CN105083504A - Underwater search and rescue method for carrying of diver - Google Patents
Underwater search and rescue method for carrying of diver Download PDFInfo
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- CN105083504A CN105083504A CN201510444005.8A CN201510444005A CN105083504A CN 105083504 A CN105083504 A CN 105083504A CN 201510444005 A CN201510444005 A CN 201510444005A CN 105083504 A CN105083504 A CN 105083504A
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Abstract
The invention relates to an underwater search and rescue method for carrying of a diver. The method comprises the steps that 1, an underwater search and rescue system carried with the diver is provided, and comprises a head top fixed platform, image recognition equipment and water processing equipment, the image recognition equipment is located on the head top fixed platform and used for detecting whether a human body is underwater or not, and the water processing equipment is connected with the image recognition equipment so as to receive a recognition result of the image recognition equipment; and 2, the search and rescue system is used for search and rescue. By means of the underwater search and rescue method, the diver can be helped to increase the search and rescue speed, and the rescue response time can be shortened.
Description
Technical field
The present invention relates to wireless communication field, particularly relate to the rescue method under water that a kind of diver carries.
Background technology
Along with the raising of expanding economy and people's living standard, go to sea and to play or riverine playing becomes a kind of fashion, but, due to the reason such as hull damage, bad weather, serious sinking can be there is, at this moment, how within the very first time, searching out persons falling in water, is the task of top priority of water salvage department.
In prior art, usually by Divers dive to find personnel under water, be generally Divers manning identification equipment, with the submarine target helping Divers fast finding to have characteristics of human body, but, because underwater environment is complicated, the search and rescue system under water that current diver carries under water accuracy of identification is not high, inefficiency.
For this reason, the present invention proposes the rescue method under water that a kind of diver carries, by the mode of multiple image filtering process, realize the accurate identification of persons falling in water under water, shorten the reflecting time of searching and rescuing, improve the survival rate of persons falling in water under water.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides the rescue method under water that a kind of diver carries, utilize the coordinated manipulation of Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment, to improve the precision of human bioequivalence, ensure the efficiency of rescuing under water.
According to an aspect of the present invention, provide the rescue method under water that a kind of diver carries, the method comprises: 1) provide the search and rescue system under water that a kind of diver carries, described search and rescue system comprises crown fixed platform, image recognition apparatus and treatment facility waterborne, described image recognition apparatus is positioned in the fixed platform of the described crown, for detecting whether there is human body under water, described treatment facility waterborne is connected with described image recognition apparatus, to receive the recognition result of described image recognition apparatus; 2) use described search and rescue system to search and rescue.
More specifically, in the search and rescue system under water that described diver carries, also comprise: buoy waterborne, be arranged on the top water surface of described diver, power equipment supply, be arranged on described buoy waterborne, comprise water-proff packing cover, solar powered device, storage battery, change-over switch and electric pressure converter, described water-proff packing cover is for holding described solar powered device, described storage battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described storage battery, dump energy according to storage battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage, GLONASS fixing aid, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for receiving the GLONASS locating data that GLONASS satellite sends, sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for detecting the relative distance of described diver to described buoy waterborne, and to adjust the distance output as first-phase, ultrasonic ranging equipment, is arranged in the fixed platform of the described crown, for measuring the distance of described diver distance front human body, and to adjust the distance output as second-phase, static storage device, human body tonal range and each anthropoid benchmark masterplate are prestored, described human body tonal range is used for the human body in image and background separation, and described each anthropoid benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark human body, picture pick-up device, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead, described image recognition apparatus comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment, described Daubechies wavelet filtering subset is connected with described CMOS camera, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basiss to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains wavelet filtering image, described medium filtering subset is connected with described Daubechies wavelet filtering subset, for performing medium filtering process to described wavelet filtering image, with the water particle scattering composition in wavelet filtering image described in filtering, obtains medium filtering image, described change of scale enhancer equipment is connected with described medium filtering subset, strengthening process, to strengthen the contrast ratio of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image, described Target Segmentation subset and described change of scale enhancer equipment connection, by all pixel groups adult body subimages of grey scale pixel value in described enhancing image in described human body tonal range, described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, mated one by one with each anthropoid benchmark masterplate by described human body subimage, human body type corresponding to output matching successful human body benchmark masterplate is as target body type, Freescale IMX6 treater, be arranged in the fixed platform of the described crown, with described GLONASS fixing aid, described sonar detection equipment, described ultrasonic ranging equipment, described treatment facility waterborne is connected respectively with described image recognition apparatus, for when receiving described target body type, start described GLONASS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment are to receive described GLONASS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GLONASS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports human body locating data, and by cable by described human body subimage and described target body type transfers to described treatment facility waterborne, wherein, described Freescale IMX6 treater, when not receiving described target body type, cuts out described GLONASS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment.
More specifically, in the search and rescue system under water that described diver carries: described Freescale IMX6 treater, when the target body type received is remains type, sends remains alerting signal to described treatment facility waterborne.
More specifically, in the search and rescue system under water carried described diver: described Freescale IMX6 treater and described image recognition apparatus are integrated on one piece of surface-mounted integrated circuit.
More specifically, in the search and rescue system under water that described diver carries, described search and rescue system also comprises: mobile communication interface, is connected with described treatment facility waterborne, is connected with the wireless data between water life-saving center for setting up described treatment facility waterborne.
More specifically, in the search and rescue system under water carried described diver: described mobile communication interface is the one in GPRS mobile communication interface, 3G mobile communication interface and 4G mobile communication interface.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the search and rescue system under water that the diver illustrated according to an embodiment of the present invention carries.
Reference numeral: 1 crown fixed platform; 2 image recognition apparatus; 3 treatment facilities waterborne
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the search and rescue system under water that diver of the present invention carries is described in detail.
The rescue of persons falling in water is very high to ageing requirement, this just needs a kind of high-precision personal identification devices under water, the interference that underwater environment brings can be overcome, quick position has the submarine target of characteristics of human body, the recognition efficiency of personal identification devices under water of the prior art is low, cannot meet the requirement of diver's search.
In order to overcome above-mentioned deficiency, the present invention has built the search and rescue system under water that a kind of diver carries, and adopts ghost filtering mechanism to improve the accuracy of identification of persons falling in water under water, and accurately can locate the place, position of persons falling in water under water.
Fig. 1 is the block diagram of the search and rescue system under water that the diver illustrated according to an embodiment of the present invention carries, described search and rescue system comprises crown fixed platform, image recognition apparatus and treatment facility waterborne, described image recognition apparatus is positioned in the fixed platform of the described crown, for detecting whether there is human body under water, described treatment facility waterborne is connected with described image recognition apparatus, to receive the recognition result of described image recognition apparatus.
Then, continue to be further detailed the concrete structure of the search and rescue system under water that diver of the present invention carries.
Described search and rescue system also comprises: buoy waterborne, is arranged on the top water surface of described diver.
Described search and rescue system also comprises: power equipment supply, be arranged on described buoy waterborne, comprise water-proff packing cover, solar powered device, storage battery, change-over switch and electric pressure converter, described water-proff packing cover is for holding described solar powered device, described storage battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described storage battery, dump energy according to storage battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage.
Described search and rescue system also comprises: GLONASS fixing aid, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for receiving the GLONASS locating data that GLONASS satellite sends.
Described search and rescue system also comprises: sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for detecting the relative distance of described diver to described buoy waterborne, and to adjust the distance output as first-phase.
Described search and rescue system also comprises: ultrasonic ranging equipment, is arranged in the fixed platform of the described crown, for measuring the distance of described diver distance front human body, and to adjust the distance output as second-phase.
Described search and rescue system also comprises: static storage device, human body tonal range and each anthropoid benchmark masterplate are prestored, described human body tonal range is used for the human body in image and background separation, and described each anthropoid benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark human body.
Described search and rescue system also comprises: picture pick-up device, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead.
Described image recognition apparatus comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Described Daubechies wavelet filtering subset is connected with described CMOS camera, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basiss to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains wavelet filtering image; Described medium filtering subset is connected with described Daubechies wavelet filtering subset, for performing medium filtering process to described wavelet filtering image, with the water particle scattering composition in wavelet filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer equipment is connected with described medium filtering subset, strengthening process, to strengthen the contrast ratio of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; Described Target Segmentation subset and described change of scale enhancer equipment connection, by all pixel groups adult body subimages of grey scale pixel value in described enhancing image in described human body tonal range; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, mated one by one with each anthropoid benchmark masterplate by described human body subimage, human body type corresponding to output matching successful human body benchmark masterplate is as target body type.
Described search and rescue system also comprises: Freescale IMX6 treater, be arranged in the fixed platform of the described crown, with described GLONASS fixing aid, described sonar detection equipment, described ultrasonic ranging equipment, described treatment facility waterborne is connected respectively with described image recognition apparatus, for when receiving described target body type, start described GLONASS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment are to receive described GLONASS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GLONASS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports human body locating data, and by cable by described human body subimage and described target body type transfers to described treatment facility waterborne.
Wherein, described Freescale IMX6 treater, when not receiving described target body type, cuts out described GLONASS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment.
Alternatively, in the search and rescue system under water that described diver carries: described Freescale IMX6 treater, when the target body type received is remains type, sends remains alerting signal to described treatment facility waterborne; Described Freescale IMX6 treater and described image recognition apparatus are integrated on one piece of surface-mounted integrated circuit; Described search and rescue system also comprises mobile communication interface, is connected with described treatment facility waterborne, is connected with the wireless data between water life-saving center for setting up described treatment facility waterborne; And described mobile communication interface is the one in GPRS mobile communication interface, 3G mobile communication interface and 4G mobile communication interface.
In addition, GLONASS (GLONASS) is the abbreviation of Russian " GPS GLOBALNAVIGATIONSATELLITESYSTEM ".The effect of GLONASS satellite navigation system is similar to the GPS of the U.S., the Galilean satellite position fixing system in Europe and the Beidou satellite navigation system of China.This system is developed Soviet Union period the earliest, after continue this plan by Russia.Russia starts the GPS setting up alone this country for 1993.This system was started operation in 2007, only opened Russian domestic satellite positioning and navigation Service at that time.By 2009, its service range was extended to the whole world.This system main services content comprises the coordinate and motion velocity information etc. of determining land, sea and aerial target." GLONASS " navigationsystem at present satellite has in orbit reached 30, and space flight department of Russia launched 3 again in 2014.
Adopt the search and rescue system under water that diver of the present invention carries, the not high technical matters causing search efficiency low of human bioequivalence equipment precision is under water carried for diver in prior art, introducing dual filtering technique and change of scale, Target Segmentation and target identification technology are to improve accuracy and the high efficiency of human bioequivalence, simultaneously, adopt Underwater Navigation mode to provide the current location of human body under water, the search and rescue under water for diver provide conveniently.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. the rescue method under water that carries of diver, the method comprises:
1) search and rescue system under water providing a kind of diver to carry, described search and rescue system comprises crown fixed platform, image recognition apparatus and treatment facility waterborne, described image recognition apparatus is positioned in the fixed platform of the described crown, for detecting whether there is human body under water, described treatment facility waterborne is connected with described image recognition apparatus, to receive the recognition result of described image recognition apparatus;
2) use described search and rescue system to search and rescue.
2. the rescue method under water that carries of diver as claimed in claim 1, it is characterized in that, described search and rescue system also comprises:
Buoy waterborne, is arranged on the top water surface of described diver;
Power equipment supply, be arranged on described buoy waterborne, comprise water-proff packing cover, solar powered device, storage battery, change-over switch and electric pressure converter, described water-proff packing cover is for holding described solar powered device, described storage battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described storage battery, dump energy according to storage battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage,
GLONASS fixing aid, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for receiving the GLONASS locating data that GLONASS satellite sends;
Sonar detection equipment, is arranged on described buoy waterborne, provides electric power supply by described power equipment supply, for detecting the relative distance of described diver to described buoy waterborne, and to adjust the distance output as first-phase;
Ultrasonic ranging equipment, is arranged in the fixed platform of the described crown, for measuring the distance of described diver distance front human body, and to adjust the distance output as second-phase;
Static storage device, human body tonal range and each anthropoid benchmark masterplate are prestored, described human body tonal range is used for the human body in image and background separation, and described each anthropoid benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark human body;
Picture pick-up device, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead;
Described image recognition apparatus comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Described Daubechies wavelet filtering subset is connected with described CMOS camera, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basiss to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains wavelet filtering image; Described medium filtering subset is connected with described Daubechies wavelet filtering subset, for performing medium filtering process to described wavelet filtering image, with the water particle scattering composition in wavelet filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer equipment is connected with described medium filtering subset, strengthening process, to strengthen the contrast ratio of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; Described Target Segmentation subset and described change of scale enhancer equipment connection, by all pixel groups adult body subimages of grey scale pixel value in described enhancing image in described human body tonal range; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, mated one by one with each anthropoid benchmark masterplate by described human body subimage, human body type corresponding to output matching successful human body benchmark masterplate is as target body type;
Freescale IMX6 treater, be arranged in the fixed platform of the described crown, with described GLONASS fixing aid, described sonar detection equipment, described ultrasonic ranging equipment, described treatment facility waterborne is connected respectively with described image recognition apparatus, for when receiving described target body type, start described GLONASS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment are to receive described GLONASS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GLONASS locating data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports human body locating data, and by cable by described human body subimage and described target body type transfers to described treatment facility waterborne,
Wherein, described Freescale IMX6 treater, when not receiving described target body type, cuts out described GLONASS fixing aid, described sonar detection equipment and described ultrasonic ranging equipment.
3. the rescue method under water that carries of diver as claimed in claim 2, is characterized in that:
Described Freescale IMX6 treater, when the target body type received is remains type, sends remains alerting signal to described treatment facility waterborne.
4. the rescue method under water that carries of diver as claimed in claim 2, is characterized in that:
Described Freescale IMX6 treater and described image recognition apparatus are integrated on one piece of surface-mounted integrated circuit.
5. the rescue method under water that carries of diver as claimed in claim 2, it is characterized in that, described search and rescue system also comprises:
Mobile communication interface, is connected with described treatment facility waterborne, is connected with the wireless data between water life-saving center for setting up described treatment facility waterborne.
6. the rescue method under water that carries of diver as claimed in claim 5, is characterized in that:
Described mobile communication interface is the one in GPRS mobile communication interface, 3G mobile communication interface and 4G mobile communication interface.
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| CN201510444005.8A CN105083504A (en) | 2015-07-24 | 2015-07-24 | Underwater search and rescue method for carrying of diver |
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Application publication date: 20151125 |