CN-122009433-A - Semi-submersible type rescue boat and rescue control method thereof

CN122009433ACN 122009433 ACN122009433 ACN 122009433ACN-122009433-A

Abstract

The invention discloses a semi-submersible rescue boat which comprises a boat body, wherein a power system, a semi-submersible system, a navigation control system, a sensing system, an interaction system and a control system are arranged on the boat body, the navigation control system consists of a positioning module, a control module and a communication module, the sensing system comprises a camera and a sensing processor, the camera acquires image information of surrounding environment and personnel, the sensing processor acquires the position and state of a rescue target according to the image information and sends the position and state to the control module for processing, the interaction system can acquire a voice signal of the rescue target and send a voice prompt to the rescue target, the control system is used for remotely controlling the rescue boat, and the power system is arranged at the tail of the boat body and provides propulsion for the boat body. Meanwhile, the invention also provides a rescue control method, which avoids the difficulty that the rescue target is insufficient in strength and difficult to climb and improves the success rate of rescue.

Inventors

LIU BIN
HUANG JIAN
Cai Peida
XIA TIAN

Assignees

东莞理工学院

Dates

Publication Date: 20260512
Application Date: 20260209

Claims (10)

1. The semi-submersible lifeboat is characterized by comprising a hull (1), wherein a power system, a semi-submersible system, a navigation control system (5), a perception system, an interaction system and a control system are arranged on the hull (1); the semi-submersible system is arranged in the rear area of the ship body (1), so that the ship body (1) can realize semi-submersible operation; the navigation control system (5) is composed of a positioning module, a control module and a communication module, wherein the positioning module obtains the position of the current lifeboat, the communication module obtains a control instruction, and the control module controls navigation of the lifeboat according to the control instruction; The sensing system comprises a camera (3) and a sensing processor, wherein the camera (3) acquires image information of surrounding environment and personnel, and the sensing processor acquires the position and state of a rescue target according to the image information and sends the position and state to the control module for processing through the communication module; the interaction system can collect voice signals of the rescue target and send out voice prompts to the rescue target; the control system is used for remotely controlling the lifeboat; The power system is arranged at the tail part of the ship body (1) and provides propulsion for the ship body (1).
2. A semi-submersible lifeboat according to claim 1, wherein the power system comprises a water jet propeller (4) and a battery (41) for supplying power, the water jet propeller (4) is mounted on the tail of the hull (1), and a battery (41) compartment is provided in the middle of the hull (1) for mounting the battery (41).
3. The semi-submersible lifeboat according to claim 1, wherein the semi-submersible system comprises a water pump, a water tank, a liquid level sensor and a semi-submersible controller, wherein the liquid level sensor is arranged inside the water tank and is used for detecting water in the water tank, and the semi-submersible controller is connected with the water pump and is used for controlling the water volume in the water tank so as to realize the submergence and the floating of the hull 1.
4. The semi-submersible lifeboat of claim 1, wherein the control system comprises a remote control handle, a bluetooth module and a mobile phone APP, wherein the remote control handle and the mobile phone APP are connected with the communication module through the bluetooth module respectively.
5. A semi-submersible lifeboat according to claim 1, wherein pressure sensors are provided on the surface of the hull (1).
6. The rescue control method is characterized by comprising the following steps of: s1, controlling a rescue target to go to the vicinity of the rescue target through a remote control system according to the position of the rescue target; S2, moving the rescue boat to the rescue target according to the position of the rescue target, performing a semi-submerged mode, keeping the semi-submerged mode to travel, performing route planning, and approaching the rescue target on the premise of not colliding with the rescue target; S3, acquiring states of the rescue targets, identifying according to different states of the rescue targets, sending corresponding voice instructions, interacting with the rescue targets, and indicating the rescue targets to hold the rescue boats; S4, judging whether the rescue target holds the rescue boat according to the change of the surface pressure of the rescue boat, if so, floating the rescue boat, and sending a command of returning to a safety area to the rescue boat.
7. The rescue control method as defined in claim 6, wherein in step S2, the route planning includes planning of steering, sailing posture and sailing path of the life boat, monitoring the water tank liquid level h by the liquid level sensor when the life boat approaches the target, and when When it is considered that the semi-submersible mode is entered in which Is a set value.
8. A rescue control method as defined in claim 7, characterized in that the steering of the lifeboat is achieved by controlling the steering angle of the lifeboat and the rotational speed of the propeller, by obtaining the position coordinates of the rescue target through a camera (3) The current lifeboat coordinates are The steering angle delta and the propeller rotation speed omega required by the lifeboat can be calculated as follows: ; ; Wherein the method comprises the steps of Is the gain factor.
9. The rescue control method as claimed in claim 7, wherein the rescue boat adjusts its sailing posture by adjusting the water level depths of the front water tank (21) and the rear water tank (22) during the semi-submerged state, and sets the water level difference of the front water tank (21) and the rear water tank (22) Wherein h q is the water level depth of the front water tank (21), h h is the water level depth of the rear water tank (22), and the pitch angle of the ship body (1) is Then The size of (2) is calculated by the following formula ; Wherein the method comprises the steps of , , Is a control parameter.
10. The rescue control method as set forth in claim 7, wherein after the rescue target position is recognized by the camera (3) after the rescue boat enters the semi-submersible mode, and a navigation path is planned by using an algorithm such that the speed is 0 when the rescue target position is reached by the rescue boat, specifically, firstly, predicting the position of the rescue target at the next moment by using a Kalman filter Wherein For the current speed of the vehicle, Is the direction of movement; secondly, defining a cost function C as a dynamic window method ; Wherein the method comprises the steps of For a minimum distance of the path from the obstacle, For the proximity of the path to the target, Is the norm of the curvature and, , , Is a weight coefficient; Finally, every interval time Recalculating the optimal path And the rotating speed and the course angle of the propeller are adjusted in real time.

Description

Semi-submersible type rescue boat and rescue control method thereof Technical Field The invention relates to the technical field of emergency rescue, in particular to a semi-submersible rescue boat and a rescue control method thereof. Background In the field of water area emergency rescue, the traditional lifeboat long-term faces core problems of complex operation, low response efficiency, insufficient safety and the like. Most of existing life boats are designed in a buoyancy mode, rescue targets actively climb to the surface of the boat, but in actual rescue, the rescue targets are often difficult to complete climbing actions due to physical weakness, severe injury or mental panic, so that the rescue failure rate is high. In addition, the navigation posture of the traditional lifeboat is fixed, and cannot be dynamically adjusted according to rescue scenes, for example, the traditional lifeboat is easily affected by surges and loses stability under severe sea conditions, or collision risks are caused by improper speed control when approaching a rescue target. Disclosure of Invention The invention aims to overcome the defects in the prior art and provide the semi-submersible rescue boat and the rescue control method thereof, which avoid the difficulty that a rescue target is insufficient in strength and difficult to climb and improve the success rate of rescue. In order to achieve the above purpose, the invention provides a semi-submersible lifeboat, which comprises a hull, wherein a power system, a semi-submersible system, a navigation control system, a perception system, an interaction system and a control system are arranged on the hull; the semi-submersible system is arranged in the rear area of the ship body, so that the ship body can realize semi-submersible operation; The navigation control system consists of a positioning module, a control module and a communication module, wherein the positioning module obtains the position of the current lifeboat, the communication module obtains a control instruction, and the control module controls the navigation of the lifeboat according to the control instruction; the sensing system comprises a camera and a sensing processor, wherein the camera acquires image information of surrounding environment and personnel, and the sensing processor acquires the position and state of a rescue target according to the image information and sends the position and state to the control module for processing through the communication module; the interaction system can collect voice signals of the rescue target and send out voice prompts to the rescue target; the control system is used for remotely controlling the lifeboat; The power system is arranged at the tail part of the ship body and provides propulsion for the ship body. Further, the power system comprises a water spraying propeller and a battery for providing power, the water spraying propeller is installed at the tail of the ship body, and a battery compartment is arranged in the middle of the ship body and used for installing the battery. Further, the semi-submersible system comprises a water pump, a water tank, a liquid level sensor and a semi-submersible controller, wherein the liquid level sensor is arranged inside the water tank and used for detecting water in the water tank, and the semi-submersible controller is connected with the water pump and used for controlling the water volume in the water tank so as to realize the submergence and the floating of the ship body. Further, the control system comprises a remote control handle, a Bluetooth module and a mobile phone APP, wherein the remote control handle and the mobile phone APP are connected with the communication module through the Bluetooth module respectively. Further, a pressure sensor is provided on the hull surface. Meanwhile, the invention also provides a rescue control method, which comprises the following steps: s1, controlling a rescue target to go to the vicinity of the rescue target through a remote control system according to the position of the rescue target; S2, moving the rescue boat to the rescue target according to the position of the rescue target, performing a semi-submerged mode, keeping the semi-submerged mode to travel, performing route planning, and approaching the rescue target on the premise of not colliding with the rescue target; S3, acquiring states of the rescue targets, identifying according to different states of the rescue targets, sending corresponding voice instructions, interacting with the rescue targets, and indicating the rescue targets to hold the rescue boats; S4, judging whether the rescue target holds the rescue boat according to the change of the surface pressure of the rescue boat, if so, floating the rescue boat, and sending a command of returning to a safety area to the rescue boat. Further, in step S2, the route planning includes planning the steering, sailing posture and sailing path of the lifeboat, monitoring th