Intelligent active water rescue system and method based on limited water area

Abstract

The invention provides an intelligent active water rescue system and method for a limited water area, and belongs to the field of water rescue. In the system, a control platform comprises a base and a control module; the base comprises an inverted concave cabin arranged on the shore, and the control module is arranged on the rear portion of the inverted concave cabin and used for completing rescue tasks in a coordinated mode. The clean energy subsystem comprises a wind power generation module, a photovoltaic power generation module, a wave power generation module, a storage battery and a power grid access module, and is used for providing clean energy and merging redundant electric quantity into a power grid; the monitoring subsystem is arranged at the top end of a side plate of the photovoltaic power generation panel and used for monitoring a person falling into water in a monitored water area, and when the person falling into water is monitored and recognized, the coordinate of the person falling into water is calculated in real time and sent to the control module; and the rescue subsystem is arranged in the inverted concave cabin and is used for completing rescue and returning under the instruction of the control module. According to the invention, the timeliness and accuracy of rescue are improved, the rescue success rate is improved, and the drowning casualty rate is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of water rescue, and in particular relates to an intelligent active water rescue system and method based on limited water areas. Background Art

[0002] Drowning is the third leading cause of unintentional injury deaths worldwide, accounting for 7% of all injury-related deaths. Among them, lakes, reservoirs and other limited water bodies have the characteristics of being deep and wide within a certain range. On the one hand, they attract swimmers or playful people of different ages, but on the other hand, they also have serious safety hazards and are the main places where drowning accidents occur.

[0003] In the existing technology, in order to reduce drowning accidents caused by limited waters, relevant departments generally adopt methods such as placing warning signs and strengthening safety publicity. In terms of drowning rescue, usually only lifebuoys are equipped, and they need to be manually released, with poor accuracy and limited rescue effect. Lifeguards are arranged in a few areas. When faced with sudden accidents such as drowning, especially when there are few people on the scene, there are problems such as failure to rescue in time and failure of rescue technology to achieve the rescue goal, resulting in serious casualties. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention aims to provide an intelligent active water rescue system and method based on limited waters. Through comprehensive planning of the limited waters, real-time monitoring is carried out in the entire waters, infrared capture of people who fall into the water is carried out, and automatic rescue equipment is launched based on the monitoring results to automatically and autonomously rescue the people. Clean energy is used to supply energy to the monitoring equipment, rescue equipment, control equipment, etc. to achieve water rescue of people who fall into the water. The rescue method is efficient, accurate, and has a high rescue rate. It also saves energy and manpower, ensures that drowning people are rescued in time, and reduces the drowning casualty rate.

[0005] In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solution:

[0006] In a first aspect, an embodiment of the present invention provides an intelligent active water rescue system based on limited waters, the water rescue system comprising a plurality of base stations arranged at predetermined locations on the shore; the base stations comprising a control platform, a clean energy subsystem, a monitoring subsystem and a rescue subsystem; wherein,

[0007] The control platform includes a base and a control module; the base includes an inverted sunken cabin arranged on the shore; the control module is arranged at the rear of the inverted sunken cabin, and is used for energy supply control, receiving monitoring information of the monitoring subsystem, and generating a rescue command according to the monitoring information, sending the rescue command to the rescue subsystem, and coordinating the rescue subsystem to complete the rescue mission;

[0008] The clean energy subsystem includes a wind power generation module, a photovoltaic power generation module, a wave power generation module, a storage battery, and a grid connection module. The wind power generation module, the photovoltaic power generation module, and the wave power generation module are connected to the storage battery to supply power to the storage battery. The storage battery is connected to the grid connection module to feed the excess power in the storage battery into the grid through the grid connection module.

[0009] The monitoring subsystem is arranged at the top of the side plate of the photovoltaic panel and is used to monitor the drowning person in the monitored water area. When a drowning person is monitored and identified, the coordinates of the drowning person are calculated in real time and sent to the control module.

[0010] The rescue subsystem is arranged inside the concave cabin and is used to receive the rescue instruction from the control module. After receiving the rescue instruction, it launches a rescue device with its own thruster, reaches the specified coordinates, completes the rescue, and then returns.

[0011] As a preferred embodiment of the present invention, the base stations are distributed on the shore, each base station sets its own monitoring area, and all base stations cover the entire water surface of the limited water area.

[0012] As a preferred embodiment of the present invention, the wave power generation module includes a power generation float, a float restraint, a rack, a gear, and a first generator. The float restraints are arranged in pairs at the concave-shaped head on the water side of the concave cabin and extend vertically into the water and above the riverbed. The power generation float is arranged in the float restraint and floats up and down along the float restraint. A gear and a rack for driving the first generator are arranged on the upper side of the float restraint, and the circuit is connected to the storage battery. The photovoltaic power generation module includes a photovoltaic panel, a support frame, a photovoltaic power generation circuit, and a wind-solar controller. The support frame is arranged on the upper side of the base concave cabin to support the photovoltaic panel. The photovoltaic panel is connected to the photovoltaic power generation circuit and then to the wind-solar controller, and the circuit is connected to the storage battery. The wind power generation module includes a fan blade and a second generator. The fan blade is arranged on the upper side of the base concave cabin and behind the photovoltaic panel, and the second generator is connected to the wind-solar controller, and the circuit is connected to the storage battery.

[0013] As a preferred embodiment of the present invention, the float restraint is a long strip-shaped cuboid or cylinder, and the power generation float therein is set to have the same shape as the cross-section of the float restraint, so that the power generation float constrained therein can float up and down vertically under the drive of the wave.

[0014] As a preferred embodiment of the present invention, the monitoring subsystem includes: a wide-angle camera, an infrared camera, an image processing module, a distance calculation module, and a monitoring communication module. Among them,

[0015] The wide-angle camera and the infrared camera take real-time images of the water surface of the water area monitored by the current base station in different modes, and transmit the captured images to the image processing module; the image processing module identifies the images, and when a drowning person is identified, sends the current drowning person image to the distance calculation module; the distance calculation module calculates the coordinates of the drowning person based on the image, and transmits the coordinates to the control module of the control platform through the monitoring communication module.

[0016] As a preferred embodiment of the present invention, the image processing module uses the YOLO object detection algorithm to identify the drowning person in the image; the distance calculation module uses the YOLO object detection algorithm to calculate the coordinates of the drowning person in the image.

[0017] As a preferred embodiment of the present invention, the rescue subsystem includes a launching device, a rescue device, a thruster, a rescue communication module and an execution module; the execution module is used to receive the rescue instruction and real-time coordinates of the control module through the rescue communication module; when receiving the rescue instruction, start the launching device and the thruster; when receiving the real-time coordinates, adjust the direction of the thruster according to the coordinates; the launching device is used to launch the rescue device to the water surface according to the instruction of the execution module; the thruster is arranged on the rescue device; the rescue device includes a storage state and a rescue state; in the storage state, it is placed inside the concave cabin and in front of the launching device; in the rescue state, after being launched to the water surface by the launching device, under the thrust of the thruster and the coordinate control of the execution module, it sails to the position of the drowning person and returns after completing the rescue.

[0018] As a preferred embodiment of the present invention, the launching device is arranged at the innermost side of the concave cabin and includes a stepping motor, an L-shaped propulsion plate, a ball screw, a screw nut and a front baffle; among them, the stepping motor is used to connect the control circuit to control the movement of the ball screw, and the movement of the ball screw drives the screw nut to move; the L-shaped propulsion plate is fixed above the screw nut matching the ball screw and moves synchronously with the movement of the screw nut; the front baffle is used to limit the moving distance of the screw nut.

[0019] In a second aspect, an intelligent active water rescue method based on a limited water area provided by an embodiment of the present invention includes the following steps:

[0020] Step S1, set a number of base stations at predetermined positions in the limited water area, and set the monitoring water area range for each base station; the clean energy subsystem supplies power to the control platform, rescue subsystem and monitoring subsystem in the base station through wave power generation, wind power generation and photovoltaic power generation;

[0021] Step S2: The wide-angle camera and infrared camera in the monitoring subsystem scan the water surface state in the monitored water area in real time, and the image processing module processes the images in real time. When a drowning person is identified in the image, the number of drowning persons and the picture are uploaded to the distance calculation module.

[0022] Step S3: The distance calculation module calculates the coordinates of the drowning person in real time, and uploads the number and coordinates of the drowning person to the monitoring communication module.

[0023] Step S4: The monitoring communication module uploads the number and coordinates of the drowning person to the control module of the control platform.

[0024] Step S5: The control module calculates the optimal rescue base station according to the number and coordinates of the drowning person, generates a rescue instruction, and controls the rescue subsystem of the optimal rescue base station to launch a rescue device according to the coordinates.

[0025] Step S6: The rescue device enters the water area and sails towards the coordinates of the drowning person under the propulsion of the thruster. At the same time, the distance calculation module tracks the change of the coordinates of the drowning person in real time, and uploads the real-time coordinates to the control module through the monitoring communication module. The control module transmits the coordinates to the execution module in real time through the rescue communication module. The execution module adjusts the direction of the thruster in real time according to the coordinates, so that the rescue device sails towards the correct position according to the changing coordinates of the drowning person, and the rescue is completed.

[0026] As a preferred embodiment of the present invention, calculating the optimal rescue base station in step S5 includes the following steps:

[0027] Step S51: Calculate the distance between the coordinates of each drowning person and all base stations, and sort the base stations from small to large according to the distance. Based on the number of drowning persons at each drowning person's coordinate, calculate the required number of base stations K. Take the base station ranked first in the sorting as the current base station.

[0028] Step S52: At each coordinate, calculate the running time, return time and total rescue time of the rescue device according to the current base station distance and the running speed of the rescue device.

[0029] Step S53: Calculate the energy consumption according to the total rescue time, and compare it with the energy storage in the thruster of the current base station. If the energy consumption is less than the energy storage, designate the current base station as the i-th optimal rescue base station; i is the actual sorting of the current base station. Enter step S54; if the energy consumption is greater than the energy storage, delete the current base station from the sorting table. Update the sorting table, and the next base station in the sorting moves up one place in the sorting and serves as the current base station, and return to step S52.

[0030] Step S54: Judge whether i is equal to K; if so, send the rescue instruction to the designated K optimal rescue base stations; if not, take the next base station in the sorting as the current base station, and return to step S52.

[0031] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0032] An intelligent active water rescue system and method based on a limited water area provided by the embodiment of the present invention uses an energy system that couples and complements solar energy, wind energy, and wave energy. It not only uses renewable energy to reduce pollution emissions, but also solves the deficiencies of single-energy power generation, optimizes the power supply structure, and makes the power generation system more stable and reliable. At the same time, it adopts an integrated method of power supply, monitoring, and rescue, and uses image recognition and ranging algorithms to achieve large-area water area monitoring and autonomous rescue. Using a stepping motor to drive a lead screw transmission to transport the rescue drone can reduce the wear of mechanical devices caused by friction and pressure in traditional transmission devices such as springs and pressure ejection devices, resulting in a low service life of the rescue device. At the same time, by modulating the code of the stepping motor to adjust the launch speed, the energy required by the launch device can be elastically changed, thereby further improving the service life of the device. The system of the present invention can quickly locate the drowning person and automatically execute the rescue operation, greatly reducing the rescue time compared with manual rescue, saving manpower and material costs, and at the same time reducing the rescue hidden dangers caused by improper rescue or harsh environment. The system adopts mechanical and automated technologies, which can well solve more safety problems caused by improper manual rescue due to too deep water area and insufficient professionalism of rescue personnel, and improves the rescue efficiency. The present invention improves the current situation of the traditional drowning rescue method with low efficiency, poor accuracy, dependence on manpower, and great influence by the environment, and realizes efficient, intelligent, and accurate automatic rescue; overcomes the current situation of insufficient drowning prevention and publicity measures, unreasonable and relatively backward equipment of rescue facilities, and improves the drowning safety guarantee system.

[0033] Of course, it is not necessary for any product or method implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0035] Figure 1 It is a schematic diagram of the base station distribution of the intelligent active water rescue system based on a limited water area described in the embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the structure of the base station in the intelligent active water rescue system based on a limited water area described in the embodiment of the present invention;

[0037] Figure 3It is a structural block diagram of the clean energy subsystem in the water rescue system according to an embodiment of the present invention;

[0038] Figure 4 It is a structural block diagram of the monitoring subsystem in the water rescue system according to an embodiment of the present invention;

[0039] Figure 5 It is a structural block diagram of the rescue subsystem in the water rescue system according to an embodiment of the present invention;

[0040] Figure 6 It is a schematic structural diagram of the launching device and the rescue device in the water rescue system according to an embodiment of the present invention;

[0041] Figure 7 It is a flowchart of the intelligent active water rescue method based on a limited water area according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1 - Base station; 2 - Water surface; 3 - Person falling into the water; 4 - Control platform; 41 - Base; 42 - Control module; 5 - Clean energy subsystem; 51 - Wind power generation module; 511 - Wind turbine blades; 512 - Second generator; 52 - Photovoltaic power generation module; 521 - Photovoltaic panels; 522 - Support frame; 523 - Photovoltaic power generation circuit; 524 - Wind - solar controller; 53 - Wave power generation module; 531 - Power - generating float; 532 - Float restraint; 533 - Rack; 534 - Gear; 535 - First generator; 54 - Battery; 55 - Grid connection module; 6 - Monitoring subsystem; 61 - Wide - angle camera; 62 - Infrared camera; 63 - Image processing module; 64 - Distance calculation module; 65 - Monitoring communication module; 7 - Rescue subsystem; 71 - Launching device; 711 - Stepper motor; 712 - Ball screw; 713 - Screw nut; 714 - L - shaped propulsion plate; 715 - Front baffle; 72 - Rescue device; 73 - Propeller; 74 - Rescue communication module; 75 - Execution module. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can also be combined with each other.

[0045] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the present invention, the terms "first", "second", "third", "fourth", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0046] In view of the problem of water rescue in limited waters in the prior art, the embodiments of the present invention provide an intelligent active water rescue system and method for limited waters; in terms of energy, it is based on multiple new energy sources for power supply, including complementary multiple energy methods such as wind energy, wave energy, and solar energy, and at the same time, the excess energy is transmitted to the power grid; in terms of control, automatic control of monitoring and rescue equipment is set to achieve autonomous monitoring and automatic rescue of drowning persons in the unmanned state; in terms of monitoring, an optimized YOLO object detection algorithm is adopted, and an infrared camera device is used to automatically identify and judge the drowning person, calculate the drowning position and distance, and track the position change of the drowning person; in terms of rescue equipment, it is linked with the monitoring system, plans a rescue plan according to the monitoring information, controls the lead screw driver, and promotes the implementation of rescue and return in the rescue subsystem. Based on this, the purpose of the water rescue system and method of the present invention is to rescue people who unfortunately fall into the water in deep and wide waters such as reservoirs and lakes. First, a new energy supply system that combines wind, light, and wave energy can give full play to the more stable advantages of multi-energy power generation. At the same time, the excess energy can be incorporated into the power grid to reduce energy waste and pollution; second, monitoring equipment with a coverage range of more than 100m is used to assist in the monitoring and rescue of drowning persons in large waters. The system is continuously built near the waters according to the size of the waters to achieve full-range water area monitoring; finally, the working mode of the entire system is to use wind, light, and wave combined power generation to supply the power demand of the entire system, adopt an object detection algorithm based on deep learning for intelligent detection, and launch a rescue device with a built-in thruster for rescue after detecting a drowning person. After confirming the success of the rescue, the rescue device will automatically return to the control platform for charging, improving the timeliness and accuracy of the rescue, increasing the rescue success rate, and reducing the drowning casualty rate.

[0047] See Figures 1 to 6 , the intelligent active water rescue system based on limited waters includes several base stations 1 set at predetermined positions on the shore; the base stations include a control platform 4, a clean energy subsystem 5, a monitoring subsystem 6, and a rescue subsystem 7. As Figure 1 shown, the base stations 1 are distributed on the shore, each base station 1 has its own monitoring area, and all base stations 1 cover the entire water surface of the limited waters 2 to conduct intelligent active rescue on the drowning person 3, especially suitable for situations where there is no third person present.

[0048] Among them, as Figure 2As shown in the figure, the control platform 4 includes a base 41 and a control module 42; the base 41 includes a concave cabin 411 arranged on the shore; the control module 42 is arranged at the rear of the concave cabin 411, and is used for energy supply control, receiving the monitoring information of the monitoring subsystem, generating a rescue command according to the monitoring information, sending the rescue command to the rescue subsystem 7, and coordinating the rescue subsystem 7 to complete the rescue task.

[0049] As Figure 3 shown in the figure, the clean energy subsystem 5 includes a wind power generation module 51, a photovoltaic power generation module 52, a wave power generation module 53, a storage battery 54 and a grid access module 55. The wind power generation module 51, the photovoltaic power generation module 52 and the wave power generation module 53 are connected to the storage battery 54 to supply power to the storage battery 54; the storage battery 54 is connected to the grid access module 55 to incorporate the excess power in the storage battery 54 into the grid through the grid access module 55.

[0050] As Figure 2 shown in the figure, the wave power generation module 53 includes a power generation float 531, a float restraint 532, a rack 533, a gear 534 and a first generator 535; the float restraint 532 is arranged in pairs at the concave-shaped head on the water side of the concave cabin 411, and extends vertically into the water and above the riverbed; the power generation float 531 is arranged in the float restraint 532 and floats up and down along the float restraint 532; a gear 533 and a rack 534 for driving the first generator 535 are arranged on the upper side of the float restraint 532, and the circuit is connected to the storage battery 54. Preferably, the circuit can be connected to the storage battery 54 through a voltage regulator. In this embodiment, the rack 534 is fixed in the direction perpendicular to the water surface through the float restraint 532, so that the rack 534 can only move in the direction perpendicular to the water surface under the drive of the power generation float 531. Compared with the traditional freely moving float-type wave energy power generation device, the wave energy power generation efficiency is maximally improved. The float restraint 532 is a long strip-shaped cuboid or cylinder, and the power generation float 531 arranged therein is set to have the same shape as the cross-section of the float restraint 532, so that the power generation float 531 constrained therein can float up and down in the vertical direction under the drive of the wave.

[0051] The photovoltaic power generation module 52 includes a photovoltaic panel 521, a support frame 522, a photovoltaic power generation circuit 523 and a wind-solar controller 524; the support frame 522 is arranged on the upper side of the base concave cabin 411 to support the photovoltaic panel 521; the photovoltaic panel 521 is connected to the photovoltaic power generation circuit 523, and then connected to the wind-solar controller 524, and the circuit is connected to the storage battery 54.

[0052] The wind power generation module 51 includes a fan blade 511 and a second generator 512. The fan blade 512 is arranged on the upper side of the base concave cabin 411 and behind the photovoltaic panel 521. The second generator 512 is electrically connected to the storage battery 54.

[0053] The storage battery 54 is also connected to the power grid access module 55.

[0054] By utilizing the space of the base 41, wave power generation, photovoltaic power generation, and wind power generation are integrated into the same storage battery, which also serves as the storage for the rescue subsystem 7 as a rescue device without affecting the storage and use of the rescue device. The three complementary power generation methods of wind, light, and wave jointly provide clean energy for the system, solving the problems of unstable energy supply, inability to continuously supply power for a long time, pollution, and waste of traditional energy in existing drowning rescue, avoiding the abnormal operation of the rescue device due to energy problems, improving energy utilization efficiency, ensuring stable power supply of the system, and reducing environmental pollution caused by energy problems.

[0055] The monitoring subsystem 6 is arranged at the top of the side plate of the photovoltaic panel 521 and is used to monitor the drowning person 3 in the monitored water area. When the drowning person 3 is monitored and identified, the coordinates of the drowning person are calculated in real time and sent to the control module 42.

[0056] As Figure 4 shown, in a preferred embodiment, the monitoring subsystem 6 includes: a wide-angle camera 61, an infrared camera 62, an image processing module 63, a distance calculation module 64, and a monitoring communication module 65. Among them, the wide-angle camera 61 and the infrared camera 62 take real-time images of the water surface 2 in the water area monitored by the current base station 1 in different modes and transmit the captured images to the image processing module 63. The image processing module 63 identifies the images. When a drowning person 3 is identified, the current drowning person image is sent to the distance calculation module 64. The distance calculation module 64 calculates the coordinates of the drowning person based on the image and transmits the coordinates to the control module 42 of the control platform through the monitoring communication module 65. Preferably, the image processing module 63 uses the YOLO object detection algorithm, or the R-CNN object detection algorithm, etc. to implement the drowning person target detection; the distance calculation module 64 uses the YOLO distance calculation algorithm or the R-CNN distance calculation algorithm, etc. to calculate the coordinates of the drowning person in the image.

[0057] As Figure 5As shown, the rescue subsystem 7 is disposed inside the undercut cabin 411 and is configured to receive a rescue instruction from the control module 42. After receiving the rescue instruction, it launches a rescue device with a built-in thruster, reaches the specified coordinates, and returns after completing the rescue. In a specific embodiment, the rescue subsystem 7 includes a launch device 71, a rescue device 72, a thruster 73, a rescue communication module 74, and an execution module 75. The execution module 75 is configured to receive the rescue instruction and real-time coordinates of the control module 42 through the rescue communication module 74; when receiving the rescue instruction, it activates the launch device 71 and the thruster 73; when receiving the real-time coordinates, it adjusts the direction of the thruster 73 according to the coordinates; the launch device 71 is configured to launch the rescue device 72 towards the water surface according to the instruction of the execution module 75; the thruster 73, the rescue communication module 74, and the execution module 75 are disposed on or inside the rescue device 72; the rescue device 72 is a floating board, a kayak, a life buoy, or the like. The rescue device 72 includes a storage state and a rescue state. In the storage state, it is placed inside the undercut cabin 411, in front of the launch device 71; in the rescue state, after being launched by the launch device 71 to the water surface 2, under the thrust of the thruster 73 and the coordinate control of the execution module 75, it sails to the position of the person falling into the water and returns after completing the rescue. The thruster 73 disposed on the rescue device 72 can be a propeller or a water jet thruster, etc.

[0058] Preferably, as Figure 6 shown, the launch device 71 is disposed at the innermost side of the undercut cabin 411 and includes a stepping motor 711, a ball screw 712, a screw nut 713, an L-shaped propulsion plate 714, and a front baffle 715; wherein, the stepping motor 711 is configured to connect to a control circuit to control the movement of the ball screw 712, and the movement of the ball screw 712 drives the screw nut 713 to move; the L-shaped propulsion plate 714 is fixed above the screw nut 713 matching the ball screw 712 and moves synchronously with the movement of the screw nut 713; the front baffle 715 is configured to limit the movement distance of the screw nut 713. When launching the rescue device 72, after receiving the rescue command of the control module 42, the stepping motor 711 drives the ball screw 712 to rotate, so that the L-shaped propulsion plate 714 fixed on the screw nut 713 pushes the rescue device 72 towards the water surface 2 at a predetermined speed; when the rescue device 712 reaches the predetermined speed, it detaches from the L-shaped propulsion plate 714 and is launched onto the water surface 2.

[0059] Based on the above water rescue system, an embodiment of the present invention further provides a water rescue method based on a limited water area, as Figure 7 shown, the rescue method includes the following steps:

[0060] Step S1: Set up several base stations at predetermined positions in a limited water area, and set the monitoring water area range for each base station. The clean energy module supplies power to the control platform, rescue subsystem, and monitoring subsystem in the base station through wave power generation, wind power generation, and photovoltaic power generation.

[0061] In this step, preferably, in a specific application example, the calculation process of the relevant parameters of the wind power generation is as follows:

[0062] Let the air density ρ within the limited water area 空 = 1.29 kg / m 3 ; The calculation formula for the wind power generation power P1 is as follows:

[0063] P1 = 0.5ρ 空 Av 3 C p η1 (1)

[0064] In formula (1), A is the swept area of the wind turbine of the wind power generator, v is the incoming flow wind speed, C p is the aerodynamic conversion efficiency of the wind turbine, and η1 is the energy conversion efficiency of the wind power generation system. Preferably, in this embodiment, C p = 0.4, η1 = 0.6, and the monthly average wind speed of a certain limited water area is known as the incoming flow wind speed v.

[0065] The calculation formula for the energy production E1 of the limited water area wind power generation module working for T1 hours per day is as follows:

[0066] E1 = P1T1 (2)

[0067] In formula (2), T1 is the working duration, with the unit of hour, generally 24 hours.

[0068] The parameter calculation process of the wave generator is as follows:

[0069] Let the water density ρ 水 = 1050 kg / m 3 , the gravitational acceleration g = 9.8 m / s 2 , and the calculation formula for the power generation power P2 of the wave generator is as follows:

[0070] P2 = ρ0g 2 H 2 TDη2 / 32π (3)

[0071] In formula (3), H represents the average wave height, T represents the wave period (the time interval between two adjacent wave crests (or wave troughs) passing through the same fixed point), D represents the lateral dimension of the float or energy capture device, and η2 represents the energy conversion efficiency of the wave power generation system;

[0072] The calculation formula for the energy E2 generated per day during work is as follows:

[0073] E2 = P2T2 (4)

[0074] The parameter calculation process of the photovoltaic power generation is as follows:

[0075] The average daily sunshine hours T3 within the limited water area is 5.48 h, the photovoltaic power generation power per unit area is P3, and the calculation formula for the energy E3 generated per day during work is:

[0076] E3 = a0b0P3T3η3 (5)

[0077] In formula (5), a0 represents the length of the photovoltaic panel, b0 represents the width of the photovoltaic panel, and η3 represents the energy conversion efficiency of the photovoltaic power generation system.

[0078] Step S2: The wide-angle camera and infrared camera in the monitoring subsystem scan and monitor the water surface state in the water area in real time, and process the images in real time through the image processing module; when a drowning person is identified in the image, the number of drowning persons and the picture are uploaded to the distance calculation module.

[0079] Step S3: The distance calculation module calculates the coordinates of the drowning person in real time, and uploads the number of drowning persons and the coordinates to the monitoring communication module.

[0080] In this step, the distance calculation module uses the YOLO object detection algorithm to calculate the coordinates of all drowning persons identified in the image.

[0081] Step S4: The monitoring communication module uploads the number of drowning persons and the coordinates to the control module of the control platform;

[0082] Step S5: The control module calculates the optimal rescue base station according to the number of drowning persons and the coordinates, generates a rescue instruction, and controls the rescue subsystem of the optimal rescue base station to launch a rescue device according to the coordinates;

[0083] Step S6: The rescue device enters the water area and sails towards the coordinates of the drowning person under the propulsion of the thruster; at the same time, the distance calculation module tracks the change of the coordinates of the drowning person in real time, and uploads the real-time coordinates to the control module through the monitoring communication module; the control module transmits the coordinates to the execution module in real time through the rescue communication module; the execution module adjusts the direction of the thruster in real time according to the coordinates, so that the rescue device sails towards the correct position according to the changing coordinates of the drowning person, and the rescue is completed.

[0084] In step S5, when calculating the optimal rescue base station and generating a rescue instruction according to the number of drowning persons and the coordinates, the following steps are included:

[0085] Step S51: Calculate the distances between the coordinates of each drowning person and all base stations, and sort the base stations in ascending order of distance; Based on the number of drowning persons at each drowning person's coordinate, calculate the required number of base stations K; Take the base station ranked first in the sorting as the current base station;

[0086] Step S52: At each coordinate, calculate the running time, return time, and total rescue time of the rescue device according to the current base station distance and the running speed of the rescue device;

[0087] Step S53: Calculate the energy consumption according to the total rescue time and compare it with the energy storage in the thruster of the current base station; If the energy consumption is less than the energy storage, designate the current base station as the i-th best rescue base station; i is the actual sorting of the current base station; Enter step S54; If the energy consumption is greater than the energy storage, delete the current base station from the sorting table; Update the sorting table, move the next base station up one position in the sorting, and take it as the current base station, then return to step S52;

[0088] Step S54: Determine whether i is equal to K; If so, send the rescue instruction to the designated K best rescue base stations; If not, take the next base station in the sorting as the current base station and return to step S52.

[0089] In a specific application example, when calculating the energy consumption in step S53, take a rescue device with the following certain parameters as an example: size a×b×c, self-weight m, thruster battery power Q and rated voltage U, rated power is P, and the standard endurance time t0 of the thruster when fully charged.

[0090] Let the gravitational acceleration g = 9.8m / s 2 ;

[0091] Let the time required for the drowning person to struggle and firmly hold the rescue device be t2;

[0092] Let the distance between the drowning person and the base station be L. Although the real-time coordinates will change, when the distance change caused by the coordinate change is less than 1m, the impact on the overall running time of the rescue device can be ignored. Therefore, L is still used for calculation here. When the distance change caused by the coordinate change is greater than 1m, update L with the real-time distance L'.

[0093] Assume that for each additional person carried by the multi-person search and rescue device, it needs to bear an additional N Newtons of gravity to float. When the designed rescue number of the multi-person search and rescue device is M, it should be able to bear a gravity to float not less than M×N. Then

[0094] M = [(F0 - mg) / N] (6)

[0095] In formula (6), F0 is the maximum load-bearing of the rescue device.

[0096] The operating speed of the rescue device when it is unloaded is v0, and the calculation formula for the time t1 to reach the water entry point is:

[0097] t1 = L / υ0 (7)

[0098] In formula (7), L is the distance between the base station and the water entry point.

[0099] The time for the rescue device to wait for the drowning person to board is t2;

[0100] The operating speed of the rescue device when it is carrying people is v1, and the calculation formula for the return time t3 is:

[0101] t3 = L / υ1 (8)

[0102] The time t consumed by the rescue device for one rescue 总 Calculation formula:

[0103] t 总 = t1 + t2 + t3 (9)

[0104] It is set that the energy consumption power P of the thruster is constant during normal operation. Assume that the equivalent mass is m0 after all drowning people have successfully boarded; when the number of people to be rescued increases, m0 increases, and at this time, its speed v1 after the drowning people board is controlled to ensure that the energy consumption power P is constant.

[0105] The calculation formula for the energy E consumed by the thruster for one rescue is as follows:

[0106] E = P(t 总 - t2) (10)

[0107] As can be seen from the above technical solutions, the rescue system and rescue method based on a limited water area provided by the embodiments of the present invention utilize an energy system that couples and complements solar energy, wind energy, and wave energy. This not only reduces pollution emissions by using renewable energy but also addresses the deficiencies of single-energy power generation, optimizes the energy supply structure, and makes the power generation system more stable and reliable. At the same time, it adopts an integrated approach of energy supply, monitoring, and rescue, and uses image recognition and ranging algorithms to achieve large-area water area monitoring and autonomous rescue. Using a stepping motor to drive a lead screw transmission to transport the rescue drone can reduce the wear of mechanical devices caused by friction and pressure in traditional transmission devices such as springs and pressure ejection devices, which may lead to a short lifespan of the rescue device. At the same time, by modulating the code of the stepping motor to adjust the launch speed, the energy required by the launch device can be elastically changed, thereby further increasing the lifespan of the device. The system of the present invention can quickly locate the drowning person and automatically execute rescue operations, significantly reducing the rescue time compared to manual rescue, saving labor and material costs, and at the same time reducing rescue risks caused by improper rescue or harsh environments. The system uses mechanical and automated technologies, which can well solve safety problems caused by improper manual rescue due to excessive water depth or insufficient professionalism of rescue personnel, and improve the rescue efficiency. The present invention improves the current situation of traditional drowning rescue methods, which are inefficient, inaccurate, rely on manpower, and are greatly affected by the environment, and realizes efficient, intelligent, and accurate automatic rescue. It overcomes the current situation where drowning prevention and publicity measures are not in place, rescue facilities are unreasonably equipped and relatively backward, and improves the drowning safety guarantee system.

[0108] The above description is only a preferred embodiment of the present invention and an explanation of the applied technical principles, and is not intended to limit the scope of the present invention claimed, but only represents the preferred embodiments of the present invention. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

Claims

1. An intelligent active water rescue system based on limited waters, characterized in that: The water rescue system includes a number of base stations arranged at predetermined locations on the shore; the base stations include a control platform, a clean energy subsystem, a monitoring subsystem and a rescue subsystem; wherein, The control platform includes a base and a control module; the base includes an inverted sunken cabin arranged on the shore; the control module is arranged at the rear of the inverted sunken cabin, and is used for energy supply control, receiving monitoring information of the monitoring subsystem, and generating a rescue command according to the monitoring information, sending the rescue command to the rescue subsystem, and coordinating the rescue subsystem to complete the rescue mission; The clean energy subsystem includes a wind power generation module, a photovoltaic power generation module, a wave power generation module, a battery and a grid access module; the wind power generation module, the photovoltaic power generation module and the wave power generation module are connected to the battery to supply power to the battery; the battery is connected to the grid access module to integrate excess power in the battery into the grid through the grid access module; The monitoring subsystem is arranged at the top of the side plate of the photovoltaic power generation panel, and is used to monitor the drowning person in the monitoring water area. When the drowning person is detected and identified, the coordinates of the drowning person are calculated in real time and sent to the control module; The rescue subsystem is arranged inside the inverted concave cabin, and is used to receive the rescue command of the control module, and after receiving the rescue command, launch the rescue device with a propeller, reach the designated coordinates and return after completing the rescue.

2. The intelligent active water rescue system based on limited waters according to claim 1 is characterized in that: The base stations are distributedly arranged on the shore, each base station sets its own monitoring area, and all base stations cover the entire water surface of the limited water area.

3. The intelligent active water rescue system based on limited waters according to claim 1 is characterized in that: The wave power generation module includes a power generation float, a float constraint, a rack, a gear and a first generator; the float constraints are arranged in pairs at the concave head on the water side of the inverted concave tank, and extend into the water and above the riverbed perpendicular to the water surface; the power generation float is arranged in the float constraint and floats up and down along the float constraint; the gear and rack for driving the first generator are arranged on the upper side of the float constraint, and the circuit is connected to the battery; the photovoltaic power generation module includes a photovoltaic power generation panel, a support frame, a photovoltaic power generation circuit and a wind and light controller; the support frame is arranged on the upper side of the inverted concave tank of the base, for supporting the photovoltaic power generation panel; the photovoltaic power generation panel is connected to the photovoltaic power generation circuit, and then connected to the wind and light controller, and the circuit is connected to the battery; the wind power generation module includes a wind turbine blade and a second generator, the wind turbine blade is arranged on the upper side of the inverted concave tank of the base and the rear side of the photovoltaic power generation panel, the second generator is connected to the wind and light controller, and the circuit is connected to the battery.

4. The intelligent active water rescue system based on limited waters according to claim 3 is characterized in that: The buoy constraint is a long rectangular parallelepiped or a cylinder, in which the power generation float is set to the same shape as the cross-section of the buoy constraint, so that the power generation float constrained therein can float up and down in the vertical direction driven by waves.

5. The intelligent active water rescue system based on limited waters according to claim 1, characterized in that: The monitoring subsystem includes: a wide-angle camera, an infrared camera, an image processing module, a distance calculation module and a monitoring communication module; wherein, The wide-angle camera and the infrared camera take real-time images of the water surface of the water area monitored by the current base station in different modes, and transmit the captured images to the image processing module; the image processing module recognizes the image, and when a person falling into the water is recognized, the current image of the person falling into the water is sent to the distance calculation module; the distance calculation module calculates the coordinates of the person falling into the water based on the image, and transmits the coordinates to the control module of the control platform through the monitoring communication module.

6. The intelligent active water rescue system based on limited waters according to claim 5 is characterized in that: The image processing module uses the YOLO target detection algorithm to identify the person who falls into the water in the image; the distance calculation module uses the YOLO target detection algorithm to calculate the coordinates of the person who falls into the water in the image.

7. The intelligent active water rescue system based on limited waters according to claim 1, characterized in that: The rescue subsystem includes a launch device, a rescue device, a thruster, a rescue communication module and an execution module; the execution module is used to receive the rescue command and real-time coordinates of the control module through the rescue communication module; when receiving the rescue command, the launch device and the thruster are started; when receiving the real-time coordinates, the thruster direction is adjusted according to the coordinates; the launch device is used to launch the rescue device to the water surface according to the command of the execution module; the thruster is arranged on the rescue device; the rescue device includes a storage state and a rescue state; in the storage state, it is placed inside the inverted concave cabin and in front of the launch device; In the rescue state, after being launched to the water surface by the launch device, it sails to the location of the person who fell into the water under the thrust of the propeller and the coordinate control of the execution module, and returns after completing the rescue.

8. The intelligent active water rescue system based on limited waters according to claim 7, characterized in that: The launching device is arranged at the innermost side of the inverted concave cabin, and includes a stepper motor, an L-shaped propulsion plate, a ball screw, a screw nut and a front baffle; wherein the stepper motor is used to connect the control circuit to control the movement of the ball screw, and the movement of the ball screw drives the screw nut to move; the L-shaped propulsion plate is fixed above the screw nut matched with the ball screw, and moves synchronously with the movement of the screw nut; the front baffle is used to limit the moving distance of the screw nut.

9. An intelligent active water rescue method based on limited waters, characterized in that: The rescue method comprises the following steps: Step S1, a number of base stations are set at predetermined locations in a limited water area, and a monitoring water area is set for each base station; the clean energy subsystem supplies power to the control platform, rescue subsystem and monitoring subsystem in the base station through wave power generation, wind power generation and photovoltaic power generation; Step S2, the wide-angle camera and the infrared camera in the monitoring subsystem scan the water surface status in the monitoring water area in real time, and process the image in real time through the image processing module; When a person falling into the water is identified in the image, the number of people falling into the water and the image are uploaded to the distance calculation module; Step S3, the distance calculation module calculates the coordinates of the drowning person in real time, and uploads the number and coordinates of the drowning person to the monitoring communication module; Step S4, the monitoring communication module uploads the number and coordinates of the drowning person to the control module of the control platform; Step S5, the control module calculates the best rescue base station according to the number and coordinates of the drowning people, generates a rescue instruction, and controls the rescue subsystem of the best rescue base station to launch a rescue device according to the coordinates; In step S6, the rescue device enters the water area and drives towards the coordinates of the person who falls into the water under the propulsion of the propeller; at the same time, the distance calculation module tracks the changes in the coordinates of the person who falls into the water in real time, and uploads the real-time coordinates to the control module through the monitoring communication module; the control module transmits the coordinates to the execution module in real time through the rescue communication module; the execution module adjusts the direction of the propeller in real time according to the coordinates, so that the rescue device drives to the correct position according to the changed coordinates of the person who falls into the water, and completes the rescue.

10. The method according to claim 9, characterized in that The step S5 of calculating the best rescue base station comprises the following steps: Step S51, calculating the distance between each coordinate of the drowning person and all base stations, and sorting the base stations in ascending order of distance; calculating the number of base stations K required based on the number of drowning persons at each drowning person's coordinate; and taking the first ranked base station as the current base station; Step S52, at each coordinate, according to the current base station distance and the running speed of the rescue device, the running time, the return time and the total rescue time of the rescue device are calculated; Step S53, calculate the energy consumption according to the total rescue time, and compare it with the energy reserve in the current base station propeller; if the energy consumption is less than the energy reserve, designate the current base station as the i-th best rescue base station; i is the actual ranking of the current base station; proceed to step S54; if the energy consumption is greater than the energy reserve, delete the current base station from the ranking table; update the ranking table, rank the next base station up one position, and use it as the current base station, and return to step S52; Step S54, determine whether i is equal to K; if so, send the rescue instruction to the specified K best rescue base stations; if not, take the next ranked base station as the current base station and return to step S52.

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