CN108051819A - A kind of deep water rescue mode - Google Patents
A kind of deep water rescue mode Download PDFInfo
- Publication number
- CN108051819A CN108051819A CN201711111936.1A CN201711111936A CN108051819A CN 108051819 A CN108051819 A CN 108051819A CN 201711111936 A CN201711111936 A CN 201711111936A CN 108051819 A CN108051819 A CN 108051819A
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- CN
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- Prior art keywords
- rescue
- rescue personnel
- doubtful
- treat
- personnel
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 20
- 238000003384 imaging method Methods 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 abstract description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 238000000205 computational method Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052736 halogen Inorganic materials 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention belongs to rescue technique fields, are specifically a kind of deep water rescue mode.Comprise the following steps, 101~a wide range of deepwater regions are scanned using double frequency side-scan sonar, the doubtful point of rescue personnel is treated in searching, and is passed through global position system and positioned；102~double frequency side-scan sonar is searched out after the doubtful point of people is rescued, and underwater remote-control robot carries out imaging observation using ROV imaging systems to doubtful point, and underwater observation image is uploaded on salvor；If 103~doubtful the point that makes discovery from observation is not to treat rescue personnel, repeatedly step 101 and 102 is until find to treat rescue personnel；104~find to treat that the coordinate for treating rescue personnel present position is sent to floor manager portion by rescue personnel by global position system；105~floor manager portion by send back come coordinate, commander yacht carry out deep water salvaging treats rescue personnel.The method of the present invention has the characteristics that search and rescue fireballing.
Description
Technical field
The invention belongs to rescue technique fields, are specifically a kind of deep water rescue mode.
Background technology
In some waters such as reservoir, frequent someone even carries out underwater swimming in that swimming.But it surprisingly can also send out often
It is raw, meet the people to drown, it is big due to salvaging scope, salvage the depth of water in region.And due to the people's quilt much to drown
Water plant winds and cannot float on the surface of the water, therefore salvages the difficulty of remains greatly.So far, the case come can successfully be salvaged simultaneously
Seldom.Remains can not be salvaged, are just difficult to hand over family members personnel, it is therefore desirable to which one kind can be beaten in deepwater regions
The method for dragging for rescue.
The content of the invention
The present invention to solve the above-mentioned problems, provides a kind of deep water rescue mode.
The present invention takes following technical scheme：A kind of deep water rescue mode, comprises the following steps,
101~a wide range of deepwater regions are scanned using double frequency side-scan sonar, the doubtful point of rescue personnel is treated in searching, and is passed through
Global position system is positioned；
102~double frequency side-scan sonar is searched out after the doubtful point of people is rescued, and underwater remote-control robot is using ROV imaging systems to doubting
Imaging observation is carried out like, and underwater observation image is uploaded on salvor；
If 103~doubtful the point that makes discovery from observation is not to treat rescue personnel, repeatedly step 101 and 102 is until find to wait to rescue
Help personnel；
104~find to treat that the coordinate for treating rescue personnel present position is sent to scene by global position system and referred to by rescue personnel
Wave portion；
105~floor manager portion by send back come coordinate, commander yacht carry out deep water salvaging treats rescue personnel.
Compared with prior art, the present invention finds suspicious point by double frequency side-scan sonar interior on a large scale, then leads to again
It crosses underwater remote-control machine to investigate doubtful point, search out after rescue personnel, positioned and rescued by global position system.This
The method of invention has the characteristics that search and rescue fireballing.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with specific implementation
Example is described in detail.
A kind of deep water rescue mode, comprises the following steps,
101~a wide range of deepwater regions are scanned using double frequency side-scan sonar, the doubtful point of rescue personnel is treated in searching, and is passed through
Global position system is positioned；Side-scan sonar can from water body visibility influence and rapid Cover water field of big area " seeing " arrives
Sub-marine situations.It is swept by per side by water-bed Firing Sonar, receiving to form sonar video to find underwater object by towfish after reflection
Body.The signal received passes to the display unit on yacht by towing cable.Display unit be shown high-resolution seabed or
Lakebed or river bed or the sonar image positioned at other objects of bottom.The sound wave of sonar is sent out by being mounted on the towfish on yacht both sides
It penetrates and receives.It is to obtain larger scanning range with relatively low frequency that side, which is swept, but precision is low.Radio frequency system can obtain
To higher precision, but scanning range is smaller.Swept by double frequency while possess high and low frequency energy converter, can so obtain compared with
The a wide range of higher image of resolution ratio simultaneously.
102~double frequency side-scan sonar is searched out after the doubtful point of people is rescued, and underwater remote-control robot uses ROV imaging systems
Imaging observation is carried out to doubtful point, and underwater observation image is uploaded on salvor；ROV imaging systems include following list
Only system：
（1）Diving, dynamical system：
Include the propeller of four power 435W, the halogen lamp of two 75W, a magnetic compass.It is configured with HLK43000a types
Mechanical arm.Core is electronics storehouse, and all external commands and the work of itself will pass through the processing of the integrated circuit.
（2）Operation, control system：
Including spool cable, control stick, power supply box, core is that have host, CD writer and display above deck unit
Device.It is that operator monitors the operating parameter of ROV and the important system of instruction is sent to submersible.Operating personnel on deck unit
It can obtain the depth information of ROV（Apart from the water surface）, the magnetic north direction of itself.
（3）Imaging system：
We are equipped with two kinds of underwater observation equipment in submersible system, including black and white navigation camera, autochromy, video camera
Optical imaging apparatus and shallow water double frequency identification sonar inside（DIDSON）Acoustic imaging devices inside.
（4）Locating and tracking system：
TrackLink1500MA（Ultra-short baseline locating and tracking system）It is the another big feature of this set ROV, seabed operation is to ROV
The most important factor that has an impact of general safety be exactly ocean current.In view of the safety of undersea operation ROV, this set system of outfit
Up to 9 target response devices can be tracked.Its principle is exactly to pass to the absolute location coordinates of ship and bow to orientation
TrackLink Navigator softwares carry out Baselines using polar coordinates computational methods, acquire the absolute seat of tracked target
Cursor position.The fixing by gross bearings precision of the system is better than 1 °, and whole positioning accuracy is better than 2.5m.
（5）Navigation and data collecting system：
Mainly realized by Qinsy softwares.The software is a powerful comprehensive software, is multi-beam Bathymetric Data acquisition
The upgrade version of software 6042.It is main to realize submersible navigator fix, while sounding instrument real-time display ROV is can access along flight path direction
On depth of water situation.
If 103~doubtful the point that makes discovery from observation is not to treat rescue personnel, repeatedly step 101 and 102 is until find
Treat rescue personnel.
104~find to treat that the coordinate for treating rescue personnel present position is sent to now by rescue personnel by global position system
Field headquarter；
105~floor manager portion by send back come coordinate, commander yacht carry out deep water salvaging treats rescue personnel.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of deep water rescue mode, it is characterised in that：Comprise the following steps,
101~a wide range of deepwater regions are scanned using double frequency side-scan sonar, the doubtful point of rescue personnel is treated in searching, and is passed through
Global position system is positioned；
102~double frequency side-scan sonar is searched out after the doubtful point of people is rescued, and underwater remote-control robot is using ROV imaging systems to doubting
Imaging observation is carried out like, and underwater observation image is uploaded on salvor；
If 103~doubtful the point that makes discovery from observation is not to treat rescue personnel, repeatedly step 101 and 102 is until find to wait to rescue
Help personnel；
104~find to treat that the coordinate for treating rescue personnel present position is sent to scene by global position system and referred to by rescue personnel
Wave portion；
105~floor manager portion by send back come coordinate, commander yacht carry out deep water salvaging treats rescue personnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111936.1A CN108051819A (en) | 2017-11-13 | 2017-11-13 | A kind of deep water rescue mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111936.1A CN108051819A (en) | 2017-11-13 | 2017-11-13 | A kind of deep water rescue mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108051819A true CN108051819A (en) | 2018-05-18 |
Family
ID=62118994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711111936.1A Pending CN108051819A (en) | 2017-11-13 | 2017-11-13 | A kind of deep water rescue mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108051819A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920841A (en) * | 2019-12-09 | 2020-03-27 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Novel cruise rescue ship |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
| CN103454697A (en) * | 2013-09-26 | 2013-12-18 | 上海海事大学 | Complete-coverage underwater search and rescue device and search and rescue method thereof |
| CN105068084A (en) * | 2015-07-24 | 2015-11-18 | 于贵庆 | Laser imaging detection method based on image processing |
| CN105139024A (en) * | 2015-07-24 | 2015-12-09 | 李红军 | Method for rescuing human body through laser equipment |
| CN205707227U (en) * | 2016-06-17 | 2016-11-23 | 上海遨拓深水装备技术开发有限公司 | The underwater working device of micro-tunneling is opened based on ROV |
| CN106814408A (en) * | 2017-01-12 | 2017-06-09 | 浙江大学 | The integrated detection device of historical relic under water based on ROV platforms |
| CN107128442A (en) * | 2016-02-26 | 2017-09-05 | 中国科学院声学研究所 | Deep-water subsea equipment based on ROV Forward-looking Sonars is accurately positioned the method for laying |
-
2017
- 2017-11-13 CN CN201711111936.1A patent/CN108051819A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
| CN103454697A (en) * | 2013-09-26 | 2013-12-18 | 上海海事大学 | Complete-coverage underwater search and rescue device and search and rescue method thereof |
| CN105068084A (en) * | 2015-07-24 | 2015-11-18 | 于贵庆 | Laser imaging detection method based on image processing |
| CN105139024A (en) * | 2015-07-24 | 2015-12-09 | 李红军 | Method for rescuing human body through laser equipment |
| CN107128442A (en) * | 2016-02-26 | 2017-09-05 | 中国科学院声学研究所 | Deep-water subsea equipment based on ROV Forward-looking Sonars is accurately positioned the method for laying |
| CN205707227U (en) * | 2016-06-17 | 2016-11-23 | 上海遨拓深水装备技术开发有限公司 | The underwater working device of micro-tunneling is opened based on ROV |
| CN106814408A (en) * | 2017-01-12 | 2017-06-09 | 浙江大学 | The integrated detection device of historical relic under water based on ROV platforms |
Non-Patent Citations (2)
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| 夏光辉等: "一种水下残骸精确定位方法 ", 《全球定位系统》 * |
| 申雄等: "一种欠定位水下机器人的目标搜索研究 ", 《中国机械工程》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920841A (en) * | 2019-12-09 | 2020-03-27 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Novel cruise rescue ship |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180518 |
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