CN107450597A - Communication system and method for rescue equipment at sea - Google Patents
Communication system and method for rescue equipment at sea Download PDFInfo
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- 238000004891 communication Methods 0.000 title claims abstract description 55
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- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 25
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention belongs to the technical field of marine communication, and particularly relates to a communication system and a method of marine rescue equipment, wherein the system comprises an unmanned aerial vehicle group consisting of unmanned aerial vehicle monomers, the unmanned aerial vehicle monomers in the unmanned aerial vehicle group are connected through an optical cable, and one unmanned aerial vehicle monomer is used as a main unmanned aerial vehicle; the main unmanned aerial vehicle is used for sending a motion control instruction to the unmanned aerial vehicle single bodies in the unmanned aerial vehicle cluster and acquiring search and rescue information from the unmanned aerial vehicle single bodies; the main unmanned aerial vehicle is also used for acquiring search and rescue information of other unmanned aerial vehicles through electromagnetic induction; when maritime rescue is carried out, maritime search and rescue can be carried out quickly only by throwing the unmanned aerial vehicle monomer to the sea area needing search and rescue by taking the unmanned aerial vehicle group as a unit, so that efficiency of maritime search and rescue is improved, and the probability of losing rescue equipment is reduced.
Description
Technical field
The invention belongs to overocean communications technical field, more particularly to a kind of communication system and method for rescue at sea equipment.
Background technology
In recent years, with the emergence developed rapidly with marine economy of ship science and technology, the status of maritime traffic transport is increasingly
Significantly, world shipping market has obtained unprecedented expansion and development.Meanwhile also maritime traffic situation is become increasingly
Complexity, collide, hit a submerged reef, be stranded, sinking etc. cause the Maritime Traffic Accident of great personal injury still to occur repeatedly.And sea is searched
The technology for rescuing system is to shorten rescue time, improve the key condition of rescue success rate.
But influenceed by ocean current and weather, search operation is at sea carried out, more uncertainty be present, finds quilt
The success rate for rescuing target is relatively low；Current maritime search and rescue are mainly searched and rescued by naval vessels or helicopter, often huge in consuming
After big manpower financial capacity, efficient search and rescue can not be still realized, even result in the loss for searching and rescuing equipment.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of communication system and method for rescue at sea equipment, it is intended to solves mesh
The problem of preceding maritime search and rescue efficiency is low.
First aspect of the embodiment of the present invention provides a kind of communication system of rescue at sea equipment, including by multiple unmanned plane lists
The unmanned aerial vehicle group of body composition, the unmanned plane monomer in the unmanned aerial vehicle group are connected by optical cable, and with nothing one of them described
Man-machine monomer is as main unmanned plane；
The main unmanned plane, for sending motion control by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group
Instruction, and obtained from the unmanned plane monomer and search and rescue information；
The main unmanned plane, it is additionally operable to obtain the search and rescue information of other unmanned aerial vehicle groups by electromagnetic induction.
Second aspect of the embodiment of the present invention provides a kind of communication means of rescue at sea equipment, including：
Motion control instruction is sent by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group, and from it is described nobody
Obtained on machine monomer and search and rescue information；
The search and rescue information of other unmanned aerial vehicle groups is obtained by electromagnetic induction.
In the embodiment of the present invention, multiple unmanned plane monomers are connected into by a unmanned aerial vehicle group, each unmanned plane by optical cable
Group set a main unmanned plane, then using unmanned aerial vehicle group be SAR Unit progress maritime search and rescue, wherein, main unmanned plane to it is described nobody
Unmanned plane monomer in a group of planes sends motion control instruction, and is obtained from the unmanned plane monomer and search and rescue information, realizes nobody
Search and rescue information gathering in a group of planes；The search and rescue information of other unmanned aerial vehicle groups is also obtained by electromagnetic induction simultaneously, realizes unmanned plane
The interaction of information is searched and rescued between group, and then realizes and cooperates between all unmanned plane monomers；When carrying out rescue at sea, only need
The unmanned plane monomer is thrown to the marine site for needing to search and rescue in units of the unmanned aerial vehicle group, it is possible to rapidly carry out sea and search
Rescue, improve the efficiency of maritime search and rescue, also, cannot be easily caused the loss of rescue aid.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structural representation of the communication system of rescue at sea equipment provided in an embodiment of the present invention；
Fig. 2 is search and rescue region scope division schematic diagram provided in an embodiment of the present invention；
Fig. 3 is unmanned plane monomer searching route schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the structured flowchart of unmanned plane monomer provided in an embodiment of the present invention；
Fig. 5 is the structured flowchart of electromagnetic induction communication module provided in an embodiment of the present invention；
Fig. 6 is a kind of the first implementation process block diagram of the communication means of rescue at sea equipment provided in an embodiment of the present invention；
Fig. 7 is a kind of the second implementation process block diagram of the communication means of rescue at sea equipment provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 shows a kind of structural representation of the communication system of rescue at sea equipment provided in an embodiment of the present invention, bag
Include the unmanned aerial vehicle group 200 being made up of multiple unmanned plane monomers 210, the unmanned plane monomer 210 in the unmanned aerial vehicle group 200 passes through light
Cable connects, and is used as main unmanned plane 220 using unmanned plane monomer one of them described；
Wherein, the unmanned plane monomer 210 refers to single rescue aid, and the rescue aid can be that unmanned lifesaving is small
Ship is unmanned lifebuoy, and the present invention is linked together the single rescue aid by optical cable, and is pulled by seawater,
Unmanned aerial vehicle group is formed, so as to realize the extensive cooperation of individual equipment.For example, with set spacing distance set one it is described nobody
Machine monomer 210, and form a unmanned aerial vehicle group 200 to set the unmanned plane monomer 210 of quantity, the setpoint distance and described sets
Fixed number amount is set according to practical application, for example, a unmanned plane monomer 210 is set with 50m spacing distance, with 10 nothings
Man-machine monomer 210 forms a unmanned aerial vehicle group 200.
In the unmanned aerial vehicle group 200, the unmanned plane monomer 210 is connected by optical cable, and by bus protocol with it is described
Main unmanned plane 220 in unmanned aerial vehicle group is communicated.Wherein, the bus protocol includes CAN agreement and spi bus agreement
Deng bus protocol, the embodiment of the present invention uses CAN agreement, CAN (the Controller Area Network controllers
LAN) belong to the category of fieldbus, it is a kind of serial communication network for effectively supporting dcs, CAN
It using serial data transmission mode, can be connected using optical cable, there is the characteristics of real-time, transmission rate is fast, have simultaneously
The addressing of 11 and error detecing capability, the present invention complete the communication between unmanned plane monomer using CAN this feature, had
Real-time, the advantages of reliability is high.
The embodiment of the present invention is provided with a main unmanned plane 220 in each unmanned aerial vehicle group, and the main unmanned plane 220 is by nothing
The unmanned plane monomer 210 with stronger ability to communicate is served as in people's group of planes, for example, serving as the unmanned plane of the main unmanned plane
The communication apparatus of monomer 210 need to be in intact state, and electricity is sufficient, can complete the master with other unmanned aerial vehicle groups
The communication of unmanned plane, and the communication with the Surveillance center can also be completed.When the main unmanned plane in the unmanned aerial vehicle group
When communication apparatus breaks down, the unmanned aerial vehicle group, which will independently be put forward, new to be used to lead to the main unmanned plane of other unmanned aerial vehicle groups
Letter, and the main unmanned plane to be communicated with the Surveillance center.Therefore, the main unmanned plane in the unmanned aerial vehicle group can be according to nobody
The equipment state of unmanned plane monomer in a group of planes carries out election generation.
The main unmanned plane 220, for the unmanned plane monomer transmission motion control instruction into the unmanned aerial vehicle group, and from
Obtained on the unmanned plane monomer and search and rescue information；
As a kind of embodiment, as shown in figure 1, the communication system also includes Surveillance center 100, the Surveillance center
Instruction is searched and rescued for being sent in units of the unmanned aerial vehicle group to the main unmanned plane；The main unmanned plane 220, for according to institute
The unmanned plane monomer transmission motion control instruction for searching and rescuing instruction into the unmanned aerial vehicle group is stated, and is obtained from the unmanned plane monomer
Take search and rescue information.
When emergency relief event occurs, the automatic cooperation that the unmanned aerial vehicle group 200 is opened by the Surveillance center 100 is searched and rescued
Function, and sent in units of the unmanned aerial vehicle group 200 to the main unmanned plane 220 and search and rescue instruction, wherein, it is described to search and rescue instruction
Distribute and instruct including search and rescue region, for example, Fig. 2 shows that search and rescue region scope divides schematic diagram, the present invention is to rescue target most
The position G occurred afterwards is basic point, extrapolates circular rescue by information such as ocean current and wind directions and searches and rescues scope E, and circumscribed with the circle
Square F is parallel search and rescue scope, and corresponding search and rescue region is distributed for each unmanned aerial vehicle group；In another example the Surveillance center 100 will
The round circumscribed square F is divided by sphere of movements for the elephants, by the square area in the upper left corner, the square area in the upper right corner, the lower left corner
Square area, the square area in the lower right corner is respectively divided to one or more unmanned aerial vehicle groups.
When the main unmanned plane receives the search and rescue region distribution instruction, the unmanned plane monomer into the unmanned aerial vehicle group
Motion control instruction is sent, controls the unmanned plane monomer to be moved by the movement locus specified, and obtain searching in moving region
Rescue information.For example, as shown in Fig. 2 the main unmanned plane receives the search and rescue region of the square area in the upper right corner described above
During the distribution instruction of domain, control that the unmanned plane monomer 210 in the unmanned aerial vehicle group is in one line, and shape is into a line, along middle arrow institute
Show direction, approached to the basic point G, complete the search and rescue of search and rescue region corresponding to the search and rescue region distribution instruction, obtain corresponding
Search and rescue information.
Specifically, unmanned plane monomer described in the main unmanned aerial vehicle (UAV) control is also included by the movement locus motion specified：It is described
Main unmanned plane formulates the movement locus of unmanned plane monomer according to the afloat position of the unmanned plane monomer, then control it is described nobody
Machine monomer is moved by the movement locus of the formulation, obtains the search and rescue information in moving region.For example, the as shown in figure 3, master
When unmanned plane receives the search and rescue region distribution instruction of the square area in the upper right corner described above, if in the unmanned aerial vehicle group
Unmanned plane monomer 210 close on the edge in circle search region, then control unmanned plane monomer 210 in the unmanned aerial vehicle group along circle
Shape region of search edge arranges, and is walked along direction shown in arrow.It should be noted that the unmanned plane list in the unmanned aerial vehicle group
The movement velocity and the direction of motion of body are mutually coordinated so that the range of movement covering institute of the unmanned plane monomer in the unmanned aerial vehicle group
State region of search corresponding to search and rescue region distribution instruction；For example, the movement velocity of the unmanned plane monomer left and right directions is the left side
The average speed of adjacent unmanned plane monomer unmanned plane monomer adjacent with the right, the movement velocity of the unmanned plane monomer direction of advance
For the average speed of the movement velocity and the unmanned plane maximum desired travel speed of the unmanned plane previous moment；Form such as Fig. 3
Shown movement locus S.Wherein, the unmanned plane maximum desired travel speed refers to manage it under the current state of the unmanned plane
The maximal rate sailed, the maximal rate change with the electric quantity change of the unmanned plane.
As one embodiment of the present of invention, the search and rescue information includes obstacle information or rescue target information, by
Unmanned plane monomer 210 in the unmanned aerial vehicle group is obtained.
The structured flowchart of unmanned plane monomer 210 as described in being shown Fig. 4, the unmanned plane monomer 210 include sonar information
Acquisition module 211, control process module 212 and drive module 213；
Specifically, the sonar information acquisition module includes sonar transmitter, sonar receiver, the control process module
212 control the sonar information acquisition module to carry out sonar contact by the drive module 213, obtain the search and rescue information；
The sound wave letter for the object reflection that the sonar information acquisition module 211 is used to gather around the unmanned plane monomer
Number, and the acoustic signals are carried out with the sonar characteristic signal that processing obtains the object, send to the control process module
212；
Specifically, when the sonar machine receives the acoustic signals of the object reflection around the unmanned plane monomer, to institute
State acoustic signals to be sampled and quantified, obtain sound wave data signal, then sonar enhancing, sound are carried out to the sound wave data signal
Segmentation, edge extracting, sonar restore, and obtain the sonar characteristic signal of the object；Wherein, the sonar strengthens in sound
After image digitazation, carry out suppressing noise improvement picture quality；The sonar is split for entering to the sonar image information
The region segmentations such as row target area, background area, shadow region；The edge extracting is used to enter the edge feature in the sonar image
Row extraction, including the edge extracting of irregular curve and linear edge extraction；The sonar is restored for improving sonar image
Deformation and skew；After above-mentioned steps are handled, you can obtain the sound for the object for being easy to the control process module 212 to handle
Characteristic signal.
The control process module 212 is used to obtain obstacle information or rescue target according to the sonar characteristic signal
Information, and the obstacle information or rescue target information are sent to the unmanned aerial vehicle group by CAN communication agreement
Main unmanned plane.
As an embodiment, the control process module 212 realizes different search targets using template matching method
Identification, so as to obtain obstacle information or rescue target information according to the sonar characteristic signal；Wherein, the barrier and
The recognition template of the rescue target is stored in the memory of the control process module 212.
As a kind of embodiment, the control process module 212 can be processor, and the processor can be a kind of collection
Into circuit chip, there is signal handling capacity.Above-mentioned processor can be at general processor, including central processing unit, network
Manage device etc.；It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made or other FPGAs
Device, discrete gate or transistor logic, discrete hardware components.It can realize or perform in the embodiment of the present application
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor can also be any
Conventional processor etc..In the present embodiment, the control process module 212 is programmable gate array (FPGA), wherein, FPGA
Chip is ALTERA CYCLONE IV 4CE115.
The main unmanned plane 220 is used to adjust the motion control according to the obstacle information or rescue target information
Instruction.
Specifically, when the control process module 212 of the unmanned plane monomer 210 gets the obstacle information, institute
Stating control process module 212 controls the sonar machine of the sonar information acquisition module not stop paying out sound, the distance of interpretation barrier；And
When running into larger barrier, inform that the main unmanned plane adjusts the motion control instruction.For example, the larger barrier is
When glacier, island, submerged reef, inform that the main unmanned plane updates the motion control instruction, avoid the larger barrier, i.e.
Motion control instruction after renewal is sent to the unmanned plane monomer by main unmanned plane, changes nobody in the unmanned aerial vehicle group
The mass motion direction of machine monomer, until getting around the barrier, continue to search and rescue.
As an embodiment, as shown in figure 4, the unmanned plane monomer 210 also includes colliding automatic cancellation module
214, for detecting whether colliding, and collision alarm is sent to the control process module 212 when colliding, by institute
State control process module 212 and control the unmanned plane monomer autonomous avoidance.The automatic cancellation module 214 of collision is using ground
Magnetic is sensor-type automatic except device MAG3110, including angle calculation unit is touched, and the angle calculation unit is used to detect the unmanned plane
Monomer angular speed change, if the angular speed of the unmanned plane monomer has large change in a short time, confirm it is described nobody
Collided between machine monomer, the direction that the angle calculation unit is additionally operable to be changed according to the angular speed confirms collision hair
Raw direction so that the unmanned plane monomer carries out autonomous according to the collision course, eliminates collision.
As an embodiment, when the control process module 212 of the unmanned plane monomer 210 gets the rescue mesh
When marking information, the main unmanned plane 220 to the unmanned aerial vehicle group is sent by CAN communication agreement；The main unmanned plane 220 is true
After recognizing the rescue target information, notice Surveillance center 100 implements rescue to the rescue target, and controls in unmanned aerial vehicle group
Unmanned plane monomer intercepts the rescue target, until the rescue target is rescued.
The main unmanned plane 210, it is additionally operable to obtain the search and rescue information of other unmanned aerial vehicle groups by electromagnetic induction.Wherein, institute
State other unmanned aerial vehicle groups and refer to unmanned aerial vehicle group in the communication context of main unmanned plane 210.
Specifically, as shown in Figure 4 and Figure 5, the unmanned plane monomer 210 includes electromagnetic induction communication module 215, for institute
State the communication between unmanned aerial vehicle group.Between the unmanned aerial vehicle group by the electromagnetic induction communication module can realize 50m it is deep or
The communication of 500m radiuses, solves the problems, such as wireless communication signals rapid decay in the seawater in the prior art.
It should be noted that due to containing abundant electrolyte in seawater, the decay of electric field in the seawater is larger, and magnetic field
Decay it is relatively small.Therefore, electromagnetic induction communication module 215 of the invention mainly by the magnetic field carry out unmanned aerial vehicle group it
Between information exchange.Wherein, as shown in figure 5, the magnetic field is produced by flowing through coil L1 electric current, described in the coil L2 receptions
Coil L1 magnetic strength induction signal, carry out the information exchange between unmanned aerial vehicle group.Especially, the electric current is big more than setting value
Electric current, the voltage for flowing through the coil L1 is low-voltage, so that the coil L1 can produce larger magnetic field and less electricity
.
Specifically, the electromagnetic induction communication module 215 includes CAN control unit, driver element, electromagentic resonance hair
Penetrate unit and electromagentic resonance receiving unit；The control process module 212 of the unmanned plane monomer 210 is carried out with CAN agreement
Information encodes, then drives the electromagentic resonance transmitter unit and electromagentic resonance receiving unit to carry out electromagnetism by the driver element
The transmitting and reception of ripple, realize the interaction of search and rescue information between unmanned aerial vehicle group.
As a kind of embodiment, the unmanned aerial vehicle group 200 is independently of the Surveillance center 100, by the main unmanned plane
Motion control instruction is sent by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group, and from the unmanned plane monomer
Obtain and search and rescue information；The main unmanned plane also obtains the search and rescue information of other unmanned aerial vehicle groups by electromagnetic induction.
It should be noted that the main unmanned plane is sent by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group
Motion control instruction, including the control unmanned plane monomer are moved by the movement locus specified, and obtain searching in moving region
Rescue information.For example, as shown in Fig. 2 the main unmanned plane receives the search and rescue region of the square area in the upper right corner described above
During the distribution instruction of domain, control that the unmanned plane monomer 210 in the unmanned aerial vehicle group is in one line, and shape is into a line, along middle arrow institute
Show direction, approached to the basic point G, complete the search and rescue of search and rescue region corresponding to the search and rescue region distribution instruction, obtain corresponding
Search and rescue information.
Specifically, due to the electromagnetic induction communication module 215 of the unmanned plane monomer can realize the unmanned aerial vehicle group it
Between communication, therefore, in the case of no Surveillance center 100, remained between the unmanned aerial vehicle group by the electromagnetic induction
Communication module 215 carries out information exchange, implements rescue at sea.For example, when the Surveillance center is in malfunction, only need by
The unmanned plane monomer of the unmanned aerial vehicle group throws to the marine site for needing to carry out maritime search and rescue, the unmanned plane monomer of the unmanned aerial vehicle group
210 by the Sonar Signal acquisition module 211 and the control process module 212 according to obtaining obstacle information or rescue
Target information, and send to the main unmanned plane in the unmanned aerial vehicle group, when the main unmanned plane 220 is according to the rescue target letter
When breath confirms that the unmanned plane monomer 210 searches rescue target, on the one hand by controlling the unmanned plane monomer in unmanned aerial vehicle group to block
The rescue target is cut, until the rescue target is rescued.On the other hand, the unmanned plane monomer in the unmanned aerial vehicle group
When rescue task is heavier, other unmanned aerial vehicle groups are also notified by the electromagnetic induction communication module 215, to the rescue mesh
Mark implements rescue so that it is marine to remain to completion in the case of the search and rescue instruction of no Surveillance center for the unmanned aerial vehicle group
Rescue.This rescue mode, the rescue of fast speed can be realized, and intervened without Surveillance center.
Specifically, the search and rescue information includes search and rescue region information.During the unmanned aerial vehicle group 200 is searched and rescued,
Influenceed by the multi-party factor such as ocean current and wind direction, it is possible to which the search and rescue path for the unmanned aerial vehicle group occur drifts about so that
The unmanned aerial vehicle group is actual to search and rescue covered search and rescue region compared to search and rescue region corresponding to search and rescue region distribution instruction
Deviation be present, cause the overlapping of search and rescue region occur or omit, therefore, the main unmanned plane in the unmanned aerial vehicle group is additionally operable to lead to
Cross the search and rescue information that electromagnetic induction obtains other unmanned aerial vehicle groups.
As an embodiment, the main unmanned plane of the unmanned aerial vehicle group is by electromagnetic induction to other unmanned aerial vehicle group cycles
Property transmission search and rescue region confirmation request, the search and rescue region confirmation request be used for interact search and rescue region information.That is,
During search and rescue, the main unmanned plane of the unmanned aerial vehicle group is with the main unmanned plane of other unmanned aerial vehicle groups by periodically sending search and rescue
Confirmation request so that search and rescue region information can be interacted between each other.So as to avoiding because of the movement warp of the unmanned aerial vehicle group and
Cause to occur the overlapping of search and rescue region or omit, with the search and rescue region all standing of realization, improve the success rate of search and rescue.
It should be noted that the search and rescue region information includes the search and rescue region scope and not that unmanned aerial vehicle group has been completed to search and rescue
Complete the search and rescue region scope searched and rescued, and the current location information of the unmanned aerial vehicle group；The main unmanned plane of the unmanned aerial vehicle group
After carrying out search and rescue region information exchange, the main unmanned plane between the unmanned aerial vehicle group is according to the search and rescue region for having completed to search and rescue
Scope, search and rescue of the current location information of the search and rescue region scope searched and rescued and the unmanned aerial vehicle group to the unmanned aerial vehicle group are not completed
Regional extent is coordinated and distributed.
For example, covered search and rescue region is searched and rescued compared to search and rescue region distribution instruction pair when unmanned aerial vehicle group A is actual
When the search and rescue region answered has deviation, the search and rescue region scope a that the unmanned aerial vehicle group A has completed to search and rescue is possible to partly cover
The search and rescue region scope b of the unfinished search and rescue of the unmanned aerial vehicle group B, i.e., described search and rescue region scope a and search and rescue region scope b are deposited
Occuring simultaneously, now, after the unmanned aerial vehicle group A and unmanned aerial vehicle group B carries out search and rescue region information exchange, the unmanned aerial vehicle group B
Main unmanned plane will update the search and rescue region scope b of the unfinished search and rescue, remove the search and rescue region scope a and search and rescue region
Scope b common factor part, meanwhile, the main unmanned plane of the unmanned aerial vehicle group B is additionally operable to the current location according to the unmanned aerial vehicle group A
The search and rescue region scope b of unfinished search and rescue after information, and the renewal, by the search and rescue of the unfinished search and rescue after the renewal
The search and rescue region scope b ' closed in regional extent b with the current location of the unmanned aerial vehicle group A distributes to the unmanned aerial vehicle group A.
Likewise, the unmanned aerial vehicle group B completed search and rescue search and rescue region scope c be possible to part cover it is described nobody
The search and rescue region scope d of group of planes A unfinished search and rescue, i.e., described search and rescue region scope c and search and rescue region scope d, which exist, to occur simultaneously,
Now, after the unmanned aerial vehicle group B and the unmanned aerial vehicle group A carry out search and rescue region information exchange, the master of the unmanned aerial vehicle group A nobody
Machine will update the search and rescue region scope d of the unfinished search and rescue, remove the search and rescue region scope c and search and rescue region scope d's
Common factor part, meanwhile, the main unmanned plane of the unmanned aerial vehicle group A is additionally operable to the current location information according to the unmanned aerial vehicle group B, with
And the search and rescue region scope d of the unfinished search and rescue after the renewal, by the search and rescue region model of the unfinished search and rescue after the renewal
Enclose the search and rescue region scope d ' closed in d with the current location of the unmanned aerial vehicle group B and distribute to the unmanned aerial vehicle group B, so as to real
The covering of existing efficient search and rescue region.
As an embodiment, the electromagnetic induction module of the unmanned plane monomer is additionally operable to nobody in unmanned aerial vehicle group
Machine monomer carries out Distance positioning, and is located distance and sends the sonar for the unmanned plane monomer, correcting the unmanned plane monomer
Signal acquisition module is adjusted the distance the deviation of positioning.
For example, include in unmanned aerial vehicle group unmanned plane monomer m and unmanned plane monomer n, the unmanned plane monomer m to it is described nobody
Machine monomer n sends electromagnetic induction signal, and the distance between the unmanned plane monomer m and described unmanned plane monomer n is judged,
And the distance between the unmanned plane monomer m and the unmanned plane monomer n z are sent to the unmanned plane monomer n, it is described nobody
Machine monomer n Sonar Signal acquisition module judged the unmanned plane monomer n and the unmanned plane monomer m distance, institute
The Sonar Signal acquisition module for stating unmanned plane monomer n is to the unmanned plane monomer n and unmanned plane monomer m distances judged
Z ', if the z is not equal to z ', then it represents that the judgement that the Sonar Signal acquisition module of the unmanned plane monomer n is adjusted the distance, which exists, to be missed
Difference, then the unmanned plane monomer n is according to the distance z, and by calling Sonar Signal described in geometry computational algorithm i.e. recoverable
Acquisition module is adjusted the distance the error of judgement.
As an embodiment, the Surveillance center obtains the positional information of the main unmanned plane in real time.
Specifically, during the unmanned aerial vehicle group is searched and rescued, the Surveillance center is in order to the unmanned plane
Group carries out Real-Time Scheduling, need to carry out information exchange with the unmanned aerial vehicle group, it is preferable that the Surveillance center of the invention passes through nothing
Line communication mode carries out information exchange with the main unmanned plane, and the communication includes microwave communication and satellite communication.
Because the present invention is using unmanned aerial vehicle group as SAR Unit, therefore, the Surveillance center need to only be carried out with the main unmanned plane of unmanned aerial vehicle group
Information exchange, you can realize the communication between the Surveillance center and the unmanned aerial vehicle group.
Wherein, the main unmanned plane 220 of the unmanned aerial vehicle group notifies the Surveillance center 100 to implement to rescue to the rescue target
When helping, the Surveillance center 100 obtains the positional information of the main unmanned plane, and signal an alert, notifies rescue personnel
To it is described rescue target implement rescue, on the other hand, the unmanned aerial vehicle group find it is multiple rescue targets or rescue task amount compared with
When big, assistance instruction is sent to other unmanned aerial vehicle groups, the unmanned aerial vehicle group is implemented to help, realized to the real-time of the unmanned aerial vehicle group
Scheduling.
Preferably, at the end of rescue, the Surveillance center 100 is formulated by obtaining the real time position of the unmanned aerial vehicle group
Return route, realize that the disjunctor of the unmanned aerial vehicle group makes a return voyage, accelerate the speed of making a return voyage of the unmanned aerial vehicle group, while further reduce
The probability that the rescue aid is lost.
As a kind of embodiment, the main unmanned plane 220 of the unmanned aerial vehicle group is additionally operable to other unmanned aerial vehicle groups periodically
Transmission hello request, the hello request is used to mutually confirm the state of respective unmanned aerial vehicle group；If it was found that there is unmanned aerial vehicle group mistake
Connection, then lost contact signal is sent to Surveillance center, and notify the main unmanned plane of other unmanned aerial vehicle groups, undertake the unmanned aerial vehicle group of the lost contact
Search and rescue task.
In addition, when the main unmanned plane of unmanned aerial vehicle group is due to equipment fault, when can not be communicated with Surveillance center, this nobody
The main unmanned plane of a group of planes can be by traveling through the main unmanned plane of the unmanned aerial vehicle group, until the unmanned function of master of some unmanned aerial vehicle group
It is enough that communication request is sent to Surveillance center, so as to realize relay communication.When the navigation work(of the main unmanned plane of some unmanned aerial vehicle group
When can fail, the navigation information that can be obtained by periodicity between unmanned aerial vehicle group realizes navigation, and then reduces rescue aid and lose
The probability of mistake.
Preferably, the unmanned plane monomer also has broken string emergency module.When a unmanned plane list of the unmanned aerial vehicle group
When body or multiple unmanned plane monomer lost contacts, the broken string emergency module of the unmanned plane monomer of the lost contact controls the unmanned plane monomer
Automatic floating goes out sea, sends emergency request, waits for rescue.
Fig. 6 shows that the present invention implements a kind of implementation process block diagram of the communication means of the rescue at sea equipment provided, bag
Include：
S401：Motion control instruction is sent by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group, and from institute
State to obtain on unmanned plane monomer and search and rescue information；
S402：The search and rescue information of other unmanned aerial vehicle groups is obtained by electromagnetic induction.
Further, as shown in fig. 7, also including step S400 before step S401：Receive using the unmanned aerial vehicle group as
The search and rescue instruction that unit is sent；Motion control is sent according to the unmanned plane monomer for searching and rescuing instruction into the unmanned aerial vehicle group to refer to
Order, and obtained from the unmanned plane monomer and search and rescue information.
Wherein, the search and rescue information that obtained from the unmanned plane monomer includes：Gather around the unmanned plane monomer
The acoustic signals of object reflection, and the acoustic signals are carried out with the sonar characteristic signal that processing obtains the object；According to institute
State sonar characteristic signal and obtain obstacle information or rescue target information；According to the obstacle information or rescue target letter
Breath adjusts the motion control instruction.
The search and rescue information that other unmanned aerial vehicle groups are obtained by electromagnetic induction includes：It is periodic to other unmanned aerial vehicle groups
Search and rescue region confirmation request is sent, the search and rescue region confirmation request is used to interact search and rescue region information.
The search and rescue information that other unmanned aerial vehicle groups are obtained by electromagnetic induction includes：It is periodic to other unmanned aerial vehicle groups
Hello request is sent, the hello request is used for the state for mutually confirming respective unmanned aerial vehicle group；If it was found that there is unmanned aerial vehicle group lost contact,
Lost contact signal then is sent to Surveillance center, and notifies the main unmanned plane of other unmanned aerial vehicle groups, undertakes the unmanned aerial vehicle group of the lost contact
Search and rescue task.
It should be noted that for convenience and simplicity of description, the specific work process of the method for foregoing description, it may be referred to
Corresponding process in aforementioned means, is no longer excessively repeated herein.
It should be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present invention forms any limit with its function and internal logic
It is fixed.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit, it is above-mentioned integrated
Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Said system
The specific work process of middle unit, module, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment
The part of load, it may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, others can be passed through
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of the module or unit,
Only a kind of division of logic function, can there is an other dividing mode when actually realizing, such as multiple units or component can be with
With reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated module/unit realized in the form of SFU software functional unit and as independent production marketing or
In use, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-mentioned implementation
All or part of flow in example method, by computer program the hardware of correlation can also be instructed to complete, described meter
Calculation machine program can be stored in a computer-readable recording medium, and the computer program can be achieved when being executed by processor
The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or some intermediate forms etc..Computer-readable Jie
Matter can include：Can carry any entity or device of the computer program code, recording medium, USB flash disk, mobile hard disk,
Magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described
The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as in some jurisdictions, electric carrier signal and electricity are not included according to legislation and patent practice, computer-readable medium
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme, all should
Within protection scope of the present invention.
Claims (10)
1. a kind of communication system of rescue at sea equipment, it is characterised in that including the unmanned plane by multiple unmanned plane monomer compositions
Group, the unmanned plane monomer in the unmanned aerial vehicle group is connected by optical cable, and is used as master using unmanned plane monomer one of them described
Unmanned plane；
The main unmanned plane, refer to for sending motion control by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group
Order, and obtained from the unmanned plane monomer and search and rescue information；
The main unmanned plane, it is additionally operable to obtain the search and rescue information of other unmanned aerial vehicle groups by electromagnetic induction.
2. communication system as claimed in claim 1, it is characterised in that also including Surveillance center, the Surveillance center be used for
The unmanned aerial vehicle group is that unit sends search and rescue instruction, the main unmanned plane, for referring to according to the search and rescue to the main unmanned plane
Make the unmanned plane monomer into the unmanned aerial vehicle group send motion control instruction, and obtained from the unmanned plane monomer and search and rescue letter
Breath.
3. communication system as claimed in claim 1, it is characterised in that the unmanned plane monomer includes sonar information acquisition module
With control process module,
The acoustic signals for the object reflection that the sonar information acquisition module is used to gather around the unmanned plane monomer, and to institute
State acoustic signals and carry out the sonar characteristic signal that processing obtains the object, send to the control process module；
The control process module is used to obtain obstacle information or rescue target information according to the sonar characteristic signal；
The main unmanned plane is used to adjust the motion control instruction according to the obstacle information or rescue target information.
4. communication system as claimed in claim 1, it is characterised in that the main unmanned plane of the unmanned aerial vehicle group is additionally operable to other
Unmanned aerial vehicle group periodically sends search and rescue region confirmation request, and the search and rescue region confirmation request is used to interact search and rescue region letter
Breath.
5. communication system as claimed in claim 1, it is characterised in that the main unmanned plane of the unmanned aerial vehicle group is additionally operable to other
Unmanned aerial vehicle group periodically sends hello request, and the hello request is used for the state for mutually confirming respective unmanned aerial vehicle group；If hair
Existing unmanned aerial vehicle group lost contact, then the main unmanned plane of other unmanned aerial vehicle groups is notified, undertake the search and rescue task of the unmanned aerial vehicle group of the lost contact.
A kind of 6. communication means of rescue at sea equipment, it is characterised in that including：
Motion control instruction is sent by unmanned plane monomer of the bus protocol into the unmanned aerial vehicle group, and from the unmanned plane list
Obtained on body and search and rescue information；
The search and rescue information of other unmanned aerial vehicle groups is obtained by electromagnetic induction.
7. communication means as claimed in claim 6, it is characterised in that including：Reception is sent in units of the unmanned aerial vehicle group
Search and rescue instruction；According to the unmanned plane monomer transmission motion control instruction for searching and rescuing instruction into the unmanned aerial vehicle group, and from
Obtained on the unmanned plane monomer and search and rescue information.
8. communication means as claimed in claim 6, it is characterised in that described obtained from the unmanned plane monomer searches and rescues information
Including：
The acoustic signals of the object reflection around the unmanned plane monomer are gathered, and the acoustic signals are carried out with processing and obtains institute
State the sonar characteristic signal of object；
Obstacle information or rescue target information are obtained according to the sonar characteristic signal；
The motion control instruction is adjusted according to the obstacle information or rescue target information.
9. communication means as claimed in claim 6, it is characterised in that described that other unmanned planes are obtained by electromagnetic induction
The search and rescue information of group includes：
Search and rescue region confirmation request is periodically sent to other unmanned aerial vehicle groups, the search and rescue region confirmation request is used for interaction and searched
Rescue area information.
10. communication means as claimed in claim 6, it is characterised in that it is described by electromagnetic induction obtain other it is described nobody
The search and rescue information of a group of planes includes：
Hello request is periodically sent to other unmanned aerial vehicle groups, the hello request is used to mutually confirm respective unmanned aerial vehicle group
State；If it was found that there is unmanned aerial vehicle group lost contact, the main unmanned plane of other unmanned aerial vehicle groups is notified, undertakes the unmanned aerial vehicle group of the lost contact
Search and rescue task.
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| CN201710714066.0A CN107450597A (en) | 2017-08-18 | 2017-08-18 | Communication system and method for rescue equipment at sea |
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|---|---|---|---|
| CN201710714066.0A CN107450597A (en) | 2017-08-18 | 2017-08-18 | Communication system and method for rescue equipment at sea |
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| CN107544541A (en) * | 2017-09-18 | 2018-01-05 | 南方科技大学 | Unmanned aerial vehicle control method and system |
| CN107992077A (en) * | 2017-12-13 | 2018-05-04 | 北京小米移动软件有限公司 | Aircraft fault rescue method and device |
| CN108196582A (en) * | 2018-02-12 | 2018-06-22 | 深圳技术大学（筹） | A kind of indoor Visual Navigation unmanned plane cluster flight control system and method |
| CN108490976A (en) * | 2018-04-28 | 2018-09-04 | 广州亿航智能技术有限公司 | A kind of scheduling system of unmanned plane cluster |
| CN108613676A (en) * | 2018-03-27 | 2018-10-02 | 中国民用航空飞行学院 | A kind of unmanned plane and there is the multimachine multiple target emergency rescue path planning method under Mechanism of Human-Computer Cooperation |
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| CN111949047A (en) * | 2020-08-27 | 2020-11-17 | 四川航天***工程研究所 | Central unmanned aerial vehicle selection method for centralized task planning of unmanned aerial vehicle |
| CN113031637A (en) * | 2021-03-05 | 2021-06-25 | 北京理工大学 | Multi-flying-robot integrated operation platform |
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