CN108583806A - A kind of frogman's method for early warning and system based on unmanned boat - Google Patents
A kind of frogman's method for early warning and system based on unmanned boat Download PDFInfo
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- CN108583806A CN108583806A CN201810247002.9A CN201810247002A CN108583806A CN 108583806 A CN108583806 A CN 108583806A CN 201810247002 A CN201810247002 A CN 201810247002A CN 108583806 A CN108583806 A CN 108583806A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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Abstract
The present invention relates to unmanned boat technical fields, provide a kind of frogman's method for early warning and system based on unmanned boat.Wherein method includes covering area range parameter of first the first unmanned boat of unmanned boat according to the covering area range parameter of the detecting devices of itself and the detecting devices of each unmanned boat received, generates dispatch command；The scheduling message for carrying corresponding dispatch command is sent to one of the first unmanned boat periphery or more unmanned boats.Frogman's early warning system based on unmanned boat that an embodiment of the present invention provides a kind of, take full advantage of the mobility of each unmanned boat and each unmanned boat detectivity of itself in waters, it can be when a certain unmanned boat detects frogman wherein, unmanned boat is surrounded in a short time sets up first area range detection net, can within the scope of effective investigation area frogman presence, prevent slipping into for more frogman's formulas.
Description
【Technical field】
The present invention relates to unmanned boat technical fields, more particularly to a kind of frogman's method for early warning based on unmanned boat and are
System.
【Background technology】
Attention with each coastal state of the world to marine resources, the contention of maritime interest have become within the scope of the world today
One of most important international problem.
Serious threat, the demand day that anti-frogman stalks are constituted to the "Oceanic" strategy and related interests from underwater threat
It is beneficial urgent.The following unmanned boat will be widely used in the cover by patrol of offshore operation platform, and it is pre- how frogman to be equipped on unmanned boat
Alert system, is currently to have one of problem to be solved, and get through the applicability that unmanned boat is enforced the law under sea police's complex environment
First road threshold.
【Invention content】
The technical problem to be solved by the present invention is to existing method for early warning form is more single, support be one or it is more
A large-scale hull for possessing large area sonar contact ability can not take effective means to carry out further after finding frogman
Search, and because scheduling mode support is manually to issue an order, cause the reduction of detection efficient.
The present invention adopts the following technical scheme that：
In a first aspect, the present invention provides a kind of frogman's early warning system based on unmanned boat, system includes at least two nothings
People's ship, the first unmanned boat is when being detected with the first frogman into itself early warning range, peritropous one or more nothings
The range detection request of people's ship sending zone；
The regional extent probe response that first unmanned boat receives one of its periphery or more unmanned boats return, institute
State the covering area range parameter for the detecting devices that each unmanned boat is carried in regional extent probe response；
First unmanned boat is according to the spy of the covering area range parameter of the detecting devices of itself and each unmanned boat received
The covering area range parameter of measurement equipment generates dispatch command；
First unmanned boat sends corresponding dispatch command to one of its periphery or more unmanned boats；
One of first unmanned boat periphery or more unmanned boats drive to after receiving respective dispatch command
The coordinate position region carried in dispatch command, to complete the foundation of first area range detection net.
Preferably, the location information of each unmanned boat or first nothing are also carried in the regional extent probe response
People's ship also receives the message of each unmanned boat location information of carrying of server-side transmission, then first unmanned boat is according to itself
Detecting devices covering area range parameter and the detecting devices of each unmanned boat received covering area range parameter, it is raw
At dispatch command, specifically include：
First unmanned boat determines each unmanned boat relative to the position of itself according to the location information of each unmanned boat in periphery, and root
According to the covering area range parameter of the detecting devices of each unmanned boat, minimum range, and each unmanned boat are moved according to periphery unmanned boat
Detecting devices the condition that can intercouple of covering area range, generate dispatch command.
Preferably, when the second unmanned boat, which is detected with the second frogman, to be entered in early warning range, to first unmanned boat
Send result of detection；First unmanned boat is after confirming the spacing distance of first frogman and the second frogman, between described
Gauge from water space assign one or more unmanned boats to be scanned detection；And according to the spacing distance and it is each nobody
The covering area range parameter of ship carries out the adjustment of each unmanned boat designated position in the range detection net of first area, realizes first
The expansion of regional extent detection network.
Preferably, each unmanned boat also sends the frogman's information detected when detecting frogman to far-end server,
In, frogman's information includes the one or more in quantity, intensity, communication frequency, longitude and latitude, the depth of water and movement speed.
Second aspect, the embodiment of the present invention additionally provide a kind of frogman's method for early warning based on unmanned boat, the first unmanned boat
When being detected with frogman and entering in early warning range, peritropous one or more unmanned boat sending zone range detections are asked
It asks；
The regional extent probe response that first unmanned boat receives one of its periphery or more unmanned boats return, institute
State the covering area range parameter for the detecting devices that each unmanned boat is carried in regional extent probe response；
First unmanned boat is according to the spy of the covering area range parameter of the detecting devices of itself and each unmanned boat received
The covering area range parameter of measurement equipment generates dispatch command；
First unmanned boat sends the scheduling message for carrying corresponding dispatch command to one of its periphery or more unmanned boats；
So that corresponding unmanned boat arrives at the instruction of specified coordinate, to complete the foundation of first area range detection net.
Preferably, the location information of each unmanned boat or first nothing are also carried in the regional extent probe response
People's ship also receives the message of each unmanned boat location information of carrying of server-side transmission, then first unmanned boat is according to itself
Detecting devices covering area range parameter and the detecting devices of each unmanned boat received covering area range parameter, it is raw
At dispatch command, specifically include：
First unmanned boat determines each unmanned boat relative to the position of itself according to the location information of each unmanned boat in periphery, and root
According to the covering area range parameter of the detecting devices of each unmanned boat, minimum range, and each unmanned boat are moved according to periphery unmanned boat
Detecting devices the condition that can intercouple of covering area range, generate dispatch command.
Preferably, the covering area range parameter of each unmanned boat is model and ginseng according to the sonar contact equipment of itself
Number generates；Wherein, covering area range includes round and fan-shaped.
Preferably, when the second unmanned boat, which is detected with the second frogman, to be entered in early warning range, to first unmanned boat
Send result of detection；First unmanned boat is after confirming the spacing distance of first frogman and the second frogman, between described
Gauge from water space assign one or more unmanned boats to be scanned detection；And according to the spacing distance and it is each nobody
The covering area range parameter of ship carries out the adjustment of each unmanned boat designated position in the range detection net of first area, realizes first
The expansion of regional extent detection network.
Preferably, when the second unmanned boat, which is detected with the second frogman, to be entered in early warning range, to first unmanned boat
Result of detection is sent, the method further includes：
Detect the first frogman and the second frogman position described, set the first unmanned boat and the second unmanned boat orient with
Track, and build the region that remaining unmanned boat is diffused into except first area range detection net institute coverage area to form second area
Range detection net.
Preferably, each unmanned boat self maintained has early warning range grade, the early warning range grade to include at least the first order
The second level and, wherein the danger classes of the first order is higher than the second level, keeps the unmanned boat for detecting frogman and is detected
Early warning range danger classes between frogman maintains in predetermined grade.
Frogman's early warning system based on unmanned boat that the present invention provides a kind of, takes full advantage of the machine of each unmanned boat in waters
Dynamic property and each unmanned boat detectivity of itself, can be when a certain unmanned boat detects frogman wherein, in the short time
It is interior to set up first area range detection net around the unmanned boat, can within the scope of effective investigation area frogman presence, prevent
Only more frogman's formulas slip into.
Further, efficient first area range detection screen component strategy is additionally provided in preferred embodiments of the present invention,
Minimum range is moved according to periphery unmanned boat, and the covering area range of the detecting devices of each unmanned boat can intercouple
Condition generates dispatch command.And the first area range detection net building mode that range is optimal.
Further, being additionally provided in preferred embodiments of the present invention is having new unmanned boat to detect new frogman's target feelings
Under condition, the adjustment of first area range detection net how is carried out, can adapt to the entire waters of more efficient completion under new situation
Warning function.The pattern of this detection mode dynamic adjustment, is that the existing detecting devices based in large-scale hull can not be real
Existing.Effective means can not be taken further to be searched for after finding frogman in the prior art, because its warship group sails
Cost problem, it is difficult to the range searching effect to form concentrating type is detected for frogman, and because scheduling mode support is people
Work is issued an order, and the reduction of detection efficient is caused.
【Description of the drawings】
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of configuration diagram of frogman's early warning system based on unmanned boat provided in an embodiment of the present invention；
Fig. 2 is that a kind of frogman's early warning system based on unmanned boat provided in an embodiment of the present invention completes first area range
Configuration diagram after detection network；
Fig. 3 is that another frogman's early warning system based on unmanned boat provided in an embodiment of the present invention completes first area model
Enclose the configuration diagram after detection network；
It is to detect the second frogman and completing first area range detection net adjustment that Fig. 4, which is provided in an embodiment of the present invention,
Configuration diagram；
Fig. 5 is a kind of flow diagram of frogman's method for early warning based on unmanned boat provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram that a kind of prewarning area provided in an embodiment of the present invention divides；
Fig. 7 is that a kind of frogman's early warning system switching first area range based on unmanned boat provided in an embodiment of the present invention is visited
Configuration diagram of the survey grid to second area range detection net；
Fig. 8 is that a kind of frogman's early warning system switching first area range based on unmanned boat provided in an embodiment of the present invention is visited
Configuration diagram of the survey grid to second area range detection net.
【Specific implementation mode】
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
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.
In the description of the present invention, the fingers such as term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom"
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than
It is required that the present invention must be with specific azimuth configuration and operation, therefore it is not construed as limitation of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Conflict is constituted to can be combined with each other.
Embodiment 1:
The embodiment of the present invention 1 provides a kind of frogman's early warning system based on unmanned boat, as shown in Figure 1, system includes extremely
Few two unmanned boats, the first unmanned boat when being detected with the first frogman into itself early warning range, peritropous one or
More unmanned boat sending zone range detection requests of person, wherein every unmanned boat is provided with detecting devices；Wherein, regional extent
The identity ID that the first unmanned boat would generally be carried in probe requests thereby, so that other unmanned boats are receiving the regional extent detection
The permission of message is verified when request, in addition to this, the regional extent probe requests thereby can also carry News Category, so as to other nothings
People's ship can specify response contents and response mode after receiving the regional extent probe requests thereby.
The regional extent probe response that first unmanned boat receives one of its periphery or more unmanned boats return, institute
State the covering area range parameter for the detecting devices that each unmanned boat is carried in regional extent probe response.
In order to set up first area range detection net for the first unmanned boat, at least also need to know its above-mentioned week
The location coordinate information of the one or more unmanned boat on side.For this, an embodiment of the present invention provides two kinds of realization methods.
Mode one is detected by the regional extent that one of first unmanned boat periphery or more unmanned boats are returned and is rung
Answer the middle respective location information of carrying.
Mode two is stored with the location information of all unmanned boats in its administered waters, therefore, first in far-end server
Unmanned boat can by sending request message to the far-end server, so as to obtain stored in far-end server remaining nobody
The location information of ship.Wherein, when between unmanned boat communications protocol and unmanned boat and far-end server between communications protocol
When identical, far-end server can be in the regional extent probe requests thereby for receiving first unmanned boat and being sent with the forms of broadcasting
Afterwards, the message that other each unmanned boat location informations are just actively carried to first unmanned boat push, to simplify message letter
The interactive session of order.
First unmanned boat is according to the spy of the covering area range parameter of the detecting devices of itself and each unmanned boat received
The covering area range parameter of measurement equipment generates dispatch command.
Wherein, the ID marks of each unmanned boat are carried in regional extent probe response, then first unmanned boat can root
According in first area range detection net to be set up, the position arrived at needed for each unmanned boat identifies life by the ID of each unmanned boat
At respective dispatch command.
First unmanned boat sends corresponding dispatch command to one of its periphery or more unmanned boats.
Wherein, dispatch command further includes deployment position information and/or response other than being identified comprising the ID of each unmanned boat
Speed.
One of first unmanned boat periphery or more unmanned boats drive to after receiving respective dispatch command
The coordinate position region carried in dispatch command, to complete the foundation of first area range detection net.As shown in Fig. 2, being more
The foundation for the first area range detection net that unmanned boat institute group is built up, wherein using the investigative range of unmanned boat as border circular areas
For a kind of first area range detection web form for setting up, Fig. 2 is only a kind of schematic diagram, the meeting during specific implementation
Because of the difference of the search coverage size of the different and each unmanned boats of the quantity of unmanned boat, the first area range being made of it
The size of detection network also has respective change, in addition, coupled modes shown in Fig. 2 are also only a kind of optional mode, in reality
Border in order to reach higher precision can improve overlapping region between adjacent unmanned boat investigative range during realizing, also may be used
To widen the distance between adjacent unmanned boat in order to improve investigative range.As shown in figure 3, to be provided in an embodiment of the present invention another
A kind of first area range detection web form is completed wherein being set up so that the investigative range of unmanned boat is sector as an example.
Frogman's early warning system based on unmanned boat that an embodiment of the present invention provides a kind of, take full advantage of in waters it is each nobody
The mobility of ship and each unmanned boat detectivity of itself, can when a certain unmanned boat detects frogman wherein,
First area range detection net is set up around the unmanned boat in short time, frogman can be deposited within the scope of effective investigation area
Preventing slipping into for more frogman's formulas.
In embodiments of the present invention, it is directed to aforesaid way one and mode two respectively, how provides the first unmanned boat of one kind
First unmanned boat is according to the detecting devices of the covering area range parameter of the detecting devices of itself and each unmanned boat received
Covering area range parameter generates the concrete mode of dispatch command, as follows：
First unmanned boat determines each unmanned boat relative to the position of itself according to the location information of each unmanned boat in periphery, and root
According to the covering area range parameter of the detecting devices of each unmanned boat, minimum range, and each unmanned boat are moved according to periphery unmanned boat
Detecting devices the condition that can intercouple of covering area range, generate dispatch command.
Wherein, detection can be completed according to preset overlapping area threshold value in overlapping area threshold range by intercoupling
The coupling of the covering area range of equipment, i.e. subregion range form overlapping region.
Other than above-mentioned couple strategy, the size of periphery unmanned boat displacement distance can also be ignored, and be arranged it is each nobody
The overlapped range of covering area range of the detecting devices of ship is as small as possible, so as to the first area range detection being optimal
Net (i.e. overall test range is maximum).In addition to this, can also using compromise by the way of, or with the important level of the two according to
The mode of specific accounting completes the position deployment of each unmanned boat, such as：In order to realize optimal first area range detection net, each nothing
The total distance overlapping area summation that compares of people's ship scheduling walking is less than an accounting a, so as to realize a best sexual valence
The purpose of ratio.Wherein, range detection net in first area is typically the central point expansion around protection, wherein protection central point
Including：Island, oil platform, public affair ship etc..
During the embodiment of the present invention is realized, other than the first unmanned boat can detect the first frogman, it is also possible to deposit
The second frogman is detected in the second unmanned boat or third unmanned boat detects third frogman etc..In the present solution, only with
Two unmanned boats are illustrated for detecting the second frogman.Specifically, entering in advance when the second unmanned boat is detected with the second frogman
When in alert range, result of detection is sent to first unmanned boat；First unmanned boat confirm first frogman and
After the spacing distance of two frogmen, spy is scanned to the water space of spacing distance appointment one or more unmanned boats
It surveys；And according to the covering area range parameter of the spacing distance and each unmanned boat, carry out each in the range detection net of first area
The adjustment of unmanned boat designated position realizes the expansion of first area range detection net, as shown in Figure 4.Wherein, it is distributed described in Fig. 4
Structure chart is only one kind in a variety of distribution modes, and in practical operation, the first unmanned boat can also be set according to current marine site
It applies the middle facility position that may be attacked to generate easily by object of attack distribution map, and combines the first frogman being currently detected
With the second frogman position, comparative analysis goes out other frogmen potential site that may be present, and adjusts first area range and visit
The position distribution of each unmanned boat in survey grid dynamically adjusts in real time to reach detection network.
In the embodiment of the present invention and each extension implementation, each unmanned boat is when detecting frogman, also to remote service
Device sends frogman's information for detecting, wherein frogman's information include quantity, intensity, communication frequency, longitude and latitude, the depth of water and
One or more in movement speed.So that frogman's information that unmanned boat in waters is fed back is presented to decision by far-end server
Person, and after the decision instruction for receiving the policymaker, complete corresponding response operation.Wherein, response, which operates, includes：It is logical
Specified unmanned boat is crossed to send warning, implement obstruction etc. using specified unmanned boat.
Embodiment 2:
After providing a kind of frogman's early warning system based on unmanned boat as described in Example 1, the embodiment of the present invention is also
A kind of frogman's method for early warning based on unmanned boat is provided, illustrates how to realize the present invention from implementation method angle, such as Fig. 5 institutes
Show, the method includes：
In step 201, the first unmanned boat is when being detected with frogman and entering in early warning range, peritropous one or
More unmanned boat sending zone range detection requests.
First unmanned boat is typically the sensors such as sonar set, photoelectric detecting system, the radar being equipped with according to itself
Equipment detects frogman.Wherein, for the first unmanned boat, can by the search coverage of its sensor device according to distance be divided into
The areas Shao Liangge, as shown in fig. 6, search coverage is specifically divided into tetra- regions A, B, C, D, be respectively defined as high risk zone A,
Warning zone B, warning region C and recognition and tracking area D, wherein the early warning range be above-mentioned high risk zone A, warning zone B,
Any one in warning region C and recognition and tracking area D.Distance shown in fig. 6 is only an example, in practice region division
It can be adjusted according to ability possessed by specific detecting devices, here, not doing particular determination.
Specifically：It using radar long-range detection, is identified and is determined using sonar, when frogman moves in water, gone to
Sonar tracks, and is handled using laser radar or optoelectronic device when frogman floats on the surface of the water.
In step 202, the regional extent that the first unmanned boat receives one of its periphery or more unmanned boats return is visited
Response is surveyed, the covering area range parameter of the detecting devices of each unmanned boat is carried in the regional extent probe response.
Wherein, the covering area range parameter can show as different forms under different application scenarios.Example
Such as：If the detecting devices that the unmanned boat of different model is possessed is identical, the covering area range parameter can be certain
The model identification of one type unmanned boat.In another situation, if the detecting devices that is possessed of the unmanned boat of different model there is also
Different configuration of situation, the even unmanned boat of same model may also be provided with difference because of the difference of application marine site depth
Detecting devices, then the covering area range parameter of respective detecting devices in this case can be the type of specific detecting devices
Number parameter.Also a kind of situation, if the covering area range for the detecting devices that each unmanned boat is possessed is variable, i.e. unmanned boat
The difference of waters position that can be residing for itself, adjusts the operating power of itself detecting devices (to reach operating power
Effective management and control), at this point, the covering area range parameter of the respective detecting devices can show as the unmanned boat possessed it is more
The combination of a covering area range.
In step 203, the first unmanned boat according to the covering area range parameter of the detecting devices of itself and receives
The covering area range parameter of the detecting devices of each unmanned boat generates dispatch command.
Wherein, the ID marks of each unmanned boat are carried in regional extent probe response, then first unmanned boat can root
According in first area range detection net to be set up, the position arrived at needed for each unmanned boat identifies life by the ID of each unmanned boat
At respective dispatch command.
In step 204, the first unmanned boat sends to carry accordingly to dispatch and refer to one of its periphery or more unmanned boats
The scheduling message of order；So that corresponding unmanned boat arrives at the instruction of specified coordinate, to complete building for first area range detection net
It is vertical.
Wherein, dispatch command further includes deployment position information and/or response other than being identified comprising the ID of each unmanned boat
Speed.
One of first unmanned boat periphery or more unmanned boats drive to after receiving respective dispatch command
The coordinate position region carried in dispatch command, to complete the foundation of first area range detection net.As shown in Fig. 2, wherein
For the foundation for the first area range detection net that more unmanned boat institute groups are built up.
Wherein, response speed can determine that it is high as detailed above that first frogman enters by the first unmanned boat
Which rank of rear generation of danger region A, warning zone B, warning region C and recognition and tracking area D.Such as：It is currently detected first
Can include to require other unmanned boat responses pair when just having been introduced into warning zone B when frogman, then in the dispatch command generated
Answer the response speed of the warning zone B, wherein the response speed it can be appreciated that the response time, that is, require it is other nobody
How long ship arrives at designated position, so that according to the warning grade being currently detected, having any different property (establishes the deadline
On difference) completion first area range detection net layout.
An embodiment of the present invention provides a kind of frogman's method for early warning based on unmanned boat, take full advantage of in waters it is each nobody
The mobility of ship and each unmanned boat detectivity of itself, can when a certain unmanned boat detects frogman wherein,
First area range detection net is set up around the unmanned boat in short time, frogman can be deposited within the scope of effective investigation area
Preventing slipping into for more frogman's formulas.
In embodiments of the present invention, the mode one described in equally applicable embodiment 1 and mode two come obtain it is other nobody
The location coordinate information of ship.
First unmanned boat determines each unmanned boat relative to the position of itself according to the location information of each unmanned boat in periphery, and root
According to the covering area range parameter of the detecting devices of each unmanned boat, minimum range, and each unmanned boat are moved according to periphery unmanned boat
Detecting devices the condition that can intercouple of covering area range, generate dispatch command.
In embodiments of the present invention, the covering area range parameter of each unmanned boat is the sonar contact equipment according to itself
Model and parameter generate；Wherein, covering area range includes round and fan-shaped, possesses respective coverage areas domain wide-style sonar
The first area range detection net (can be with shown in reference chart 2 and Fig. 3) that the unmanned boat of equipment is set up, corresponding contents are introduced such as
Described in 1 corresponding content of embodiment, details are not described herein.
It is similar with described in corresponding system in embodiment 1, in embodiments of the present invention when the second unmanned boat is detected with
When second frogman is entered in early warning range, result of detection is sent to first unmanned boat；First unmanned boat is confirming institute
After the spacing distance for stating the first frogman and the second frogman, to the water space of the spacing distance assign one or more nobody
Ship is scanned detection；And according to the covering area range parameter of the spacing distance and each unmanned boat, carry out first area model
The adjustment of each unmanned boat designated position in detection network is enclosed, realizes the expansion of first area range detection net.Original first area
Range detection net schematic diagram can refer to structure shown in Fig. 2, and the first area range detection net schematic diagram after expanding can refer to figure
Structure shown in 4.
In the expansion scheme of the embodiment of the present invention, enter in early warning range wherein the second unmanned boat is detected with the second frogman
When other than it may be used such as the stress reaction mode of Fig. 4 and correlation method content, the embodiment of the present invention additionally provides one kind can
The stress reaction mode of choosing, as shown in fig. 7, when the second unmanned boat is detected with the second frogman and enters in early warning range, to institute
It states the first unmanned boat and sends result of detection, the method further includes：
Detect the first frogman and the second frogman position described, set the first unmanned boat and the second unmanned boat orient with
Track, and build the region that remaining unmanned boat is diffused into except first area range detection net institute coverage area to form second area
Range detection net.By taking design sketch as shown in Figure 7 as an example, wherein by the dotted line frame in the center of circle of the first unmanned boat be original state
The search coverage of first area as shown in Figure 2 range detection net, and the search coverage of wherein second area range detection net is then
After having judged the first frogman and second frogman's movement law, the direction that each frogman for obtaining may greatly move ahead, and will be limited
Unmanned boat deployment direction and the movement law accordingly judged to identical.Wherein, if the quantity of unmanned boat compares, Fig. 7 possesses
More, then the range of the second area range detection net accordingly adjusted can be as shown in Figure 8.
In embodiments of the present invention, in order to further increase the guarantee to safety in unmanned boat detection process, it is proposed that
A kind of preferred implementation, specifically, each unmanned boat self maintained has early warning range grade, the early warning range grade is at least
Including the first order and the second level, wherein the danger classes of the first order is higher than the second level, keep for detect the unmanned boat of frogman with
Early warning range danger classes between the frogman detected maintains in predetermined grade.Wherein, the division of safe class can be joined
4 grades of splitting schemes as shown in FIG. 6 are examined, are divided according to investigative range radius size.The effect of the preferred implementation
It is ensuring that unmanned boat the second unmanned boat and the first unmanned boat of scanning probe (include be responsible for) for detecting frogman can be
It while completion detection mission, keeps being in the region of safer grade with frogman, avoids because of unmanned boat and be detected
Frogman between distance it is too close, and by frogman destroy severe result occur.
It is worth noting that in information exchange, implementation procedure between module, unit in above-mentioned apparatus and system etc.
Hold, due to being based on same design with the processing method embodiment of the present invention, particular content can be found in the method for the present invention embodiment
Narration, details are not described herein again.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of embodiment is can to lead to
It crosses program and is completed to instruct relevant hardware, which can be stored in a computer readable storage medium, storage medium
May include：Read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access
Memory), disk or CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of frogman's early warning system based on unmanned boat, which is characterized in that system include at least two unmanned boats, first nobody
Ship is when being detected with the first frogman into itself early warning range, peritropous one or more unmanned boat sending zone models
Enclose probe requests thereby；
The regional extent probe response that first unmanned boat receives one of its periphery or more unmanned boats return, the area
The covering area range parameter of the detecting devices of each unmanned boat is carried in the range detection response of domain；
First unmanned boat is set according to the detection of the covering area range parameter and each unmanned boat received of the detecting devices of itself
Standby covering area range parameter generates dispatch command；
First unmanned boat sends corresponding dispatch command to one of its periphery or more unmanned boats；
One of first unmanned boat periphery or more unmanned boats drive to scheduling after receiving respective dispatch command
The coordinate position region carried in instruction, to complete the foundation of first area range detection net.
2. frogman's early warning system according to claim 1 based on unmanned boat, which is characterized in that visited in the regional extent
It surveys the location information for also carrying each unmanned boat in response or first unmanned boat also receives each nothing of carrying of server-side transmission
The message of people's ship positionning information, then first unmanned boat according to the covering area range parameter of the detecting devices of itself and
The covering area range parameter of the detecting devices of each unmanned boat received generates dispatch command, specifically includes：
First unmanned boat determines each unmanned boat relative to the position of itself, and according to each according to the location information of each unmanned boat in periphery
The covering area range parameter of the detecting devices of unmanned boat moves minimum range, and the spy of each unmanned boat according to periphery unmanned boat
The condition that the covering area range of measurement equipment can intercouple generates dispatch command.
3. frogman's early warning system according to claim 1 based on unmanned boat, which is characterized in that when the second unmanned boat detects
To when having the second frogman to enter in early warning range, result of detection is sent to first unmanned boat；First unmanned boat is true
After recognizing the spacing distance of first frogman and the second frogman, one or more is assigned to the water space of the spacing distance
Unmanned boat is scanned detection；And according to the covering area range parameter of the spacing distance and each unmanned boat, carry out the firstth area
The expansion of first area range detection net is realized in the adjustment of each unmanned boat designated position in the range detection net of domain.
4. frogman's early warning system according to claim 1 based on unmanned boat, which is characterized in that each unmanned boat is detecting
When frogman, the frogman's information detected is also sent to far-end server, wherein frogman's information includes quantity, intensity, communication
One or more in frequency, longitude and latitude, the depth of water and movement speed.
5. a kind of frogman's method for early warning based on unmanned boat, which is characterized in that the first unmanned boat is being detected with frogman into advance
When in alert range, peritropous one or more unmanned boat sending zone range detection requests；
The regional extent probe response that first unmanned boat receives one of its periphery or more unmanned boats return, the area
The covering area range parameter of the detecting devices of each unmanned boat is carried in the range detection response of domain；
First unmanned boat is set according to the detection of the covering area range parameter and each unmanned boat received of the detecting devices of itself
Standby covering area range parameter generates dispatch command；
First unmanned boat sends the scheduling message for carrying corresponding dispatch command to one of its periphery or more unmanned boats；So as to
Corresponding unmanned boat arrives at the instruction of specified coordinate, to complete the foundation of first area range detection net.
6. frogman's method for early warning according to claim 1 based on unmanned boat, which is characterized in that visited in the regional extent
It surveys the location information for also carrying each unmanned boat in response or first unmanned boat also receives each nothing of carrying of server-side transmission
The message of people's ship positionning information, then first unmanned boat according to the covering area range parameter of the detecting devices of itself and
The covering area range parameter of the detecting devices of each unmanned boat received generates dispatch command, specifically includes：
First unmanned boat determines each unmanned boat relative to the position of itself, and according to each according to the location information of each unmanned boat in periphery
The covering area range parameter of the detecting devices of unmanned boat moves minimum range, and the spy of each unmanned boat according to periphery unmanned boat
The condition that the covering area range of measurement equipment can intercouple generates dispatch command.
7. frogman's method for early warning according to claim 5 based on unmanned boat, which is characterized in that the area of coverage of each unmanned boat
Domain range parameter is generated according to the model and parameter of the sonar contact equipment of itself；Wherein, covering area range includes circle
And sector.
8. frogman's method for early warning according to claim 5 based on unmanned boat, which is characterized in that when the second unmanned boat detects
To when having the second frogman to enter in early warning range, result of detection is sent to first unmanned boat；First unmanned boat is true
After recognizing the spacing distance of first frogman and the second frogman, one or more is assigned to the water space of the spacing distance
Unmanned boat is scanned detection；And according to the covering area range parameter of the spacing distance and each unmanned boat, carry out the firstth area
The expansion of first area range detection net is realized in the adjustment of each unmanned boat designated position in the range detection net of domain.
9. frogman's method for early warning according to claim 5 based on unmanned boat, which is characterized in that when the second unmanned boat detects
To when thering is the second frogman to enter in early warning range, result of detection is sent to first unmanned boat, the method further includes：
The first frogman and the second frogman position are detected described, the first unmanned boat is set and the second unmanned boat does directed tracing,
And it builds the region that remaining unmanned boat is diffused into except first area range detection net institute coverage area to form second area model
Enclose detection network.
10. frogman's method for early warning according to claim 5 based on unmanned boat, which is characterized in that each unmanned boat itself is tieed up
Shield has early warning range grade, the early warning range grade to include at least the first order and the second level, wherein the danger classes of the first order
Higher than the second level, the early warning range danger classes between the unmanned boat for detecting frogman and the frogman detected is kept to maintain
In predetermined grade.
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| WO2017091575A1 (en) * | 2015-11-24 | 2017-06-01 | Drone Go Home, LLC | Drone defense system |
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