Water surface automatic search and rescue device and search and rescue method

Abstract

The invention discloses a water surface automatic search and rescue device and method, and belongs to the technical field of water surface search and rescue, and the device comprises a search unit which is installed on a floating body, comprises a camera and a zoom telescope which can be located in front of the camera, and is used for carrying out the image collection of a preset monitoring region, and transmitting the collected image to a control unit; the rotating and pitching unit is used for driving the searching unit to rotate circumferentially and pitch up and down; and the control unit is in telecommunication connection with the search unit, can store preset drowning person image data and a drowning person identification program, and can compare the image acquired by the search unit with the stored preset drowning person image data through the drowning person identification program so as to judge whether a person falls into water in the image acquired by the search unit. After a plurality of water surface automatic search and rescue devices are thrown and float on the water surface of the preset monitoring area, the search and rescue range can be expanded, and the functions of automatic search, timely finding of drowning persons and automatic sending of the positions of the drowning persons are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of water surface search and rescue, and in particular relates to a water surface automatic search and rescue device and a search and rescue method. Background Art

[0002] Search and rescue on vast water surfaces such as the sea, lake, and river has difficulties such as large search areas and the target location moving with the water flow. When people fall into the water, traditional surface ships have slow navigation speeds, large-scale search and rescue takes a long time, and aircraft search and rescue is costly and difficult when visibility is low. Summary of the invention

[0003] In view of this, the present invention provides an automatic surface search and rescue device and method, which can expand the search and rescue range, realize automatic search, timely find the drowning person, automatically send the location of the drowning person and other functions.

[0004] The present invention provides an automatic surface search and rescue device that adopts the following technical solutions:

[0005] An automatic water surface search and rescue device, comprising:

[0006] Search unit: including a camera and a zoom telescope that can be located in front of the camera, used to collect images of a preset monitoring area and send the collected images to the control unit;

[0007] Rotation and pitch unit: used to drive the search unit to rotate circumferentially and pitch up and down;

[0008] Control unit: connected to the search unit by telecommunication, capable of storing preset image data of people falling into water and a program for identifying people falling into water, capable of comparing the image collected by the search unit with the stored preset image data of people falling into water through the program for identifying people falling into water, so as to determine whether there is a person falling into water in the image collected by the search unit; capable of controlling the focusing unit to adjust the focal length of the telescope; capable of sending the position information of the automatic surface search and rescue device directly to the signal receiver carried by the search and rescue personnel or to the signal receiver carried by the search and rescue personnel via a satellite;

[0009] Gyro positioning unit: One gyro positioning unit is used to locate the automatic surface search and rescue device; the other gyro positioning unit is installed on the telescope, used to record the telescope azimuth data, and can send the azimuth data to the control unit. The control unit can generate and send control information to the rotation and pitch unit based on the azimuth data. The rotation and pitch unit controls the rotation and pitch of the search unit according to the control information.

[0010] Furthermore, it also includes an indicator light or a sound alarm installed on the floating body;

[0011] The control unit can control the indicator light or the sound alarm to emit light or sound an alarm.

[0012] Furthermore, it also includes a power supply unit;

[0013] The power supply unit is used to supply power to the search unit, the rotation and pitch unit, the control unit, the gyro positioning unit and the indicator light.

[0014] Furthermore, when the search unit searches for a suspected target falling into the water, the control unit can control the action of the search unit by rotating the pitch unit so that the suspected target falling into the water is located in the center of the camera, and can control the zoom telescope to adjust to a preset focal length through the focus unit so that the image of the suspected target falling into the water is enlarged and clearer;

[0015] The control unit calculates the distance between the suspected falling target and the automatic surface search and rescue device according to the focal length and the number of circles adjusted by the zoom telescope.

[0016] Further, it also includes a laser rangefinder that is telecommunication-connected to the control unit;

[0017] The laser rangefinder is used to measure the distance between the automatic surface search and rescue device and a suspected target falling into the water.

[0018] The present invention provides an automatic surface search and rescue method, which utilizes the above-mentioned automatic surface search and rescue device, and comprises the following steps:

[0019] Step 1: The automatic surface search and rescue device is placed on the water surface of a preset monitoring area, and a search unit collects images of the preset monitoring area;

[0020] Step 2: The camera uses a long-distance and wide-angle search. After finding a suspected target on the water surface, it enters the target confirmation mode. In the target confirmation mode, the tilt unit is rotated to adjust the position of the camera lens, and the suspected target is placed in the center of the camera. The focus unit adjusts the zoom telescope to a preset focal length compared to the suspected target, so that the image of the suspected target is enlarged and clear, and the control unit determines whether the suspected target is a person who has fallen into the water;

[0021] Step 3: If the suspected target is determined to be a person who has fallen into the water, the control unit controls the rotation and pitch unit to enable the camera to track the person who has fallen into the water in real time, and the control unit calculates in real time and sends the latest position of the person who has fallen into the water directly to the signal receiver carried by the search and rescue personnel or to the signal receiver carried by the search and rescue personnel via satellite.

[0022] Furthermore, the distance between the person who falls into the water and the automatic search and rescue device on the water surface is calculated in any of the following two ways:

[0023] Method 1: The control unit calculates the distance between the drowned person and the automatic search and rescue device on the water surface according to the focal length adjusted by the zoom telescope and the number of circles adjusted by the focusing unit on the zoom telescope;

[0024] Method 2: Using the laser rangefinder in the automatic surface search and rescue device to measure the distance between the automatic surface search and rescue device and the person who falls into the water;

[0025] The angle of the person falling into the water relative to the initial angle is calculated as follows: when the control unit determines that the suspected target falling into the water is the person falling into the water, the rotation angle of the camera relative to the initial angle is used as the angle of the person falling into the water relative to the initial angle;

[0026] The geographical coordinates of the person falling into the water are calculated in the following manner: taking the geographical coordinates of the automatic surface search and rescue device when the control unit determines that the suspected falling target is the person falling into the water as a reference, the geographical coordinates of the person falling into the water are calculated according to the angle of the person falling into the water relative to the initial angle and the distance between the person falling into the water and the automatic surface search and rescue device.

[0027] Beneficial effects:

[0028] 1. After multiple automatic surface search and rescue devices are placed on the water surface of the preset monitoring area, the search and rescue scope can be expanded, and functions such as automatic search, timely detection of people who fall into the water, and automatic transmission of the location of people who fall into the water can be realized, solving the problems of slow navigation speed of traditional surface ships, long time consumption of large-scale search and rescue, high cost of aircraft search and rescue, and difficulty of aircraft search and rescue when visibility is low.

[0029] 2. When searchers and rescuers are searching, they can more easily determine the location of the automatic surface search and rescue device through lights and alarm sounds, and thus more easily find the person who fell into the water. In addition, when multiple automatic surface search and rescue devices are deployed in the same monitoring area, rescuers can also know which rescue device has found the target based on the lights and sound alarm signals.

[0030] 3. The control unit can calculate the distance between the suspected target and the automatic surface search and rescue device according to the focal length and number of circles adjusted by the zoom telescope. It can also measure the distance between the automatic surface search and rescue device and the suspected target through a laser rangefinder. The method is flexible and convenient for search and rescue personnel to carry out search and rescue work. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a working principle diagram of an automatic surface search and rescue device provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0033] Embodiment 1:

[0034] Reference Figure 1, an automatic water surface search and rescue device, comprising:

[0035] Search unit: including a camera and a zoom telescope that can be located in front of the camera, used to collect images of a preset monitoring area and send the collected images to the control unit;

[0036] Rotation and pitch unit: used to drive the search unit to rotate circumferentially and pitch up and down;

[0037] Control unit: connected to the search unit by telecommunication, capable of storing preset image data of people falling into water and a program for identifying people falling into water, capable of comparing the image collected by the search unit with the stored preset image data of people falling into water through the program for identifying people falling into water, so as to determine whether there is a person falling into water in the image collected by the search unit; capable of controlling the focusing unit to adjust the focal length of the telescope; capable of sending the position information of the automatic surface search and rescue device directly to the signal receiver carried by the search and rescue personnel or to the signal receiver carried by the search and rescue personnel via a satellite;

[0038] Gyro positioning unit: One gyro positioning unit is used to locate the automatic surface search and rescue device; the other gyro positioning unit is installed on the telescope, used to record the telescope azimuth data, and can send the azimuth data to the control unit. The control unit can generate and send control information to the rotation and pitch unit based on the azimuth data. The rotation and pitch unit controls the rotation and pitch of the search unit according to the control information.

[0039] In this way, by placing the automatic surface search and rescue device on the water surface (such as the sea surface, lake surface, river surface and other wide water surfaces) floating in the preset monitoring area, the search and rescue scope can be expanded to realize the functions of automatic search, timely detection of drowning people, automatic transmission of the location of drowning people, etc., so as to solve the problems of slow navigation speed of traditional surface ships, long time consumption of large-scale search and rescue, high cost of aircraft search and rescue and difficulty of aircraft search and rescue when visibility is low. Moreover, satellites can transmit over long distances, and rescue personnel are not nearby. For example, when a large-scale sea search is required, multiple devices can be deployed in a vast sea area. In addition, two gyro positioning units are used, one for positioning the automatic surface search and rescue device itself, to avoid the inability to position when the Beidou signal is weak or interfered, and to know the coordinate information of the automatic surface search and rescue device. Another gyro positioning unit is installed on the telescope (or camera). Because the automatic surface search and rescue device floats on the water surface, it may be affected by the waves, and the angles up, down, left and right may change constantly. The gyro positioning unit can detect such changes at all times, and then perform closed-loop control of the search unit through the control unit to reduce the azimuth error of the search unit.

[0040] As an improvement, the automatic surface search and rescue device also includes an indicator light or a sound alarm installed on the floating body; the control unit can control the indicator light or the sound alarm to emit light or alarm sound. In this way, when the search and rescue personnel are searching for people who fall into the water, the position of the automatic surface search and rescue device can be more easily determined by the light and alarm sound, and then it is easier to find the person who falls into the water. In addition, when multiple automatic surface search and rescue devices are deployed in the same monitoring area, the rescue personnel can also know which rescue device has found the target based on the light and sound alarm signals.

[0041] As a further improvement, when the search unit searches for a suspected target falling into the water, the control unit can control the search unit action by rotating the pitch unit, so that the suspected target falling into the water is located in the center of the camera, and can control the zoom telescope to adjust to the preset focal length through the focus unit, so that the image of the suspected target falling into the water is enlarged and clear; and the control unit calculates the distance between the suspected target falling into the water and the automatic search and rescue device on the water surface according to the focal length and the number of circles adjusted by the zoom telescope. In another possible embodiment, the distance between the person falling into the water and the automatic search and rescue device on the water surface can also be determined by a laser rangefinder. Specifically, the laser rangefinder is directly installed on the floating body or the laser rangefinder is installed on the camera. When the laser rangefinder is working, it shoots a very thin laser beam to the person falling into the water, and the photoelectric element in the laser rangefinder receives the laser beam reflected by the person falling into the water. The timer in the laser rangefinder measures the time from the emission to the reception of the laser beam, and then calculates the distance between the person falling into the water and the automatic search and rescue device on the water surface.

[0042] More specifically, it also includes a power supply unit; the power supply unit is used to supply power to the search unit, the rotation and pitch unit, the control unit, the gyro positioning unit and the indicator light. In particular, in this embodiment, the control unit is composed of TMS320F28335 as the core processor, and the control unit can actually collect video signals and output PWM signals to control the rotation and pitch of the search unit. The core processor processes the video image into a digital signal according to the collected video signal, filters the digital image to extract features, removes background information, enhances the signal, and extracts the information of the person who falls into the water. The core processor stores digital information such as different objects that fall into the water (including people who fall into the water). The collected image is compared with the stored information to determine whether there is a person who falls into the water. The power supply module is composed of a solar panel, a battery, and a voltage conversion circuit.

[0043] Embodiment 2:

[0044] A method for automatic search and rescue on a water surface is provided on the basis of the first embodiment. The method utilizes an automatic search and rescue device on a water surface in the first embodiment. The method comprises:

[0045] Step 1: The automatic surface search and rescue device is placed on the water surface of the preset monitoring area, and the search unit collects images of the preset monitoring area;

[0046] Step 2: The camera uses a long-distance and wide-angle search. After finding a suspected target on the water surface, it enters the target confirmation mode. In the target confirmation mode, the tilt unit is rotated to adjust the position of the camera lens, and the suspected target is placed in the center of the camera. The focus unit adjusts the zoom telescope to a preset focal length compared to the suspected target, so that the image of the suspected target is enlarged and clear, and the control unit determines whether the suspected target is a person who has fallen into the water;

[0047] Step 3: If the suspected target is determined to be a person who has fallen into the water, the control unit controls the rotation and pitch unit to enable the camera to track the person who has fallen into the water in real time, and the control unit calculates in real time and sends the latest position of the person who has fallen into the water directly to the signal receiver carried by the search and rescue personnel or to the signal receiver carried by the search and rescue personnel via satellite.

[0048] It should be noted that it is easy to locate the drowning person using existing technology. In addition, in some cases, the camera may fail to track the drowning person. The "latest position" in step 3 above refers to the position of the drowning person determined by the surface automatic search and rescue device at the last moment.

[0049] As an example, in the above step one, the geographical coordinates of the placement position can be set as the initial geographical coordinates of the automatic surface search and rescue device, and the rotation angle of the camera during the placement can be set as the initial angle; in the above step three, the latest position of the person who falls into the water can be specifically the geographical coordinates of the person who falls into the water, the angle of the person who falls into the water relative to the initial angle, and the distance between the person who falls into the water and the automatic surface search and rescue device. Specifically, the distance between the person who falls into the water and the automatic surface search and rescue device can be calculated in any of two ways: Method 1: The control unit calculates the distance between the person who falls into the water and the automatic surface search and rescue device according to the focal length of the zoom telescope after focusing and the number of circles adjusted by the focusing unit to the zoom telescope; Method 2: The distance between the automatic surface search and rescue device and the person who falls into the water is measured by the laser rangefinder in the automatic surface search and rescue device. The angle of the person who falls into the water relative to the initial angle can be calculated as follows: When the control unit determines that the suspected target that falls into the water is the person who falls into the water, the rotation angle of the camera relative to the initial angle is used as the angle of the person who falls into the water relative to the initial angle. The geographic coordinates of the person falling into the water can be calculated in the following manner: taking the geographic coordinates of the automatic surface search and rescue device when the control unit determines that the suspected falling target is the person falling into the water as a reference, the geographic coordinates of the person falling into the water are calculated according to the angle of the person falling into the water relative to the initial angle and the distance between the person falling into the water and the automatic surface search and rescue device.

[0050] 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. An automatic surface search and rescue device, characterized in that: Includes: Search unit: including a camera and a zoom telescope that can be located in front of the camera, used to collect images of a preset monitoring area and send the collected images to the control unit; Rotation and pitch unit: used to drive the search unit to rotate circumferentially and pitch up and down; Control unit: connected to the search unit by telecommunication, capable of storing preset image data of people falling into water and a program for identifying people falling into water, capable of comparing the image collected by the search unit with the stored preset image data of people falling into water through the program for identifying people falling into water, so as to determine whether there is a person falling into water in the image collected by the search unit; capable of controlling the focusing unit to adjust the focal length of the telescope; capable of sending the position information of the automatic surface search and rescue device directly to the signal receiver carried by the search and rescue personnel or to the signal receiver carried by the search and rescue personnel via a satellite; Gyro positioning unit: One gyro positioning unit is used to locate the automatic surface search and rescue device; the other gyro positioning unit is installed on the telescope, used to record the telescope azimuth data, and can send the azimuth data to the control unit. The control unit can generate and send control information to the rotation and pitch unit based on the azimuth data. The rotation and pitch unit controls the rotation and pitch of the search unit according to the control information.

2. The automatic surface search and rescue device according to claim 1, characterized in that: It also includes an indicator light or sound alarm installed on the floating body; The control unit can control the indicator light or the sound alarm to emit light or sound an alarm.

3. The automatic surface search and rescue device according to claim 2, characterized in that: Also includes a power supply unit; The power supply unit is used to supply power to the search unit, the rotation and pitch unit, the control unit, the gyro positioning unit and the indicator light.

4. An automatic surface search and rescue device according to any one of claims 1 to 3, characterized in that: When the search unit searches for a suspected target falling into the water, the control unit can control the search unit to move by rotating the pitch unit so that the suspected target falling into the water is located in the center of the camera, and can control the zoom telescope to adjust to a preset focal length by the focus unit so that the image of the suspected target falling into the water is enlarged and clearer; The control unit calculates the distance between the suspected falling target and the automatic surface search and rescue device according to the focal length and the number of circles adjusted by the zoom telescope.

5. An automatic surface search and rescue device according to any one of claims 1 to 3, characterized in that: Also included is a laser range finder in telecommunication connection with said control unit; The laser rangefinder is used to measure the distance between the automatic surface search and rescue device and a suspected target falling into the water.

6. A method for automatic search and rescue on water surface, characterized in that: An automatic surface search and rescue device using any one of claims 1 to 5; Step 1: The automatic surface search and rescue device is placed on the water surface of a preset monitoring area, and a search unit collects images of the preset monitoring area; Step 2: The camera uses a long-distance and wide-angle search. After finding a suspected target on the water surface, it enters the target confirmation mode. In the target confirmation mode, the tilt unit is rotated to adjust the position of the camera lens, and the suspected target is placed in the center of the camera. The focus unit adjusts the zoom telescope to a preset focal length compared to the suspected target, so that the image of the suspected target is enlarged and clear, and the control unit determines whether the suspected target is a person who has fallen into the water; Step 3: If the suspected target is determined to be a person who has fallen into the water, the control unit controls the rotation and pitch unit to enable the camera to track the person who has fallen into the water in real time, and the control unit calculates in real time and sends the latest position of the person who has fallen into the water directly to the signal receiver carried by the search and rescue personnel or to the signal receiver carried by the search and rescue personnel via satellite.

7. The automatic surface search and rescue method according to claim 6, characterized in that: The distance between the person who falls into the water and the automatic search and rescue device on the water surface is calculated in any of the following two ways: Method 1: The control unit calculates the distance between the drowned person and the automatic search and rescue device on the water surface according to the focal length adjusted by the zoom telescope and the number of circles adjusted by the focusing unit on the zoom telescope; Method 2: Using the laser rangefinder in the automatic surface search and rescue device to measure the distance between the automatic surface search and rescue device and the person who falls into the water; The angle of the person falling into the water relative to the initial angle is calculated as follows: when the control unit determines that the suspected target falling into the water is the person falling into the water, the rotation angle of the camera relative to the initial angle is used as the angle of the person falling into the water relative to the initial angle; The geographical coordinates of the person falling into the water are calculated in the following manner: taking the geographical coordinates of the automatic surface search and rescue device when the control unit determines that the suspected falling target is the person falling into the water as a reference, the geographical coordinates of the person falling into the water are calculated according to the angle of the person falling into the water relative to the initial angle and the distance between the person falling into the water and the automatic surface search and rescue device.

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