Emergency deployment method of marine rescue equipment based on vertical take-off and landing fixed-wing UAV

Abstract

The present invention discloses an emergency deployment method for marine rescue equipment based on a vertical take-off and landing fixed-wing unmanned aerial vehicle, comprising the steps of obtaining a location to be rescued, establishing an ad hoc network according to the location to be rescued, obtaining information to be rescued according to unloaded nodes in the ad hoc network, and distributing marine rescue equipment according to the information to be rescued, adding a ship-borne vertical take-off and landing unmanned aerial vehicle loaded with distributed marine rescue equipment to the ad hoc network, performing path planning according to the added ad hoc network, and performing emergency deployment of the marine rescue equipment according to the path planning result.

Description

Technical Field

[0001] The present invention relates to the field of maritime rescue technology, and in particular to an emergency deployment method for maritime rescue equipment based on a vertical take-off and landing fixed-wing unmanned aerial vehicle. Background Technology

[0002] AIS is an important way for countries to obtain information about ships sailing in their jurisdiction. Shore-based AIS base stations can obtain navigation data of ships within 30 nautical miles along the coast, but it is difficult to cover the offshore areas. Then satellite AIS technology emerged. The satellite AIS system receives AIS message information sent by ships through low-orbit satellites, and forwards the received ship AIS message information to the corresponding ground station by using the law of satellite operation according to the predetermined orbit and the information relay capability, so that the land management agency can grasp the relevant dynamic information of the ship, which is not affected by the sea level. When the system is running, if the ground station is within the current satellite coverage, the information will be forwarded to the ground station immediately, otherwise the file will be saved by the satellite solid-state memory and will be forwarded when the satellite flies over the ground station. Therefore, satellite AIS has the ability to monitor global waters, but it is a non-real-time communication, that is, the system's coverage of the ship's location is not always continuous. At the same time, the sea patrol platform and the air patrol platform do not currently have real-time ultra-long-distance satellite communication capabilities due to the use of satellite communication equipment. The existing technology cannot guarantee real-time communication during the rescue process, and when an emergency occurs, it is impossible to quickly deploy marine rescue equipment. SUMMARY OF THE INVENTION

[0003] In order to solve the problems existing in the above-mentioned prior art, the present invention provides an emergency deployment method for marine rescue equipment based on a vertical take-off and landing fixed-wing UAV, which can ensure real-time communication and monitoring of rescue information and can quickly deploy marine rescue equipment.

[0004] To achieve the above technical objectives, the present invention provides the following technical solutions:

[0005] The emergency deployment method of marine rescue equipment based on vertical take-off and landing fixed-wing UAV includes:

[0006] Get the location to be rescued, form an ad hoc network based on the location to be rescued, obtain the rescue information based on the unloaded nodes in the ad hoc network, and allocate the maritime rescue equipment based on the rescue information, add the vertical take-off and landing fixed-wing drone loaded with the allocated maritime rescue equipment to the ad hoc network, perform path planning based on the added ad hoc network, and perform emergency deployment of the maritime rescue equipment based on the path planning results.

[0007] Optionally, the process of obtaining the location to be rescued includes:

[0008] The position of the ship is transmitted to the ground station through the satellite AIS system, and the ground station analyzes and processes the ship position to generate a position to be rescued.

[0009] Optionally, the process of forming a self-organizing network includes:

[0010] According to the position to be rescued, a communication area is obtained, and shipborne mobile base stations and airborne mobile base stations are screened according to the communication area, and the screened mobile base stations are used as communication nodes, and different communication nodes are connected for communication to generate a self-organizing network.

[0011] Optionally, the process of obtaining information to be rescued includes:

[0012] A vertical takeoff and landing fixed-wing UAV equipped with a radar and a camera is used as a node to join the self-organizing network as an airborne node, and it moves according to the position to be rescued, monitors and identifies at the moving position, and performs mobile monitoring according to the monitoring and identification results to obtain the real-time position and real-time image, where the information to be rescued includes the real-time position and real-time image.

[0013] Optionally, the process of allocating marine rescue equipment includes:

[0014] The information to be rescued is identified, the identification results are counted, and marine rescue equipment is allocated according to the statistical results.

[0015] Optionally, the process of path planning includes:

[0016] Perform regression analysis on the position information in the information to be rescued; obtain the flight speed of the shipborne vertical takeoff and landing UAV, and based on the regression analysis results and the flight speed, obtain the dropping position, and obtain the flight direction according to the dropping position, and realize path planning based on the flight direction and the flight speed.

[0017] Optionally, after obtaining the information to be rescued, it further includes:

[0018] Broadcast the information to be rescued through the nodes in the self-organizing network to obtain rescue ships, and add the rescue ships to the self-organizing network.

[0019] Optionally, the airborne node is equipped with AIS, takes pictures through a camera when moving to the position, and identifies the taken pictures through a deep learning model, and performs rescue through the pre-equipped emergency rescue equipment after identification.

[0020] The present invention has the following technical effects:

[0021] Through the above technical solutions, the present invention conducts real-time communication and information monitoring during real-time rescue by forming an ad-hoc network. After the monitoring is completed, the marine rescue equipment is reasonably allocated to ensure the effectiveness of the delivery of the marine rescue equipment. By using shipborne vertical takeoff and landing drones and conducting relevant path planning, the delivery accuracy and rapid delivery are improved. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 It is a schematic flowchart of the method provided by the embodiment of the present invention. Detailed Embodiments

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] To solve the problems existing in the prior art, the present invention provides the following solutions:

[0026] As Figure 1 described, the present invention provides an emergency delivery method for marine rescue equipment based on vertical takeoff and landing fixed-wing drones. The method locates and receives the position of the accident ship through satellite AIS technology. After the location is found, different types of base stations in the relevant area are used to form an ad-hoc network. Real-time communication is carried out through the ad-hoc network, and relevant monitoring devices are added to the ad-hoc network. The accident ship position is monitored and the accident information is searched and monitored through the relevant monitoring devices. After the search, the relevant information at this position is transmitted to the ground command center. The ground command center allocates rescue equipment according to the accident information, that is, the information to be rescued. The shipborne vertical takeoff and landing drone loads relevant rescue devices and joins the ad-hoc network for rapid delivery of marine equipment.

[0027] The above method of the present invention specifically includes: receiving the position of the accident ship sent by the AIS transceiver device carried on the satellite through the ground base station. The position of the accident ship is obtained through the shipborne AIS system. After the ground base station receives the position of the accident ship, it is transmitted to the command center. The command center takes this position as the center and a predetermined range as the radius to determine the position to be rescued. The predetermined range can be determined according to professionals or prior knowledge.

[0028] After determining the location to be rescued, set a line segment with the command center location and the center of the location to be rescued as endpoints. Based on this line segment, the area within a preset range from the line segment is used as the communication area, and different types of base stations within the communication area are statistically planned. The statistically counted base stations are used as communication nodes. After determining the communication nodes, establish communication between different nodes to form a self-organizing network. In the self-organizing network, the ground base station also serves as a communication node of the self-organizing network. At the same time, there needs to be one or more communication nodes within 10 kilometers from the center of the location to be rescued.

[0029] Different types of base stations include shipborne mobile base stations, airborne mobile base stations, island reef base stations, and ground base stations. The shipborne mobile base station is a maritime patrol boat platform equipped with line-of-sight self-organizing network base station nodes. The airborne mobile base station is a maritime patrol UAV platform equipped with line-of-sight self-organizing network base station nodes. Both mobile base station nodes include call relay devices and link relay devices. The two relay devices form a network node. The call relay undertakes the work of half-duplex conventional same-frequency and same-broadcast coverage, and the link relay undertakes the work of automatic networking connection between base stations. Each network node is linked to each other to achieve networking coverage. When the interval between self-organizing network nodes is 50 kilometers, the communication rate can still reach 10 Mbps, which can effectively achieve real-time communication. During the process of forming a self-organizing network, certain distance constraints are imposed on different base stations, that is, the distance between the linked communication nodes does not exceed 50 kilometers. When the constraint cannot be met, the positions of different ships are determined through the command center. After determination, the positions of the shipborne mobile base station and the airborne mobile base station are adjusted. When adjusting, the adjusted position data is transmitted to the corresponding device for position adjustment. When a self-organizing network cannot be formed after adjustment, that is, when there are insufficient base stations in the area, drones equipped with relay devices can be pre-set on the patrol ships as airborne mobile base stations. When the above situation occurs, the airborne mobile base station is operated to the designated position to form a temporary network node to provide communication for the self-organizing network. The drone uses a vertical take-off and landing fixed-wing drone as the carrier of the airborne mobile base station, which can take off and land vertically on the ship, fly at high speed to quickly build a self-organizing network, operate for a long time to ensure a long self-organizing network formation time, and cruise over a long distance to reach the designated position. At the same time, on the basis of the communication area, a certain search range is expanded, and the relevant ships equipped with relay devices are controlled to move to the communication area and operate the airborne mobile base stations carried, or directly dispatch relevant shipborne mobile base stations from the shore to form a self-organizing network. By the above methods, the number of network nodes is increased, and thus a self-organizing network can be effectively formed.

[0030] After the self-organizing network is established, a vertical takeoff and landing fixed-wing UAV equipped with a radar and a camera, i.e., the monitoring UAV, is added to the self-organizing network. As a detection UAV, the vertical takeoff and landing fixed-wing UAV can take off and land vertically on a ship, and can cruise at high speed, with a long endurance and a long distance like a fixed-wing aircraft, having great advantages compared with conventional vertical takeoff and landing UAVs (slow speed, small payload, short range). At the same time, the UAV is equipped with an AIS device to overcome the earth's curvature and expand the AIS transceiver range, so as to obtain more extensive maritime ship information to achieve rapid monitoring of ship information.

[0031] The UAV is also equipped with a relay device. After being added to the self-organizing network, the UAV is flown to the center position of the location to be rescued. Taking the location to be rescued as the monitoring area, the objects in this area are monitored by the radar, and the monitoring results are transmitted to the ground base station through the self-organizing network. During the monitoring process, the video of the monitoring area is taken. When an object is detected, the position of the object shown on the radar relative to the radar is analyzed, and the UAV moves towards the position of the object until it moves to a position 1 - 3 meters away from the object in the horizontal direction. After the movement is completed, the category of the object is identified. The category is identified through a deep learning neural network. When the identification result is an accident ship or accident personnel, the position and relevant video images of the accident ship or accident personnel are transmitted back to the ground base station. After identification, the corresponding category and UAV number are marked at this point on the radar, and target identification and tracking are carried out. When the identification is not an accident ship or accident personnel, this point is marked as non-accident, and the UAV moves towards other points. When the accident ship and accident personnel move, the UAV analyzes the position of the marked object shown on the radar relative to the radar in real time and maintains a position 1 - 3 meters away from the object in the horizontal direction. During the monitoring process, several monitoring UAVs are required. When a mark appears at the corresponding point on the radar, the UAV with the corresponding UAV number continues to monitor, and other UAVs search for unmarked points. During the tracking and monitoring process, after determining the category of accident personnel, the vertical takeoff and landing fixed-wing UAV can pre-carry a small amount of rescue equipment and drop it through a laser aiming device. At the same time, the command center can send instructions through the self-organizing network to control the UAV to drop the equipment.

[0032] After generating the information of the location to be rescued, the nodes in the self-organizing network broadcast the information of the location to be rescued to the nearby sea area. When nearby ships receive and respond to the broadcast, if they do not act as rescue ships, they join the self-organizing network to broadcast and communicate in the nearby sea area or participate in the rescue according to the data transmitted in the self-organizing network.

[0033] The deep learning network carried on the drone adopts a convolutional neural network including 3 convolutional modules and 2 fully connected layers. Its structure is simple and the running speed is fast. At the same time, a ResNet-50 neural network and a convolutional neural network are set at the command center. By training the ResNet-50 neural network, the trained ResNet-50 neural network is used to guide the training of the convolutional neural network. The process is that the input image is recognized by the ResNet-50 neural network, and the recognition result and image of the ResNet-50 neural network are used as the training set to train the neural network. Through continuous training, the recognition accuracy of the convolutional neural network is improved. After the training is completed at the command center, the network parameters of the trained convolutional neural network are transmitted to the drone, and the convolutional neural network carried in the drone is updated. This process improves the recognition accuracy of the convolutional neural network, reduces the training amount of the drone neural network and thus reduces its computing amount.

[0034] After tracking and monitoring, the monitoring and recognition results are statistically analyzed. The number and location of accident personnel are counted, and sufficient maritime rescue equipment is allocated corresponding to the personnel data and location. One or more pieces of equipment are allocated to each location under different positions. At the same time, the equipment that can carry or rescue is allocated according to the number of personnel at each location. During the loading process, the rescue equipment at one location is allocated to one or more shipborne vertical takeoff and landing drones, but it is not necessary for one shipborne vertical takeoff and landing drone to transport rescue equipment at multiple locations.

[0035] The allocated maritime rescue equipment is loaded on the shipborne vertical takeoff and landing drone. Before operating the moving shipborne vertical takeoff and landing drone, it is necessary to plan the path of the shipborne vertical takeoff and landing drone. In the self-organizing network, the position of the accident ship or accident personnel is obtained, and the path of the shipborne vertical takeoff and landing drone is planned according to the position of the accident ship or accident personnel. By analyzing the position of the accident ship or accident personnel, the moving trajectory of this position at different times is drawn, and regression analysis is performed on the moving trajectory to generate a prediction curve. The speed of the shipborne vertical takeoff and landing drone is set. After setting, the positions at different times in the prediction curve of the moving trajectory are calculated, and the positions that the drone can reach at different times are calculated. According to the above calculation results, the time when the position reached by the drone is the same as the position in the moving trajectory for the first time is calculated, and the dropping position is determined according to this time. After the dropping position is determined, the flight direction is determined according to the dropping position. The drone is controlled to fly and move according to the flight direction and flight speed. When reaching the dropping position, the position information is returned to the ground base station through the self-organizing network, and the maritime rescue equipment is dropped after reaching the dropping position. After dropping, it returns according to the previous path, and the monitoring drone continues to monitor until it is controlled to withdraw by relevant personnel. After the relevant personnel arrive, after confirming that the accident personnel are correct, the non-accident objects identified are checked.

[0036] For more precise delivery, the shipborne vertical takeoff and landing fixed-wing UAV is equipped with positioning equipment, communicates with the monitoring UAV about relevant positions through a self-organizing network, and when it reaches the delivery position, controls the shipborne vertical takeoff and landing UAV to approach the monitoring UAV according to the position of the monitoring UAV. During the approach process, the distance to the monitoring UAV is judged. When the judged distance is less than a certain threshold, a laser aiming device is used to quickly and accurately deliver emergency rescue equipment (fresh water, inflatable swimming rings, compressed food, signal transmitters, pager terminals, etc.). Before the delivered UAV takes off, the monitoring UAV number and communication address are set to establish a communication connection with the monitoring UAV. In maritime accident rescue, it plays an important role in being timely, quickly arriving at the scene, and saving lives.

[0037] 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. What is described in the above embodiments and the specification only illustrates the principles of 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 method for emergency deployment of marine rescue equipment based on a vertical take-off and landing fixed-wing UAV, characterized in that: include: Obtain the location to be rescued, form an ad hoc network according to the location to be rescued, obtain the information to be rescued according to the unloaded nodes in the ad hoc network, and allocate the maritime rescue equipment according to the information to be rescued, add the vertical take-off and landing fixed-wing UAV loaded with the allocated maritime rescue equipment to the ad hoc network, perform path planning according to the added ad hoc network, and perform emergency deployment of the maritime rescue equipment according to the path planning result; The process of obtaining rescue information includes: A vertical take-off and landing fixed-wing drone equipped with a radar and a camera is added as a node to the ad hoc network as an unloaded node, and moves according to the location to be rescued, monitors and identifies the location when it moves to the location, and performs mobile monitoring based on the monitoring and identification results to obtain a real-time location and a real-time image, wherein the rescue information includes the real-time location and the real-time image; The process of establishing an ad hoc network includes: According to the location to be rescued, a communication area is obtained, and a ship-borne mobile base station and an airborne mobile base station are screened according to the communication area, and the screened mobile base stations are used as communication nodes, and different communication nodes are connected for communication to generate an ad hoc network; After obtaining the rescue information, it also includes: The rescue information is broadcasted through the nodes in the ad hoc network to obtain a rescue ship, and the rescue ship is added to the ad hoc network.

2. The method according to claim 1, characterized in that: The process of obtaining the location to be rescued includes: The ship's position is transmitted to the ground station via the satellite AIS system, and the ground station analyzes and processes the ship's position to generate a rescue location.

3. The method according to claim 1, characterized in that: The process of allocating marine rescue equipment includes: Identify the rescue information, compile statistics on the identification results, and allocate maritime rescue equipment based on the statistical results.

4. The method according to claim 1, characterized in that: The process of path planning includes: Perform regression analysis on the location information in the rescue information; obtain the flight speed of the ship-borne vertical take-off and landing UAV, obtain the delivery position according to the regression analysis result and the flight speed, and obtain the flight direction according to the delivery position, and realize path planning based on the flight direction and the flight speed.

5. The method according to claim 1, characterized in that: The airborne node is equipped with AIS, and takes images through a camera when it reaches the moving location. The captured images are recognized through a deep learning model. After recognition, rescue is carried out through the pre-installed emergency life-saving equipment.

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