032] After receiving video capture data, the video image processing system uses its computing components to enhance and clarify the camera data as needed, resulting in a clear and bright final image for easy viewing by the terminal. Based on the collected data, the computing components identify and process data from the launch and retrieval device, generating the boundaries of the launch and retrieval area; they also identify and process data from the small boat, determining its motion attitude (including speed, direction of travel, and turning acceleration), and generating the predicted trajectory of the small boat during launch and retrieval. Command personnel can then comprehensively assess the rationality of the launch and retrieval operation based on the boundaries of the launch and retrieval area and the predicted trajectory of the small boat.

[0033] When visibility is low in the surrounding environment, the terminal display enhancement system extracts the location information of the small boat and the launching and retrieving device from the terminal display enhancement program, calls the three-dimensional information of the small boat and the launching and retrieving device stored in the background, and highlights the outline of the small boat and the launching and retrieving device on the display terminal, so as to minimize the adverse effects of low visibility on command and observation.

[0034] The command and observation method of the present invention includes the following steps:

[0035] During the deployment of the small boat, the camera system collects real-time data on the entire process of the boat's descent and separation from the launch basket. The video image processing system extracts the outline information of the launch basket after it enters the water, and extracts the outline and motion information of the small boat after it enters the water, indicating the direction of travel and predicting the trajectory. By observing the predicted trajectory, the commander can monitor whether the small boat may come into contact with obstacles such as the launch basket during its departure, and issue instructions such as acceleration / deceleration and course adjustment as needed.

[0036] During the small boat recovery operation, the camera system captures real-time data on the entire process of the small boat's preparation for docking with the recovery basket, the docking process, and the lifting process. The video image processing system extracts the contour information and motion data of the recovery basket in the water, and generates the boundary of the recovery area of ​​the recovery basket in real time after data processing (see...). Figure 2 The system extracts the outline information and motion data (including speed, direction of travel, turning acceleration, etc.) of the small boat, and generates the predicted motion trajectory of the small boat in real time through data processing. Commanders can comprehensively judge whether the launch and retrieval operation is reasonable based on the boundary of the launch and retrieval area and the predicted motion trajectory of the small boat, and issue instructions such as acceleration / deceleration, course adjustment, and continuation / abandonment of the recovery operation as appropriate.

[0037] When encountering low visibility conditions in the surrounding environment during launch and retrieval operations, the data collected by the camera system may be blurry. The terminal display enhancement program extracts the position information of the small boat and launch and retrieval device, calls the three-dimensional information of the small boat and launch and retrieval device stored in the background, and highlights the outline of the small boat and launch and retrieval device on the display terminal to minimize the adverse effects of low visibility on command and observation.

[0038] For manned boats, a display terminal could be added to the control area for the operator's reference during launch and retrieval. For unmanned surface vessels (USVs), a display terminal could be added to the launch and retrieval station for the operator's reference.

[0039] The above embodiments are for basket-type hoisting and retrieval technology, and are also applicable to other types of technologies such as single-point hoisting and double-point hoisting.

[0040] The above embodiments pertain to the side-mounted launching and recovery technology of small boats. For the stern-mounted sliding launching and recovery technology, it is only necessary to replace the launching and recovery basket with the launching and recovery slide. Other launching and recovery technologies can also be implemented by reference.

[0041] The above embodiments are only used to illustrate the design concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications made based on the principles and design ideas disclosed in the present invention are within the protection scope of the present invention.

Claims

1. A command and observation method for launching and retrieving small boats, characterized in that: Includes the following steps: S0: Establish a command and observation system for launching and recovering small boats, including a camera system, a video image processing system, a terminal display enhancement system, the small boats, and the launching and recovering device; the camera system is connected to the video image processing system; the camera system includes camera equipment and a data transmission link; the number of camera equipment in the camera system is set according to the actual ship conditions, with at least one camera equipment; the video image processing system includes computing components and data processing programs; the terminal display enhancement system includes display terminals and terminal display enhancement programs; the small boats can be manned or unmanned; if the small boats are manned, a display terminal is added to the driving position of the manned small boats; if the small boats are unmanned, a display terminal is added to the launching and recovering operation station of the unmanned small boats; the launching and recovering device adopts launching and recovering technologies including launching and recovering basket type lifting technology or single-point lifting and double-point lifting technology; when the launching and recovering basket is replaced with launching and recovering slide, the launching and recovering position of the small boat is changed from launching and recovering from the side of the small boat to launching and recovering from the stern slide; S1: Deployment of small boats; specific steps are as follows: S11: The camera system collects real-time data on the entire process of the small boat being lowered and released, as well as its separation from the launch basket. S12: The video image processing system extracts the outline information of the launch basket after it enters the water, the outline and motion information of the small boat after it enters the water, and indicates the direction of travel and predicts the trajectory to the command personnel. S13: By observing and predicting the trajectory, the commander will determine whether the small boat may come into contact with obstacles such as the launch basket during its departure, and issue instructions such as acceleration, deceleration and course adjustment as appropriate. S2: Conduct small boat recovery operations; specific steps are as follows: S21: The camera system collects real-time data on the entire process of docking preparation, docking, and lifting between the small boat and the launch basket; S22: The video image processing system extracts the contour information and motion data of the underwater launch basket, and generates the launch area boundary of the launch basket in real time through data processing; it also extracts the contour information and motion data of the small boat, and generates the expected motion trajectory of the small boat in the launch state in real time through data processing. S23: Based on the boundary of the launch and recovery area and the launch and recovery status of the small boat, the commander will predict the trajectory of the boat, comprehensively judge whether the launch and recovery operation is reasonable, and issue instructions such as acceleration and deceleration, course adjustment, continuation or abandonment of the recovery operation as appropriate. It also includes the following steps: If the surrounding environment suddenly becomes less visible during launch and retrieval operations, the data collected by the camera system will be blurry. The terminal display enhancement system will extract the position information of the small boat and launch and retrieval device, call up the three-dimensional information of the small boat and launch and retrieval device stored in the background, and highlight the outline of the small boat and launch and retrieval device to the command personnel, so as to minimize the adverse effects of low visibility on command and observation.

2. The command and observation method for launching and retrieving small boats according to claim 1, characterized in that: In step S2, the motion data of the small boat includes speed, direction of travel, and turning acceleration.

3. A command and observation system for the command and observation method for launching and retrieving small boats as described in any one of claims 1 to 2, characterized in that: Includes a camera system, a video image processing system, a terminal display enhancement system, a small boat, and a launching and recovering device; the camera system is connected to the video image processing system; The camera system is used to collect and transmit data from the deployment and retrieval operations; The video image processing system is used to process data from the camera system and generate the predicted motion trajectory of the launch and recovery boundaries and the launch and recovery status of the small boat; The computing component is used to identify and process data from the launching and retrieving device to generate the boundary of the launching and retrieving area, identify and process data from the small boat to obtain the boat's motion posture, generate the predicted motion trajectory of the small boat in the launching and retrieving state, and perform brightening and clarification processing on the camera data to make the final displayed image information clear and bright, which is conducive to terminal observation. The terminal display enhancement system is used to enhance the display of small boats and launching and retrieving devices in inclement weather or during periods of low light.

4. The command and observation system according to claim 3, characterized in that: The camera system includes camera equipment and data transmission links; the number of camera equipment in the camera system is determined according to the actual ship conditions, with a minimum of one camera equipment. Video image processing systems include computing components and data processing programs; The terminal display enhancement system includes a display terminal and a terminal display enhancement program; The small boat can be manned or unmanned; The launching and recovering device employs launching and recovering techniques including launching and recovering baskets or single-point and double-point launching techniques; when the launching and recovering baskets are replaced with launching and recovering slides, the launching and recovering position of the small boat is changed from launching and recovering from the side of the small boat to launching and recovering from the stern slide.

5. The command and observation system according to claim 4, characterized in that: If the small boat is a manned small boat, a display terminal is added to the driving position of the manned small boat to provide operational reference for the driver during the launching and retrieval operations; If the small boat is an unmanned small boat, a display terminal should be added to the unmanned small boat launching and retrieval operation station to provide operational reference for the unmanned small boat operators.

6. A computer storage medium, characterized in that: It contains a computer program that can be executed by a computer processor, which performs a command and observation method for launching and retrieving small boats as described in any one of claims 1 to 2.

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