Visual guidance rescue system, visual guidance rescue method and readable storage medium

Abstract

The invention belongs to the technical field of non-electrical variable adjusting systems, and particularly relates to a visual guidance rescue system, a visual guidance rescue method and a readable storage medium, and the visual guidance rescue system comprises a control module which is further configured to switch the working states of a left spray pump device and a right spray pump device to obtain calibration values, the control module is further configured to calibrate the inertia sensing device through the calibration value so as to obtain the actual turning radius of the power life buoy; the anti-shake visual monitoring device can judge whether the power life buoy moves towards the target object in a correct moving path or not, when the moving direction of the power life buoy deviates from the target object, the calibration value is rapidly detected, and the accurate turning radius is obtained in cooperation with the inertia sensing device; and then the moving direction of the power life buoy is adjusted to accurately move towards the target object until the power life buoy coincides with the target object on the picture, so that the power life buoy can arrive at the rescue position more quickly and more accurately.

Description

Technical Field

[0001] The present invention belongs to the technical field of non-electric variable regulation systems, specifically relates to the technical field of waterway control systems, and particularly relates to a visual guidance rescue system, a visual guidance rescue method, and a readable storage medium. Background Art

[0002] When a powered lifebuoy for unmanned rescue is sailing on the sea, it needs to calibrate its direction, and calibrating the direction depends on adjusting the turning radius of the powered lifebuoy. On the way to the rescue, the powered lifebuoy is traveling at a high speed. Due to the relatively light self-weight of the powered lifebuoy, it will bounce rapidly on the water surface. At this time, the bounce will cause a slight deviation in the installation position of the inertial sensor on the powered lifebuoy.

[0003] However, in the case of the loss of satellite signals such as GPS, the accuracy of the installation position of the inertial sensor is crucial for the measurement results. Once there is a deviation, the inertial sensor cannot accurately measure the turning radius of the powered lifebuoy, resulting in a decrease in measurement accuracy; at the same time, the vibration caused by the bounce will cause the sensitive components inside the inertial sensor to receive an additional force, and the additional signals generated by the vibration will interfere with the measurement of the actual turning radius of the powered lifebuoy by the inertial sensor, resulting in the powered lifebuoy being unable to accurately calibrate its direction. Furthermore, due to the high-speed travel of the powered lifebuoy on the water surface, there is a certain deviation in the calibration direction, which is very likely to cause an error in the position of the powered lifebuoy and the drowning person within a range of several meters to more than ten meters. The arm span of the drowning person is less than one meter, and they cannot grasp the powered lifebuoy, affecting the rescue effect.

[0004] Therefore, it is urgent to develop a new visual guidance rescue system, a visual guidance rescue method, and a readable storage medium to solve the technical problem of how to overcome the inability of the inertial sensor to accurately detect the turning radius due to the bounce of the powered lifebuoy.

[0005] It should be noted that the above information disclosed in this background art section is only used to understand the background art of the concept of this application. Therefore, the above description is not considered as information of the prior art. Summary of the Invention

[0006] The embodiments of the present disclosure at least provide a visual guidance rescue system, a visual guidance rescue method, and a readable storage medium.

[0007] In a first aspect, an embodiment of the present disclosure provides a vision-guided rescue system, which includes: an anti-shake vision monitoring device, a powered lifebuoy, a control module, a left jet pump device, a right jet pump device, and an inertial sensing device; wherein the anti-shake vision monitoring device is configured to obtain real-time position information of the powered lifebuoy and the target; the control module is configured to generate a corresponding movement path according to the real-time position information of the powered lifebuoy and the target, so as to obtain the deviation angle between the actual movement direction and the theoretical movement direction of the powered lifebuoy at the current position; the control module is further configured to switch the working states of the left jet pump device and the right jet pump device to obtain a calibration value, and the control module is further configured to calibrate the inertial sensing device with the calibration value to obtain the actual turning radius of the powered lifebuoy; and the control module is further configured to control the left jet pump device and the right jet pump device to respectively output corresponding output powers through the deviation angle and the actual turning radius, so as to adjust the movement direction of the powered lifebuoy to be in a straight line with the target.

[0008] In an optional implementation manner, the anti-shake vision monitoring device includes: an anti-shake camera; the anti-shake camera is configured to obtain real-time position information of the powered lifebuoy and the target; the control module is configured to generate a corresponding movement path according to the change of the real-time position information of the powered lifebuoy; the control module is further configured to obtain the actual movement direction of the powered lifebuoy at the current position through the position of the powered lifebuoy at the previous moment and the position at the current moment; the control module is further configured to obtain the theoretical movement direction of the powered lifebuoy at the current position through the position of the powered lifebuoy at the current moment and the position of the target at the current moment.

[0009] In an optional implementation manner, the left jet pump device includes: a first brushless motor; the right jet pump device includes: a second brushless motor; the control module is configured to switch the working states of the first brushless motor and the second brushless motor, and obtain the voltage signal of the first brushless motor and the second brushless motor before switching and the voltage feedback signal after switching, and then obtain the corresponding calibration value through the difference between the two.

[0010] In an optional implementation manner, the control module is configured to control the reduction of the number of stator pole pairs working in the first brushless motor and the reduction of the number of stator pole pairs working in the second brushless motor, and obtain the voltage signal of the first brushless motor and the second brushless motor before switching and the voltage feedback signal after switching, and then obtain the corresponding calibration value through the difference between the two.

[0011] In an alternative embodiment, the control module is configured to control the drive current of the first brushless motor and the second brushless motor to decrease, and obtain the voltage signal of the first brushless motor and the second brushless motor before switching and the voltage feedback signal after switching, and then obtain the corresponding calibration value through the difference between the two.

[0012] In an alternative embodiment, the inertial sensing device includes: an inertial sensor; the control module is configured to obtain the current centripetal acceleration and the current linear velocity of the powered life buoy through the inertial sensor; the control module is further configured to obtain the current turning radius through the current centripetal acceleration and the current linear velocity; the control module is further configured to add the calibration value to the current turning radius to calibrate the current turning radius, and then obtain the actual turning radius of the powered life buoy.

[0013] In an alternative embodiment, ; wherein, r is the current turning radius, v is the current linear velocity, a n is the current centripetal acceleration.

[0014] In an alternative embodiment, when the actual moving direction is the same as the theoretical moving direction, the output powers of the left jet pump device and the right jet pump device are the same, both being PWM0.

[0015] In an alternative embodiment, when the theoretical moving direction is in the counterclockwise direction of the actual moving direction, the deviation angle is greater than 0; the output power of the left jet pump device is PWM0, and the output power of the right jet pump device is max(PWM0 - A * a , 0), where a is the deviation angle, and A is the turning intensity coefficient and is proportional to the actual turning radius.

[0016] In an alternative embodiment, when the theoretical moving direction is in the clockwise direction of the actual moving direction, the deviation angle is less than 0; the output power of the left jet pump device is max(PWM0 + A * a , 0), where a is the deviation angle, A is the turning intensity coefficient and is proportional to the actual turning radius, and the output power of the right jet pump device is PWM0.

[0017] In a second aspect, the embodiments of the present disclosure further provide a vision-guided rescue method using the above method, which includes: switching the working states of the left jet pump device and the right jet pump device through the control module to obtain a calibration value, and calibrating the inertial sensing device with the calibration value through the control module to obtain the actual turning radius of the powered life buoy.

[0018] In a third aspect, an embodiment of the present disclosure also provides a readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the above-mentioned vision-guided rescue method are implemented.

[0019] The beneficial effect of the present invention is that through the anti-shake vision monitoring device, the present invention can determine whether the powered life buoy moves towards the target along the correct movement path. When the movement direction of the powered life buoy deviates from the target, the left spray pump device and the right spray pump device quickly detect the calibration value, and cooperate with the inertial sensing device to obtain an accurate turning radius, and then drive the left spray pump device and the right spray pump device to respectively output corresponding output powers to adjust the movement direction of the powered life buoy to accurately move towards the target until the powered life buoy coincides with the target on the screen, realizing that the powered life buoy can reach the rescue position faster and more accurately.

[0020] Other features and advantages of the present invention will be described in the following specification, and part of them will become obvious from the specification or be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0021] To make the above-mentioned objectives, features and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the attached drawings, the detailed description is as follows. Description of the Drawings

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

[0023] Figure 1 It is a principle block diagram of a vision-guided rescue system provided by an embodiment of the present disclosure; Figure 2 It is a working flowchart of a vision-guided rescue system provided by an embodiment of the present disclosure; Figure 3 It is a structural diagram of a powered life buoy provided by an embodiment of the present disclosure; Figure 4 It is a working flowchart of obtaining a calibration value provided by an embodiment of the present disclosure; Figure 5 It is a working flowchart of obtaining an actual turning radius provided by an embodiment of the present disclosure; Figure 6 It is a schematic diagram of the movement of a powered life buoy provided by an embodiment of the present disclosure.

[0024] In the figure: 1. Power life buoy; 2. Left spray pump device; 3. Right spray pump device; 4. Moving path; F1. Actual moving direction; F2. Theoretical moving direction. Specific implementation manner

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0026] The terms used herein are only for describing a specific exemplary configuration and are not intended to be limiting. As used herein, the singular articles "a", "an", and "the" may also be intended to include the plural forms, unless clearly stated otherwise herein. The terms "comprising", "including", and "having" are inclusive, and thus specify the presence of the specified features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their combinations. The method steps, processes, and operations described herein should not be construed as necessarily requiring them to be executed in the specific order discussed or shown, unless specifically identified as an order of execution. Additional or alternative steps may be employed.

[0027] As used herein, phrases such as "in one embodiment", "according to one embodiment", "in some embodiments", etc. generally refer to the fact that the specific feature, structure, or characteristic after the phrase may be included in at least one embodiment of the present disclosure. Therefore, a specific feature, structure, or characteristic may be included in more than one embodiment of the present disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms "example", "exemplary", etc. are used "as an example, instance, or illustration. Any embodiment, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or superior to other embodiments, aspects, or designs. Instead, the use of the terms "example", "exemplary", etc. is intended to present concepts in a specific manner.

[0028] It has been found through research that the traditional rescue system obtains the longitude and latitude coordinates of the target object and sends the longitude and latitude coordinates to the powered life buoy. The powered life buoy automatically sails towards the target object. However, due to possible deviations in the longitude and latitude coordinates, the real-time movement of the target object with the water flow, the bumpy movement may cause a slight deviation in the installation position of the inertial sensor on the powered life buoy, and the vibration caused by the bumpy movement will cause the sensitive elements inside the inertial sensor to be subjected to an additional force, resulting in a decrease in the accuracy of the inertial sensor. Furthermore, it leads to deviations in the positioning and movement of the powered life buoy, resulting in a distance between the final position of the powered life buoy and the target object. This distance may range from several meters to more than ten meters, while the arm span of the target object is less than one meter, making it impossible to grasp the powered life buoy, thus affecting the rescue effect.

[0029] Based on the above research, the embodiments of the present disclosure provide a visual guidance rescue system, a visual guidance rescue method, and a readable storage medium. By calibrating the turning radius in real time, the moving direction of the powered life buoy can be accurately adjusted, thereby ensuring that the powered life buoy accurately sails towards the target object.

[0030] All the defects existing in the above solutions are the results obtained by the inventors after practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by the present disclosure for the above problems in the following text should be the contributions made by the inventors to the present disclosure during the process of the present disclosure.

[0031] It should be noted that similar reference numerals and letters denote 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.

[0032] The following will describe in detail some embodiments of the present invention with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0033] As Figures 1 to 6As shown, at least one embodiment provides a vision-guided rescue system, which includes: an anti-shake vision monitoring device, a powered lifebuoy 1, a control module, a left jet pump device 2, a right jet pump device 3, and an inertial sensing device; wherein the anti-shake vision monitoring device is configured to obtain the real-time position information of the powered lifebuoy 1 and the target; the control module is configured to generate a corresponding moving path 4 according to the real-time position information of the powered lifebuoy 1 and the target, so as to obtain the deviation angle between the actual moving direction F1 and the theoretical moving direction F2 of the powered lifebuoy 1 at the current position; the control module is further configured to switch the working states of the left jet pump device 2 and the right jet pump device 3 to obtain a calibration value, and the control module is further configured to calibrate the inertial sensing device through the calibration value to obtain the actual turning radius of the powered lifebuoy 1; and the control module is further configured to control the left jet pump device 2 and the right jet pump device 3 to respectively output corresponding output powers through the deviation angle and the actual turning radius, so as to adjust the moving direction of the powered lifebuoy 1 to be in the same straight line as the target.

[0034] Specifically, the anti-shake vision monitoring device is wirelessly connected to the control module, and the control module, the left jet pump device 2, the right jet pump device 3, and the inertial sensing device are located on the powered lifebuoy 1, and the left jet pump device 2, the right jet pump device 3, and the inertial sensing device are electrically connected to the control module.

[0035] In at least one embodiment, it can be judged by the anti-shake vision monitoring device whether the powered lifebuoy 1 moves towards the target along the correct moving path 4. When the moving direction of the powered lifebuoy 1 deviates from the target, the left jet pump device 2 and the right jet pump device 3 quickly detect the calibration value, and cooperate with the inertial sensing device to obtain accurate inertial values, and then drive the left jet pump device 2 and the right jet pump device 3 to respectively output corresponding output powers to adjust the moving direction of the powered lifebuoy 1 to move accurately towards the target until the powered lifebuoy 1 and the target coincide on the screen, realizing that the powered lifebuoy 1 can reach the rescue position faster and more accurately.

[0036] In at least one embodiment, the anti-shake vision monitoring device includes: an anti-shake camera; the anti-shake camera is configured to obtain the real-time position information of the powered lifebuoy 1 and the target; the control module is configured to generate a corresponding moving path 4 according to the change of the real-time position information of the powered lifebuoy 1; the control module is further configured to obtain the actual moving direction F1 of the powered lifebuoy 1 at the current position through the position of the powered lifebuoy 1 at the previous moment and the current moment; the control module is further configured to obtain the theoretical moving direction F2 of the powered lifebuoy 1 at the current position through the position of the powered lifebuoy 1 at the current moment and the position of the target at the current moment.

[0037] Specifically, the anti-shake camera is installed on the hull in cooperation with the anti-shake platform, and the power life buoy 1 is released by the hull. Even if the hull shakes, it will not affect the anti-shake camera to always stably obtain the real-time position information of the power life buoy 1 and the target at the same position.

[0038] Specifically, please refer to Figure 6 , where point A in the figure is the position of the power life buoy 1 at the previous moment, point B is the position of the power life buoy 1 at the current moment, and point C is the position of the target at the current moment.

[0039] In at least one embodiment, please refer to Figure 4 , the left jet pump device 2 includes: a first brushless motor; the right jet pump device 3 includes: a second brushless motor; the control module is configured to switch the working states of the first brushless motor and the second brushless motor, and obtain the voltage signals of the first brushless motor and the second brushless motor before switching and the voltage feedback signals after switching, and then obtain the corresponding calibration value through the difference between the two.

[0040] Specifically, the difference between the voltage signal of the first brushless motor before switching and the voltage feedback signal after switching is V1, and the difference between the voltage signal of the second brushless motor before switching and the voltage feedback signal after switching is V2, then the calibration value is , and k 1 is a constant, and its unit is m / v.

[0041] Specifically, the anti-shake camera captures the position of the power life buoy 1 at the previous moment at time t1, and captures the position of the power life buoy 1 at the current moment at time t2. And during the process from t1 to t2, the working states of the first brushless motor and the second brushless motor are switched to obtain the corresponding calibration value, so as to accurately control the adjustment of the moving directions of the left jet pump device 2 and the right jet pump device 3 for the moving life buoy.

[0042] Specifically, by switching the working states of the first brushless motor and the second brushless motor, at this time, affected by inertia, the power life buoy 1 will still move forward. The power life buoy 1 is affected by the inertial force at this time, so that the first brushless motor and the second brushless motor replace the inertial sensor, and the inertia drives the first brushless motor and the second brushless motor to rotate. The first brushless motor and the second brushless motor can feedback signals, thereby correcting the errors in the inertial sensor.

[0043] Specifically, by reducing the working energy of the stator coils in the first brushless motor and the second brushless motor, the rotational resistance of the rotors in the first brushless motor and the second brushless motor can be reduced. As a result, when the first brushless motor and the second brushless motor are used as sensors, they can rotate quickly. Initially, in order to drive the power life buoy 1, the magnetic fields of the first brushless motor and the second brushless motor are relatively strong to have strong driving power during driving. However, when used as sensors for detection, the strong magnetic fields will hinder the water from pushing the impeller, and thus the electromotive force cannot be detected accurately. Therefore, when using the motors as sensors, it is necessary to reduce the magnetic fields generated by the stator coils to generate the electromotive force.

[0044] In at least one embodiment, the control module is configured to control the reduction of the number of working stator pole pairs in the first brushless motor and the reduction of the number of working stator pole pairs in the second brushless motor, and obtain the voltage signals of the first brushless motor and the second brushless motor before switching and the voltage feedback signals after switching, and then obtain the corresponding calibration values through the difference between the two.

[0045] Specifically, during the straight-line travel of the power life buoy 1 (from the position at the previous moment to the position at the current moment), the number of working stator pole pairs in the first brushless motor and the second brushless motor are adjusted in advance to the minimum working mode (the minimum mode that can maintain the motor response. At this time, it is not possible to drive the motor to rotate, but rotating the stator can feedback information). At this time, the first brushless motor and the second brushless motor will respond to the change in inertia based on the voltage change caused by the rotation of the motor, and then use it to correct the inertia value of the inertial sensor, reduce the number of times of filtering execution in the algorithm, simplify the operation of the program, accelerate the system's response to the attitude, and thus be able to reach the rescue position faster. After completing the calibration of the inertia, immediately restore the adjustment of the number of stator pole pairs in the first brushless motor and the second brushless motor to the normal working mode (the normal mode of the motor), and increase the drive current of the stator coils. The rotational resistance is greater than that of a normal motor, which can slow down the movement speed of the power life buoy 1 and prevent the power life buoy 1 from deviating too much from the position of the target object (it is difficult to brake the power life buoy 1).

[0046] Specifically, the stator coil is composed of several small coils (outputting corresponding magnetic poles), and the number of stator pole pairs refers to the small coils on the stator coil.

[0047] In at least one embodiment, the control module is configured to control the reduction of the drive current of the first brushless motor and the reduction of the drive current of the second brushless motor, and obtain the voltage signals of the first brushless motor and the second brushless motor before switching and the voltage feedback signals after switching, and then obtain the corresponding calibration values through the difference between the two.

[0048] Specifically, during the straight-line driving process of the power life buoy 1 (from the position at the previous moment to the position at the current moment), the drive currents of the first brushless motor and the second brushless motor are adjusted in advance to the minimum operating mode (the minimum mode that can maintain the motor response. At this time, the drive motor cannot rotate, but the stator can be rotated to feedback information). At this time, the first brushless motor and the second brushless motor will react to the change of inertia according to the voltage change brought by the rotation of the motor, and then be used to calibrate the inertial sensor, reduce the number of filtering executions in the algorithm, simplify the operation of the program, accelerate the system's response to the attitude, and thus be able to reach the rescue position faster. After the calibration is completed, the drive current of the stator coil is increased, and the rotational resistance is greater than that of a normal motor, which can slow down the movement speed of the power life buoy 1 and prevent the power life buoy 1 from deviating too much from the position of the target object (it is difficult for the power life buoy 1 to brake).

[0049] In at least one embodiment, please refer to Figure 5 , the inertial sensing device includes: an inertial sensor; the control module is configured to obtain the current centripetal acceleration and the current linear velocity of the power life buoy 1 through the inertial sensor; the control module is further configured to obtain the current turning radius through the current centripetal acceleration and the current linear velocity; the control module is further configured to add the calibration value to the current turning radius to calibrate the current turning radius, and then obtain the actual turning radius of the power life buoy 1.

[0050] Specifically, ; where r is the current turning radius, v is the current linear velocity, a n is the current centripetal acceleration.

[0051] Specifically, after the accurate actual turning radius is collected, the output powers of the first brushless motor and the second brushless motor can be accurately controlled, that is, the control of the rotation angle, rotation amplitude and rotation force of the power life buoy 1 is completed, and then the moving direction of the power life buoy 1 is accurately adjusted.

[0052] In at least one embodiment, when the actual moving direction F1 is the same as the theoretical moving direction F2, the output powers output by the left jet pump device 2 and the right jet pump device 3 are the same, both being PWM0.

[0053] In at least one embodiment, when the theoretical moving direction F2 is in the counterclockwise direction of the actual moving direction F1, the deviation angle is greater than 0; the output power output by the left jet pump device 2 is PWM0, and the output power output by the right jet pump device 3 is max(PWM0 - A * a , 0), where a is the deviation angle, and A is the turning intensity coefficient and is proportional to the actual turning radius.

[0054] Specifically, A = k2 * I, where A is the turning intensity coefficient, k2 is the coefficient with the unit of m -1 , and is related to the mechanical properties of the left spray pump device 2 and the right spray pump device 3, and I is the actual turning radius.

[0055] Specifically, the turning intensity coefficient 4 is obtained according to the actual turning radius. At this time, the deviation angle is 20. Assuming PWM0 is 120, that is, the output power of the left spray pump device 2 is 120, and the output power of the right spray pump device 3 is max(120 - 4 * (20), 0), that is, the output power is 40.

[0056] In at least one embodiment, when the theoretical moving direction F2 is in the clockwise direction of the actual moving direction F1, the deviation angle is less than 0; the output power of the left spray pump device 2 is max(PWM0 + A * a , 0), where, a is the deviation angle, A is the turning intensity coefficient and is proportional to the actual turning radius, and the output power of the right spray pump device 3 is PWM0.

[0057] Specifically, the turning intensity coefficient 4 is obtained according to the actual turning radius. At this time, the deviation angle is -20. Assuming PWM0 is 120, that is, the output power of the left spray pump device 2 is max(120 + 4 * (-20), 0), that is, the output power is 40, and the output power of the right spray pump device 3 is 120.

[0058] Based on the same technical concept, at least one embodiment further provides a vision-guided rescue method using the above, which includes: switching the working states of the left spray pump device 2 and the right spray pump device through a control module to obtain a calibration value, and calibrating the inertial sensing device with the calibration value through the control module to obtain the actual turning radius of the power life buoy 1.

[0059] Based on the same technical concept, at least one embodiment further provides a readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the above vision-guided rescue method are implemented.

[0060] In summary, the present invention can judge whether the power life buoy moves towards the target along the correct moving path through the anti-shake vision monitoring device. When the moving direction of the power life buoy deviates from the target, the left spray pump device and the right spray pump device quickly detect the calibration value, and cooperate with the inertial sensing device to obtain an accurate inertial value, and then drive the left spray pump device and the right spray pump device to output corresponding output powers to adjust the moving direction of the power life buoy to move accurately towards the target until the power life buoy coincides with the target on the screen, realizing that the power life buoy can reach the rescue position faster and more accurately.

[0061] The disclosures and other solutions, examples, embodiments, modules, and functional operations described in this document can be implemented in digital electronic circuits, or in computer software, firmware, or hardware, including the structures disclosed in this document and their structural equivalents, or combinations of one or more of them. The disclosed content and other embodiments can be implemented as one or more computer program products, that is, modules of computer program instructions encoded on a tangible and non-transitory computer-readable medium for execution by, or to control the operation of, a data processing apparatus. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a storage device, a substance composition affecting a machine-readable propagated signal, or a combination of one or more of them. The term "data processing unit" or "data processing apparatus" includes all apparatuses, devices, and machines for processing data, including, for example, programmable processors, computers, or multiprocessors or groups of computers. In addition to hardware, the apparatus can also include code for creating an execution environment for the computer program, for example, code constituting processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them. A propagated signal is an artificially generated signal, for example, a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode information for transmission to a suitable receiver device.

[0062] A computer program (also referred to as a program, software, software application, script, or code) can be written in any form of programming language (including compiled or interpreted languages), and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. The program can be stored in a part of a file that holds other programs or data (for example, one or more scripts in a markup language document), in a single file dedicated to the program, or in multiple coordinated files (for example, files that hold one or more modules, subroutines, or portions of code). A computer program can be deployed to be executed on one or more computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

[0063] The processing and logical flows described in this document can be executed by one or more programmable processors that execute one or more computer programs to perform functions by operating on input data and generating output. The processing and logical flows can also be executed by special-purpose logic circuitry, and the apparatus can also be implemented as special-purpose logic circuitry, for example, an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0064] For example, a processor suitable for executing a computer program includes general and special purpose microprocessors, as well as any one or more of any type of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random access memory or both. The basic components of a computer are a processor that executes instructions and one or more storage devices that store the instructions and data. Generally, a computer will also include one or more mass storage devices for storing data, such as, for example, magnetic disks, magneto-optical disks, or optical disks, or operatively coupled to receive data from the mass storage device or to transfer data to the mass storage device, or both. However, a computer need not have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including, for example, semiconductor memory devices such as erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), and flash memory devices; magnetic disks such as internal hard disks or removable disks; magneto-optical disks; and compact disc read only memory (CD ROM) and digital versatile disc read only memory (DVD-ROM) discs. The processor and the memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0065] Although this application document contains many details, it should not be construed as limiting any invention or the scope of any claim, but rather as a description of features of particular embodiments of a particular invention. Certain features described in the context of separate embodiments of this application document may also be implemented in combination in a single embodiment. Conversely, the various functions described in the context of a single embodiment may also be implemented separately in multiple embodiments, or in any suitable sub-combination. Additionally, although the above features may be described as acting in certain combinations and even initially claimed as such, in some cases, one or more features from a claimed combination may be removed from the combination, and the claimed combination may be directed to a sub-combination or a variant of a sub-combination.

[0066] Similarly, although the operations are depicted in the drawings in a particular order, this should not be understood to mean that such operations must be performed in the particular order shown or in sequential order to obtain a desired result, or that all illustrated operations must be performed. Additionally, the separation of various system components in the embodiments of this application document should not be understood to mean that such separation is required in all embodiments.

[0067] Only some implementations and examples have been described, and other implementations, enhancements, and variations can be made based on what is described and illustrated in this application document.

[0068] When there is no intermediate component other than a wire, trace, or another medium between a first component and a second component, the first component is directly coupled to the second component. When there is an intermediate component between the first component and the second component other than a wire, trace, or another medium, the first component is indirectly coupled to the second component. The term "coupled" and its variants include both direct coupling and indirect coupling. Unless otherwise specified, the use of the term "about" means including a range of plus or minus 10% of the numerical value.

[0069] Although several embodiments are provided in the present disclosure, it should be understood that the disclosed systems and methods may be embodied in many other specific forms without departing from the spirit or scope of the present disclosure. The current examples are considered illustrative rather than restrictive and are not limited to the details given. For example, various elements or components may be combined or integrated into another system, or certain features may be omitted or not implemented.

[0070] In several embodiments provided herein, it should be understood that the disclosed apparatus and methods may also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the figures show the possible architectures, functions, and operations of apparatus, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0071] In addition, without departing from the scope of the present disclosure, the discrete or separate technologies, systems, subsystems, and methods described and illustrated in various embodiments may be combined or integrated with other systems, modules, technologies, or methods. Other items shown or discussed as being coupled may be directly connected, or may be indirectly coupled or communicate electrically, mechanically, or otherwise through some interface, device, or intermediate component. Those skilled in the art can determine other examples of changes, substitutions, and alterations without departing from the spirit and scope disclosed herein.

Claims

1. A vision-guided rescue system, characterized in that, Comprising: An anti-shake visual monitoring device located on the mother ship, which is configured to obtain real-time position information of the power life buoy (1) and the target object in real time; A power life buoy (1) communicating with the mother ship, which includes: a control module, a left jet pump device (2), a right jet pump device (3), and an inertial sensing device; Wherein The control module is configured to generate a corresponding movement path (4) according to the real-time position information of the power life buoy (1), and the power life buoy (1) forms a theoretical movement direction (F2) in a straight line towards the target object at the current position, and then obtains the deviation angle between the actual movement direction (F1) and the theoretical movement direction (F2) of the power life buoy (1) at the current position; The control module is further configured to switch the working states of the left jet pump device (2) and the right jet pump device (3) during the traveling process to obtain a calibration value, and the control module is further configured to calibrate the inertial sensing device through the calibration value to obtain the actual turning radius of the power life buoy (1); and The control module is further configured to control the left jet pump device (2) and the right jet pump device (3) to respectively output corresponding output powers through the deviation angle and the actual turning radius, so as to adjust the movement direction of the power life buoy (1) to be in the same straight line as the target object.

2. The visual guidance rescue system according to claim 1, wherein The anti-shake visual monitoring device includes: an anti-shake camera; The anti-shake camera is configured to obtain real-time position information of the power life buoy (1) and the target object; The control module is configured to generate a corresponding movement path (4) according to the change of the real-time position information of the power life buoy (1); The control module is further configured to obtain the actual movement direction (F1) of the power life buoy (1) at the current position through the position of the power life buoy (1) at the previous moment and the position at the current moment; The control module is further configured to obtain the theoretical movement direction (F2) of the power life buoy (1) at the current position through the position of the power life buoy (1) at the current moment and the position of the target object at the current moment.

3. The visual guidance rescue system according to claim 1, wherein The left jet pump device (2) includes: a first brushless motor; The right jet pump device (3) includes: a second brushless motor; The control module is configured to switch the working states of the first brushless motor and the second brushless motor, and obtain the voltage signal of the first brushless motor before switching and the voltage feedback signal after switching, the voltage signal of the second brushless motor before switching and the voltage feedback signal after switching, and the difference between the voltage signal of the first brushless motor before switching and the voltage feedback signal after switching is V1, and the difference between the voltage signal of the second brushless motor before switching and the voltage feedback signal after switching is V2; The calibration value is , and k 1 is a constant, and its unit is m / v.

4. The visual guidance rescue system according to claim 3, wherein The control module is configured to control a reduction in the number of stator pole pairs operating in the first brushless motor and a reduction in the number of stator pole pairs operating in the second brushless motor, and obtain the voltage signal of the first brushless motor before switching and the voltage feedback signal after switching, and the voltage signal of the second brushless motor before switching and the voltage feedback signal after switching.

5. The vision-guided rescue system according to claim 3, wherein The control module is configured to control a reduction in the drive current of the first brushless motor and a reduction in the drive current of the second brushless motor, and obtain the voltage signal of the first brushless motor before switching and the voltage feedback signal after switching, and the voltage signal of the second brushless motor before switching and the voltage feedback signal after switching.

6. The vision-guided rescue system according to claim 1, wherein The inertial sensing device includes: an inertial sensor; The control module is configured to obtain the current centripetal acceleration and the current linear velocity of the powered life buoy (1) through the inertial sensor; The control module is further configured to obtain the current turning radius through the current centripetal acceleration and the current linear velocity; The control module is further configured to calibrate the current turning radius with a calibration value to obtain the actual turning radius of the powered life buoy (1).

7. The vision-guided rescue system according to claim 6, wherein ; wherein, r is the current turning radius, v is the current linear velocity, a n is the current centripetal acceleration.

8. The vision-guided rescue system according to claim 1, wherein When the actual moving direction (F1) is consistent with the theoretical moving direction (F2), the output powers output by the left jet pump device (2) and the right jet pump device (3) are the same, both being PWM0; When the theoretical moving direction (F2) is in the counterclockwise direction of the actual moving direction (F1), the deviation angle is greater than 0; The output power of the left spray pump device (2) is PWM0, and the output power of the right spray pump device (3) is max(PWM0 - A * a , 0), where a is the deviation angle, and A is the turning intensity coefficient and is proportional to the actual turning radius; When the theoretical moving direction (F2) is in the clockwise direction of the actual moving direction (F1), the deviation angle is less than 0; The output power output by the left jet pump device (2) is max(PWM0 + A* a , 0), where a is the deviation angle, A is the turning intensity coefficient and is proportional to the actual turning radius, and the output power output by the right jet pump device (3) is PWM0.

9. A visual guidance rescue method using the visual guidance rescue system according to any one of claims 1-8, characterized in that, including: The working states of the left jet pump device (2) and the right jet pump device (3) are switched by the control module to obtain a calibration value, and the inertial sensing device is calibrated by the control module with the calibration value to obtain the actual turning radius of the powered life buoy (1).

10. A readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by a processor, the steps of the vision-guided rescue method according to claim 9 are implemented.

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