A marine emergency search and rescue method based on island reef-unmanned ship platform

Abstract

The present invention discloses a method for emergency search and rescue at sea based on an island-reef unmanned ship platform, including: obtaining a monitoring range, constructing a cruise path of several unmanned ships at sea based on the monitoring range; making the unmanned ships at sea sail at a uniform speed according to the cruise path; obtaining the location of the accident, determining the unmanned ship at sea closest to the location of the accident based on the location of the accident; planning a search and rescue route for the unmanned ship at sea closest to the location of the accident based on the location of the accident; making the unmanned ship at sea closest to the location of the accident according to the search and rescue route; obtaining a search and rescue target based on the unmanned ship at sea and searching and rescuing the search and rescue target. The present invention realizes the automation of the search and rescue scheme at sea through the application of unmanned ships, realizes full coverage of the monitoring range at sea and rapid monitoring of accidents at sea through the planning of the cruise path, and improves the efficiency of emergency rescue through the search and rescue route planning calculation, while avoiding the risk of ship collision.

Description

Technical Field

[0001] The present invention belongs to the field of marine emergency search and rescue, and in particular relates to a marine emergency sudden search and rescue disposal method based on an island reef-unmanned ship platform. Background Art

[0002] With the development of unmanned ship technology and equipment, long-endurance unmanned boats at sea have become an important force for maritime patrol and law enforcement. Unmanned boats at sea do not require on-board personnel or personnel support facilities. They are remotely controlled by shore-based personnel. The navigation control module is used as the basic functional module for the base station system to interact with the unmanned boat, realizing the functions of route mission planning, manual and automatic control, video monitoring, parameter configuration, navigation playback, data chart analysis, etc. of the unmanned boat; at the same time, it can display the navigation environment around the unmanned boat, realize the analysis and display of charts, radar, video and other sensor data, as well as danger warning, target identification and other functions, and display collision avoidance warning of the unmanned boat, effectively ensuring navigation safety.

[0003] In existing unmanned maritime search and rescue solutions, it is not only difficult to accurately plan and control the routes of unmanned ships, but also difficult to identify collision risks during navigation. Summary of the invention

[0004] The purpose of the present invention is to provide a marine emergency search and rescue method based on an island reef-unmanned ship platform to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides a method for emergency search and rescue at sea based on an island reef-unmanned ship platform, comprising the following steps:

[0006] Acquire a monitoring range, and construct a plurality of cruising paths of unmanned ships at sea based on the monitoring range;

[0007] The unmanned marine ship is caused to sail at a constant speed according to the cruising path; the sailing speeds and directions of a plurality of the unmanned marine ships are different;

[0008] Acquire the location where the accident occurred, and determine the unmanned ship at sea closest to the location where the accident occurred based on the location where the accident occurred;

[0009] Based on the location of the accident, a search and rescue route is planned for the nearest unmanned ship at sea;

[0010] Making the nearest unmanned sea vessel reach the accident location according to the search and rescue route;

[0011] A search and rescue target is acquired based on the unmanned marine ship and the search and rescue target is searched and rescued.

[0012] Optionally, the monitoring range is a circular range, and the process of constructing a cruising path of the unmanned ship at sea based on the monitoring range includes:

[0013] Setting a ship monitoring device in the unmanned ship at sea and obtaining a monitoring range of the ship monitoring device;

[0014] Determining the number of cruises of unmanned ships at sea and the starting point of each cruise of unmanned ships at sea based on the monitoring range and the monitoring range of the ship monitoring device;

[0015] The cruising path of each unmanned marine ship is constructed based on the monitoring range and the starting point of each unmanned marine ship cruising.

[0016] Optionally, the process of determining the number of cruises of unmanned ships at sea and the starting point of each cruise of unmanned ships at sea based on the monitoring range and the monitoring range of the ship monitoring device includes:

[0017] Acquire the circular diameter of the monitoring range, and acquire the circular monitoring diameter of each unmanned ship at sea based on the monitoring range of the ship monitoring device;

[0018] determining the cruise quantity based on a ratio of the circular diameter to the circular monitoring diameter;

[0019] The circular diameter is segmented based on the circular monitoring diameter, and the center point of each segment is used as the starting point of each unmanned ship cruising at sea.

[0020] Optionally, the process of constructing a cruising path of each unmanned marine ship based on the monitoring range and the starting point of each unmanned marine ship cruising includes:

[0021] The cruising path of each unmanned marine ship is constructed with the center point of the monitoring range as the origin and the distance from the starting point of each unmanned marine ship cruising to the origin as the radius.

[0022] Optionally, the process of planning a search and rescue route for the nearest unmanned ship at sea based on the accident location includes:

[0023] Determine whether the accident location is within the navigation path of the nearest unmanned ship at sea; if so, determine the shortest route based on the accident location and the navigation path, and use the determined shortest route as the search and rescue route;

[0024] If not, the straight-line distance between the accident location and the nearest unmanned ship at sea is obtained, and the search and rescue route is planned based on the straight-line distance.

[0025] Optionally, the process of performing search and rescue route planning based on the straight-line distance includes:

[0026] Determine whether the nearest unmanned sea ship will collide with other unmanned sea ships on the way to the accident location; if so, adjust the navigation speed of other unmanned sea ships; if not, make the nearest unmanned sea ship conduct search and rescue navigation according to the said straight-line distance.

[0027] Optionally, the process of determining whether the nearest unmanned sea vessel will collide with another unmanned sea vessel on the way to the accident location includes:

[0028] Determine the intersection of the straight-line distance and the cruising paths of other unmanned marine vessels;

[0029] Obtaining a first navigation speed of the nearest unmanned marine ship and a second navigation speed of other unmanned marine ships at the intersection position;

[0030] Obtaining a current first position of the nearest unmanned marine ship and a current second position of the other unmanned marine ship;

[0031] Obtaining a first time when the nearest unmanned sea vessel arrives at the intersection position based on a distance between the first position and the intersection position and the first navigation speed;

[0032] Based on the second position and the cruising paths of the other unmanned marine ships, obtaining the range of the other unmanned marine ships to reach the intersection position, and based on the second navigation speed, obtaining the second time for the other unmanned marine ships to reach the intersection position;

[0033] If the first time is the same as the second time, it is determined that a collision will occur; if the first time is different from the second time, it is determined that there will be no collision.

[0034] Optionally, in the process of adjusting the navigation speed of other unmanned marine vessels, a judgment is made as to whether there will be a collision after each adjustment, and when it is judged that there will be no collision, the adjustment is stopped.

[0035] Optionally, the ship monitoring equipment in the unmanned marine ship includes but is not limited to a mobile AIS transceiver station in the mid-sea waters, a radar detection station, and a CCTV navigation station. The process of acquiring a search and rescue target based on the unmanned marine ship and performing search and rescue on the search and rescue target includes:

[0036] Identifying the search and rescue target based on the ship monitoring equipment;

[0037] Rescue facilities are arranged in the unmanned ship at sea, and search and rescue the search and rescue target are carried out based on the rescue facilities; the rescue facilities include but are not limited to small patrol rubber boats and unmanned boats.

[0038] The technical effects of the present invention are:

[0039] The present invention realizes the automation of maritime search and rescue schemes through the application of unmanned ships, realizes full coverage of the maritime monitoring range and rapid monitoring of maritime accidents through the planning of cruise paths, and improves the efficiency of emergency rescue through search and rescue route planning calculations, while avoiding the risk of ship collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0041] Figure 1 The present invention is a flowchart of a method for handling emergency search and rescue at sea based on an island-reef-unmanned ship platform in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0044] Large unmanned cruise ships have many advantages such as large platform, long range, strong wind and wave resistance, and high platform versatility. They are the cornerstone of realizing regional cruise in COSCO waters. Compared with fixed monitoring information stations set up on islands, reefs, lighthouses, and support bases in COSCO waters, the mobile arrival attribute of large cruise ship platforms can realize the advantageous function of "going wherever needed". Large cruise law enforcement ships can use their mobility to set up exclusive navigation routes according to the distribution of hot spots, and conduct key cruises in hot spots, so that when emergency situations occur at sea, maritime disposal forces can arrive quickly and accurately.

[0045] Since no personnel are required to operate on board, unmanned ships can cruise over a long period, long distance and large area in one trip. A networked unmanned fleet composed of multiple unmanned ships can form a regular formation network cruise coverage near the support base. The unmanned ship platform has good compatibility and moderate size, and can carry a variety of shipborne equipment.

[0046] COSCO SEA has a vast area of ​​waters. To realize regular large-scale patrols, it is necessary to utilize the convenience of operation and maintenance of fixed offshore fulcrums such as COSCO SEA, lighthouses, support bases, and oil platforms to enhance the operation and maintenance support capabilities of offshore island and reef bases. Deploying unmanned patrol ships to realize regional patrols around scattered bases can further consolidate the three-dimensional monitoring network of COSCO SEA waters. In addition, the offshore fixed fulcrums are adequately equipped. The unmanned patrol fleet established on this basis can realize formation-type networking operation to expand the patrol waters from point to surface, and strive to achieve rapid arrival of disposal forces and rapid search and rescue.

[0047] Based on the above features and advantages, this embodiment provides a method for emergency search and rescue at sea based on an island reef-unmanned ship platform, such as Figure 1 As shown, the following steps are included:

[0048] Obtain a circular monitoring range for maritime search and rescue, and construct cruising paths for several maritime unmanned ships based on the monitoring range; specifically: the maritime unmanned ship is equipped with ship monitoring equipment, such as a mobile mid-sea AIS transceiver station, a radar detection station, a CCTV navigation station, etc.; obtain the monitoring range of the ship monitoring equipment; determine the number of maritime unmanned ships cruising and the starting point of each maritime unmanned ship cruising according to the overall circular monitoring range of maritime search and rescue and the monitoring range of the ship monitoring equipment, and construct the cruising path of each maritime unmanned ship according to the circular monitoring range of maritime search and rescue and the starting point of each maritime unmanned ship cruising.

[0049] Make several unmanned marine ships sail at a uniform speed along the cruising path, and the sailing speeds and directions of several unmanned marine ships are different. The specific speed and direction settings can be improved according to actual needs, and this embodiment does not limit them, but they all fall within the protection scope of this application; at this point, the coverage of the circular monitoring range and the cruising path planning of the unmanned ships have been completed.

[0050] As a preferred embodiment of the present application, the specific implementation method of determining the number of cruises of unmanned ships at sea and the starting point of each cruise of unmanned ships at sea based on the circular monitoring range and the monitoring range of the ship monitoring equipment is as follows:

[0051] Obtain the circular diameter of the monitoring range, and obtain the circular monitoring diameter of each unmanned ship at sea according to the monitoring range of the ship monitoring equipment;

[0052] determining the cruise quantity based on a ratio of the circular diameter to the circular monitoring diameter;

[0053] The circular diameter is segmented based on the circular monitoring diameter, and the center point of each segment is used as the starting point of each unmanned ship cruising at sea.

[0054] As a preferred embodiment of the present application, the specific implementation method of constructing the cruising path of each unmanned ship at sea according to the circular monitoring range of the maritime search and rescue and the starting point of each unmanned ship cruising at sea includes:

[0055] Taking the center point of the monitoring range as the origin and the distance from the starting point of each unmanned ship cruising to the origin as the radius, the cruising path of each unmanned ship at sea is constructed.

[0056] When an accident occurs, the location of the accident is obtained, and the nearest unmanned sea ship to the accident location is determined through the accident location; and a search and rescue route is planned for the nearest unmanned sea ship based on the accident location, so that the nearest unmanned sea ship arrives at the accident location according to the search and rescue route; finally, the unmanned sea ship obtains the search and rescue target and searches and rescues the search and rescue target.

[0057] As a preferred implementation of the present application, the specific steps of planning a search and rescue route for the nearest unmanned ship at sea according to the location of the accident include:

[0058] Determine whether the accident location is within the navigation path of the nearest unmanned ship at sea; if so, determine the shortest route based on the accident location and the navigation path of the unmanned ship, and use the shortest route as the search and rescue route for the ship;

[0059] If not, the straight-line distance between the accident location and the nearest unmanned ship at sea is obtained, and the search and rescue route is planned based on the straight-line distance. Specifically:

[0060] Determine whether the nearest unmanned sea ship will collide with other unmanned sea ships on the way to the accident location; if so, adjust the navigation speed of other unmanned sea ships, and in the process of adjustment, make a judgment on whether there will be a collision after each adjustment, and stop the adjustment when it is judged that there will be no collision; if not, make the nearest unmanned sea ship conduct search and rescue navigation according to the said straight-line distance.

[0061] To determine the possibility of collision, this embodiment adopts the following method:

[0062] Determine the intersection of the straight-line distance and the cruising paths of other unmanned marine vessels;

[0063] Obtaining a first navigation speed of the nearest unmanned marine ship and a second navigation speed of other unmanned marine ships at the intersection position;

[0064] Obtaining a current first position of the nearest unmanned marine ship and a current second position of the other unmanned marine ship;

[0065] Obtaining a first time when the nearest unmanned sea vessel arrives at the intersection position based on a distance between the first position and the intersection position and the first navigation speed;

[0066] Based on the second position and the cruising paths of the other unmanned marine ships, obtaining the range of the other unmanned marine ships to reach the intersection position, and based on the second navigation speed, obtaining the second time for the other unmanned marine ships to reach the intersection position;

[0067] If the first time is the same as the second time, it is determined that a collision will occur; if the first time is different from the second time, it is determined that there will be no collision.

[0068] After arriving at the accident site, rescue work will begin. The unmanned cruise ship is equipped with a variety of water ship monitoring equipment, such as mobile COSCO waters AIS transceiver station, radar detection station, CCTV navigation station, etc. Through the above ship monitoring equipment, people who need to be rescued at the accident site can be found. The combination of AIS and radar system can obtain static and dynamic information of COSCO ships' navigation and the location and identification of the people in the accident. The CCTV video monitoring system with integrated advanced sensor technology is the most direct and effective way to obtain marine ship image information and marine pollution situation monitoring. The location of the wrecked ship is obtained through the AIS transceiver station, and the image of the ship at the accident site is obtained through CCTV video monitoring. When a radar detection station is installed in the unmanned ship on the water, a high-power high-frequency oscillation pulse is generated by the radar, and the oscillation pulse is converted into electromagnetic waves through the radar antenna to be transmitted to the accident site, and the people who need rescue are identified by obtaining the returned electromagnetic waves.

[0069] At the same time, unmanned boats at sea are equipped with long-distance precision throwing life-saving devices, and are equipped with small patrol rubber boats, unmanned boats and other rescue facilities. After accurately searching for people in distress at sea, due to the high height of large ships, it is inconvenient to rescue them, and small rubber boats or unmanned boats can be lowered to carry rescue personnel or life-saving equipment to accurately reach the rescue location in the form of long-distance remote control to rescue people in distress at sea.

[0070] The unmanned ship at sea is equipped with a catapult-type survival capsule. After arriving at the accident site, it obtains the scene image of the accident location according to the ship monitoring equipment, and uses an automatic color gradation algorithm to adjust the contrast of different color channels in the scene image to complete image enhancement. The sea conditions at the accident site are judged according to the enhanced scene image. When the sea conditions are bad, life-saving materials can be accurately projected to the range of 10 meters of the crashed ship and personnel. When the sea conditions are good, the unmanned ship at sea sails to the specific location of the accident to directly carry out search and rescue work. At the same time, the unmanned ship at sea is equipped with a small drone, which is released in the accident site after arriving at the accident site to monitor the search and rescue status in three dimensions.

[0071] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for emergency search and rescue at sea based on island reef-unmanned ship platform, characterized in that: The following steps are involved: Acquire a monitoring range, and construct a plurality of cruising paths of unmanned ships at sea based on the monitoring range; The unmanned marine ship is caused to sail at a constant speed according to the cruising path; the sailing speeds and directions of the unmanned marine ships are different; Acquire the location where the accident occurred, and determine the unmanned ship at sea closest to the location where the accident occurred based on the location where the accident occurred; Based on the location of the accident, a search and rescue route is planned for the nearest unmanned ship at sea; Making the nearest unmanned sea vessel reach the accident location according to the search and rescue route; Acquiring a search and rescue target based on the unmanned ship at sea and performing search and rescue on the search and rescue target; The monitoring range is a circular range, and the process of constructing a cruising path of the unmanned ship at sea based on the monitoring range includes: Setting a ship monitoring device in the unmanned ship at sea and obtaining a monitoring range of the ship monitoring device; Determining the number of cruises of unmanned ships at sea and the starting point of each cruise of unmanned ships at sea based on the monitoring range and the monitoring range of the ship monitoring equipment; Constructing a cruising path for each unmanned ship at sea based on the monitoring range and the starting point of each unmanned ship at sea; The process of determining the number of cruises of unmanned ships at sea and the starting point of each cruise of unmanned ships at sea based on the monitoring range and the monitoring range of the ship monitoring device includes: Acquire the circular diameter of the monitoring range, and acquire the circular monitoring diameter of each unmanned ship at sea based on the monitoring range of the ship monitoring device; determining the cruise quantity based on a ratio of the circular diameter to the circular monitoring diameter; The circular diameter is segmented based on the circular monitoring diameter, and the center point of each segment is used as the starting point of each unmanned ship cruising at sea.

2. The marine emergency search and rescue method based on island reef-unmanned ship platform according to claim 1 is characterized in that: The process of constructing the cruising path of each unmanned ship at sea based on the monitoring range and the starting point of each unmanned ship cruising at sea includes: The cruising path of each unmanned marine ship is constructed with the center point of the monitoring range as the origin and the distance from the starting point of each unmanned marine ship cruising to the origin as the radius.

3. The marine emergency search and rescue method based on island reef-unmanned ship platform according to claim 1 is characterized in that: The process of planning a search and rescue route for the nearest unmanned ship at sea based on the location of the accident includes: Determining whether the accident location is within the navigation path of the nearest unmanned ship at sea; If yes, determine the shortest route based on the accident location and the navigation path, and use the determined shortest route as the search and rescue route; If not, the straight-line distance between the accident location and the nearest unmanned ship at sea is obtained, and the search and rescue route is planned based on the straight-line distance.

4. The marine emergency search and rescue method based on island reef-unmanned ship platform according to claim 3 is characterized in that: The process of planning a search and rescue route based on the straight-line distance includes: Determine whether the nearest unmanned sea ship will collide with other unmanned sea ships on the way to the accident location; if so, adjust the navigation speed of other unmanned sea ships; if not, make the nearest unmanned sea ship conduct search and rescue navigation according to the said straight-line distance.

5. The marine emergency search and rescue method based on island reef-unmanned ship platform according to claim 4 is characterized in that: The process of determining whether the nearest unmanned sea vessel will collide with other unmanned sea vessels on the way to the accident location includes: Determine the intersection of the straight-line distance and the cruising paths of other unmanned marine vessels; Obtaining a first navigation speed of the nearest unmanned marine ship and a second navigation speed of other unmanned marine ships at the intersection position; Obtaining a current first position of the nearest unmanned marine ship and a current second position of the other unmanned marine ship; Obtaining a first time when the nearest unmanned sea vessel arrives at the intersection position based on a distance between the first position and the intersection position and the first navigation speed; Based on the second position and the cruising paths of the other unmanned marine ships, obtaining the range of the other unmanned marine ships to reach the intersection position, and based on the second navigation speed, obtaining the second time for the other unmanned marine ships to reach the intersection position; If the first time is the same as the second time, it is determined that a collision will occur; if the first time is different from the second time, it is determined that there will be no collision.

6. The marine emergency search and rescue method based on island reef-unmanned ship platform according to claim 4 is characterized in that: When adjusting the speed of other unmanned ships at sea, a collision determination is performed after each adjustment. When it is determined that there will be no collision, the adjustment is stopped.

7. The marine emergency search and rescue method based on island reef-unmanned ship platform according to claim 1 is characterized in that: The ship monitoring equipment in the unmanned ship at sea includes but is not limited to a mobile AIS transceiver station in the mid-sea waters, a radar detection station, and a CCTV navigation station. The process of obtaining a search and rescue target based on the unmanned ship at sea and performing search and rescue on the search and rescue target includes: Identifying the search and rescue target based on the ship monitoring equipment; Rescue facilities are arranged in the unmanned ship at sea, and search and rescue the search and rescue target are carried out based on the rescue facilities; the rescue facilities include but are not limited to small patrol rubber boats and unmanned boats.

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