CN108298044B - Rescue robot on water - Google Patents
Rescue robot on water Download PDFInfo
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- CN108298044B CN108298044B CN201810221154.1A CN201810221154A CN108298044B CN 108298044 B CN108298044 B CN 108298044B CN 201810221154 A CN201810221154 A CN 201810221154A CN 108298044 B CN108298044 B CN 108298044B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 102
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000003993 interaction Effects 0.000 claims description 19
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 claims description 18
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 claims description 9
- ZMANZCXQSJIPKH-UHFFFAOYSA-N Triethylamine Chemical compound CCN(CC)CC ZMANZCXQSJIPKH-UHFFFAOYSA-N 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- QIGBRXMKCJKVMJ-UHFFFAOYSA-N Hydroquinone Chemical compound OC1=CC=C(O)C=C1 QIGBRXMKCJKVMJ-UHFFFAOYSA-N 0.000 claims description 6
- WPYMKLBDIGXBTP-UHFFFAOYSA-N benzoic acid Chemical compound OC(=O)C1=CC=CC=C1 WPYMKLBDIGXBTP-UHFFFAOYSA-N 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 239000005711 Benzoic acid Substances 0.000 claims description 3
- OKIZCWYLBDKLSU-UHFFFAOYSA-M N,N,N-Trimethylmethanaminium chloride Chemical compound [Cl-].C[N+](C)(C)C OKIZCWYLBDKLSU-UHFFFAOYSA-M 0.000 claims description 3
- JXASPPWQHFOWPL-UHFFFAOYSA-N Tamarixin Natural products C1=C(O)C(OC)=CC=C1C1=C(OC2C(C(O)C(O)C(CO)O2)O)C(=O)C2=C(O)C=C(O)C=C2O1 JXASPPWQHFOWPL-UHFFFAOYSA-N 0.000 claims description 3
- 239000012752 auxiliary agent Substances 0.000 claims description 3
- 235000010233 benzoic acid Nutrition 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- SUBFIBLJQMMKBK-UHFFFAOYSA-K iron(3+);trithiocyanate Chemical compound [Fe+3].[S-]C#N.[S-]C#N.[S-]C#N SUBFIBLJQMMKBK-UHFFFAOYSA-K 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- 229910052761 rare earth metal Inorganic materials 0.000 claims description 3
- 150000002910 rare earth metals Chemical class 0.000 claims description 3
- 238000005507 spraying Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract 1
- 238000004020 luminiscence type Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 206010013647 Drowning Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
- B63C9/20—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like characterised by signalling means, e.g. lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
- B63H11/107—Direction control of propulsive fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- 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
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C2009/0017—Life-saving in water characterised by making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Selective Calling Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The water rescue robot comprises a buoy shell, wherein a propulsion system is arranged in the buoy shell, the propulsion system is connected with a water inlet control system, the water inlet control system is connected with a steering control system, the buoy shell is internally provided with a buoy control system and a first power supply device, the buoy control system is respectively and electrically connected with the propulsion system and the steering control system, and the first power supply device is respectively and electrically connected with the propulsion system, the steering control system and the buoy control system; the remote control handle is provided with a direction and/or speed control mechanism, a remote control system is arranged in the remote control handle, and the remote control system is electrically connected with a second power supply device. The invention can feed water from two sides, and can realize the water spraying propulsion of the rescue robot no matter how the upper side is after being thrown down; the technical requirements on operators are low, and the range of the use crowd is wide; the device also has the functions of automatic return, GPS positioning, infrared detection, self-luminescence of the outer shell and the like.
Description
Technical Field
The invention belongs to the technical field of water rescue, and particularly relates to a water rescue robot.
Background
Drowning is reported to be the third leading cause of unintentional injury death worldwide, accounting for 7% of all injury-related deaths, and therefore water rescue equipment is very important.
The most common rescue equipment at present is a life buoy, a life jacket, a life boat and the like, but in the actual rescue process, the life buoy and the life jacket have limited functions, and need to be thrown to the vicinity of a person to be rescued, but for long-distance drowning personnel, the life buoy and the life jacket are difficult to throw, and the life jacket cannot be guaranteed to accurately fall to the side of the drowning person; the rescue boat has the advantages that the rescue boat is high in speed, the number of the rescue boats is limited, the rescue boats can not be guaranteed to wait for rescue at the shore when the rescue boat is in danger each time, the rescue boat has requirements for rescue workers, the ship-opening technology and the like are required to be mastered, and therefore professional personnel are required to be equipped.
Disclosure of Invention
The invention provides a water rescue robot for solving the problems in the background art, and solves the problems of low speed, high technical requirements on rescue workers and poor rescue safety of the conventional rescue equipment.
The technical scheme of the invention is as follows:
The water rescue robot comprises a buoy shell, wherein a propulsion system is arranged in the buoy shell, the propulsion system is connected with a water inlet control system, the water inlet control system is connected with a steering control system, the buoy shell is internally provided with a buoy control system and a first power supply device, the buoy control system is respectively and electrically connected with the propulsion system and the steering control system, and the first power supply device is respectively and electrically connected with the propulsion system, the steering control system and the buoy control system; the remote control handle is provided with a direction and/or speed control mechanism, the remote control handle part is provided with a remote control system, and the remote control system is electrically connected with a second power supply device; the buoy control system is in wireless connection with the remote control system.
Further, the propulsion system includes a motor coupled with a shaft coupled with a turbine.
Further, the water inlet control system is Y-shaped and comprises an upper water inlet channel and a lower water inlet channel which are respectively positioned at the upper side and the lower side, a turbine sleeve is connected at the intersection of the upper water inlet channel and the lower water inlet channel, the tail end of the turbine sleeve is connected with a water outlet channel, an upper rotating shaft and a lower rotating shaft are respectively arranged on the upper inner side wall of the upper water inlet channel and the lower inner side wall of the lower water inlet channel, an upper turning plate is movably connected with the upper rotating shaft, and a lower turning plate is movably connected with the lower rotating shaft.
Further, the steering control system comprises a steering engine, a fixed shaft is arranged on the steering engine, a rotary blade is movably connected to the outer wall of the fixed shaft, the rotary blade is connected with a traction rod, the traction rod is connected with a steering nozzle, and the steering nozzle is sleeved outside the water outlet channel.
Further, the remote control system comprises a user interaction unit, a remote control instruction encoding unit and a remote control instruction transmitting unit, wherein the direction and/or speed control mechanism is electrically connected with the user interaction unit, the user interaction unit is electrically connected with the remote control instruction encoding unit, and the remote control instruction encoding unit is electrically connected with the remote control instruction transmitting unit;
the direction and/or speed control mechanism is used for a user to change the direction or speed of the rescue robot and is used for converting the operation of the user into an operation signal and transmitting the operation signal to the user interaction unit;
and the user interaction unit is used for receiving the user control signal sent by the direction and/or speed control mechanism and analyzing the user control signal to obtain a remote control instruction.
The remote control instruction coding unit is used for receiving the control signal sent by the user interaction unit and coding the control signal;
the remote control instruction sending unit is used for transmitting the encoded remote control instruction to the buoy control system;
the buoy control system comprises a remote control instruction receiving unit, a remote control instruction analyzing unit and an executing unit, wherein the remote control instruction receiving unit is electrically connected with the remote control instruction analyzing unit, and the remote control instruction analyzing unit is electrically connected with the executing unit;
the remote control instruction receiving unit is used for receiving the remote control instruction sent by the remote control instruction sending unit and sending the remote control instruction to the remote control instruction analyzing unit;
The remote control instruction analysis unit is used for analyzing the received remote control instruction and sending the analyzed instruction to the execution unit;
the execution unit is used for receiving the remote control instruction sent by the remote control instruction analysis unit and executing corresponding operation according to the instruction.
Further, the remote control system further comprises a number sending unit and a feedback signal receiving unit, wherein the number sending unit is electrically connected with the feedback signal receiving unit, and the feedback signal receiving unit is electrically connected with the remote control instruction sending unit;
The buoy control system further comprises a number receiving unit, a judging unit and a feedback signal transmitting unit, wherein the number receiving unit is electrically connected with the judging unit, the judging unit is electrically connected with the feedback signal transmitting unit, and the feedback signal transmitting unit is electrically connected with the remote control instruction receiving unit;
the number sending unit is connected with the number receiving unit, the feedback signal transmitting unit and the feedback signal receiving unit in a wireless mode;
The number sending unit is used for sending a number pre-stored in the remote control system to the number receiving unit, and the number uniquely corresponds to the target rescue robot to be controlled by the remote control system where the number sending unit is positioned;
the number receiving unit is used for receiving the number information sent by the number sending unit and further sending the number information to the judging unit;
The judging unit is used for receiving the number sent by the number receiving unit, comparing the number with the number of the rescue robot corresponding to the number pre-stored by the buoy control system, so as to judge whether the two numbers are consistent, namely, whether the instruction sent by the remote control system is directed at the rescue robot where the buoy control system is located;
The feedback signal transmitting unit is used for transmitting the judging result of the judging unit to the feedback signal receiving unit, and transmitting a signal to the remote control instruction receiving unit when judging that the two numbers are the same, and notifying the remote control instruction receiving unit of preparing for signal receiving, namely completing communication connection between the remote control system and the buoy control system;
The feedback signal receiving unit is used for receiving the judgment result sent by the feedback signal transmitting unit, and sending a signal to the remote control instruction sending unit when receiving the judgment result with the same number, wherein the remote control instruction sending unit can send a remote control instruction after receiving the signal.
Further, a camera is arranged on the buoy shell and is used for shooting rescue conditions in real time; and the remote control handle is provided with a display screen for displaying video pictures shot by the camera.
Further, the buoy shell is provided with a GPS positioning unit, an infrared emission device, an infrared ranging sensor and a pressure sensor so as to realize automatic return of the rescue robot;
the GPS positioning unit is used for positioning the initial position of the rescue robot and the position of the rescued person;
The infrared transmitting device and the infrared ranging sensor are used for detecting the position of the rescued person;
the pressure sensor is used for detecting whether the person to be rescued moves to the rescue robot.
Furthermore, a positioning unit is arranged in the remote control system and is used for dynamically positioning the return target position and transmitting the position information to the buoy control system so as to be suitable for the condition of the change of the safe return place;
The buoy control system also comprises a route planning unit and an infrared temperature sensor;
the route planning unit is used for automatically and dynamically planning the shortest route between the variable return target point and the rescue point and avoiding the obstacle on the return route so as to realize safe return;
The infrared temperature sensor is used for identifying the temperature of the obstacle to judge whether the obstacle is a biological obstacle or a non-biological obstacle;
Specifically, during rescue, the infrared temperature sensor judges the type of the obstacle, the infrared distance measuring sensor measures the distance, the infrared transmitting time is set to be t 1, the receiving time is set to be t 2, and the distance between the rescue robot and the obstacle is set to be Wherein c is the speed of light in vacuum, the distance between the rescue robot and the obstacle is set to be l 1 at the beginning, then the rescue robot turns clockwise to an angle theta and emits infrared rays again, whether the obstacle exists or not and the distance l 2 from the obstacle are detected, when the obstacle is not detected, the rescue robot moves forwards in the direction, if the obstacle is detected, the rescue robot turns anticlockwise to an angle 2 theta, whether the obstacle exists or not and the distance l' 2 from the obstacle is detected, when the obstacle is not detected, the rescue robot moves forwards in the direction, the turning time is t 3 milliseconds, the displacement of the obstacle in t 3 milliseconds is ignored, and the turning distance l isOr (b)
Further, the outer surface of the buoy shell is coated with a luminescent material, and the luminescent material is prepared from rare earth long afterglow fluorescent powder, high molecular polymer, auxiliary agent, acetone, benzene, ferric thiocyanate, tetramethyl ammonium chloride, hydroquinone, triethylamine, benzoic acid and acetone.
The beneficial effects of the invention are as follows:
1. The invention comprises a propulsion system, a water inlet control system, a steering control system, a buoy control system, a remote control handle and a remote control system, when a person drowns, a rescue person can control the propulsion system to propel the rescue robot through the remote control handle in a safe area such as the bank, and the steering control system is controlled to adjust the advancing direction of the rescue robot, so that the rescue robot can quickly reach the side of the rescued person and rescue the rescue person.
2. The water inlet control system comprises an upper water inlet channel and a lower water inlet channel which are respectively positioned at the upper side and the lower side, wherein an upper rotating shaft and a lower rotating shaft are respectively arranged on the upper inner side wall of the upper water inlet channel and the lower inner side wall of the lower water inlet channel, the upper rotating shaft is movably connected with an upper turning plate, and the lower rotating shaft is movably connected with a lower turning plate. The two-sided water inlet structure can ensure that the rescue robot can be normally water-sprayed to push the rescue robot no matter how the rescue robot faces upwards when being thrown into water from a ship, a shore or an airplane, so that the rescue robot can be smoothly unfolded.
3. The remote control system comprises a user interaction unit, a remote control instruction encoding unit and a remote control instruction sending unit; the buoy control system comprises a remote control instruction receiving unit, a remote control instruction analyzing unit and an executing unit. The control method can convert the control of the remote control handle by a user into the execution of the related actions of the rescue robot. The remote control system also comprises a number sending unit and a feedback signal receiving unit; the buoy control system also comprises a number receiving unit, a judging unit and a feedback signal transmitting unit. The method can further realize that a plurality of rescue robots are operated in the same time, and the condition that remote control instructions are mixed does not occur.
4. The buoy shell is provided with the camera, and the remote control handle is provided with the display screen, so that rescue workers can observe rescue conditions conveniently and perform corresponding operations. The buoy shell is also provided with a GPS positioning unit, an infrared emission device, an infrared ranging sensor and a pressure sensor, which can position the rescued person and the initial position of the rescue robot, detect the position of the rescued person and judge whether the rescued person moves to the rescue robot.
5. The outer surface of the buoy shell is coated with the luminescent material, so that rescue can be conveniently unfolded and carried out in the condition of unclear light rays such as cloudy days or at night, and night visibility is improved.
Drawings
FIG. 1 is a schematic view of the external structure of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic diagram of the propulsion system of the present invention;
FIG. 5 is a schematic diagram of a water inlet control system according to the present invention;
FIG. 6 is a schematic view of the remote control handle structure of the present invention;
FIG. 7 is a schematic diagram of a remote control system and a float control system according to the present invention;
FIG. 1A shows a buoy housing 2, a propulsion system 201, a motor 202, a shaft 203, a turbine 3, a water intake control system 301, an upper water intake passage 302, a lower water intake passage 303, a turbine sleeve 304, a water intake passage 305, an upper rotary shaft 306, an upper rotary shaft 307, an upper rotary plate 308, a lower rotary plate 4, a steering control system 401, a steering engine 402, a stationary shaft 403, a rotary blade 404, a pull rod 405, a steering spout 5, a buoy control system 501, a remote control command receiving unit 502, a remote control command parsing unit 503, a carrying unit 504, a number receiving unit 505, a determining unit 506, a feedback signal transmitting unit 6, a first power supply device 7, a remote control handle 8, a direction and/or speed control mechanism 9, a remote control system 901, a user interface unit 902, a remote control command encoding unit 903, a remote control command transmitting unit 904, a feedback signal receiving unit 905, a second power supply device 11, a camera 12, a display screen 13, a GPS positioning unit 14, an infrared light transmitting device 15, an infrared distance sensor 16, a pressure sensor 17, a positioning unit 18, an infrared temperature sensor 19.
Detailed Description
The water rescue robot comprises a buoy shell 1, wherein the buoy shell 1 is preferably in an inverted U shape, namely, the water rescue robot comprises a streamline front part, and a left support arm and a right support arm which are integrally connected with the left side and the right side of the streamline front part respectively.
The propulsion system 2 is arranged inside the left support arm and the right support arm of the buoy shell 1, and the propulsion system 2 comprises a motor 201, a shaft 202 and a turbine 203. The motor 201 is connected with a shaft 202, the other end of the shaft 202 is connected with a turbine 203, and the motor 201 can drive the turbine 203 to rotate.
The propulsion system 2 is connected with a water inlet control system 3, and the water inlet control system 3 comprises an upper water inlet channel 301, a lower water inlet channel 302, a turbine sleeve 303, a water outlet channel 304, an upper rotating shaft 305, a lower rotating shaft 306, an upper turning plate 307 and a lower turning plate 308. The water inlet control system 3 is Y-shaped, the upper water inlet channel 301 and the lower water inlet channel 302 respectively form two branches of the Y, the turbine sleeve 303 and the water outlet channel 304 jointly form a trunk of the Y, the intersection of the upper water inlet channel 301 and the lower water inlet channel 302 is connected with the turbine sleeve 303, the turbine sleeve 303 is sleeved on the outer side of the turbine 203, and the tail end of the turbine sleeve 303 is connected with the water outlet channel 304. The upper water inlet channel 301 and the lower water inlet channel 302 are respectively arranged on the upper side and the lower side of the shaft 202, water inlets are respectively arranged on the upper water inlet channel 301 and the lower water inlet channel 302, and the water inlets are preferably arranged in the horizontal direction so as to maximize the contact area with water. The buoy shell 1 is provided with a corresponding opening corresponding to the water inlet.
An upper rotating shaft 305 and a lower rotating shaft 306 are respectively arranged on the upper inner side wall of the upper water inlet channel 301 and the lower inner side wall of the lower water inlet channel 302, the upper rotating shaft 305 is movably connected with an upper turning plate 307, and the lower rotating shaft 306 is movably connected with a lower turning plate 308.
The design principle of the shape and the size of the upper turning plate 307 and the lower turning plate 308 is as follows: when the upper and lower flaps 307 and 308 are rotated to the limit positions by the self-gravity, they just cover the upper or lower water inlet channels 301 and 302 to block the water flow. Meanwhile, the water inlet control principle of the water inlet control system 3 is as follows: when the upper water inlet channel 301 is up and the lower water inlet channel 302 is down, the upper turning plate 307 naturally covers the upper water inlet channel 301 and blocks water from entering from the upper water inlet channel 301, the lower turning plate 308 is attached to the inner wall of the lower water inlet channel 302, so that the lower water inlet channel 302 is completely opened, and water can enter from the lower water inlet channel 302 at this time, so that water spraying propulsion is realized; when the lower water inlet channel 302 is up and the upper water inlet channel 301 is down, the upper turning plate 307 turns around the upper rotating shaft 305 under the action of its own gravity to smooth the upper water inlet channel 301, and the lower turning plate 308 turns around the rotating shaft 306 under the action of its own gravity to cover the lower water inlet channel 302, so that water can enter from the upper water inlet channel 301 and water spraying propulsion can be realized. The structure can ensure that water spraying can be carried out when the rescue robot throws water into the water without considering the upward direction.
The water inlet control system 3 is connected with a steering control system 4, and the steering control system 4 comprises a steering engine 401, a fixed shaft 402, a rotary blade 403, a traction rod 404 and a steering nozzle 405. The steering engine 401 is provided with a fixed shaft 402, the outer wall of the fixed shaft 402 is movably connected with a rotary blade 403, the rotary blade 403 is connected with a traction rod 404, the other end of the traction rod 404 is connected with a steering nozzle 405, the steering nozzle 405 is partially sleeved outside the water outlet channel 304, and the steering nozzle 405 is positioned outside the buoy shell 1. The steering engine 401 can drive the rotating blades 403 to rotate, and then the steering nozzle 405 is controlled to rotate left and right through the traction rod 404, so that straight running or left and right turning is realized, and the advancing direction is controlled.
The outer wall of the buoy shell 1 is also provided with a handle so as to be convenient for a rescuer to grasp and exert force and lie prone to the body on the upper part of the rescue robot.
The interior of the shell 1 is also provided with a buoy control system 5 and a first power supply device 6, and the buoy control system 5 is respectively and electrically connected with the propulsion system 2 and the steering control system 4 to control the motor 201 in the propulsion system 2 and the steering engine 401 in the steering control system 4 to operate so as to realize water spraying propulsion and steering control of the rescue robot. The first power supply device 6 is electrically connected with the propulsion system 2, the steering control system 4 and the buoy control system 5, respectively. The buoy control system 5 comprises a remote control command receiving unit 501, a remote control command analyzing unit 502 and an executing unit 503, wherein the remote control command receiving unit 501 is electrically connected with the remote control command analyzing unit 502, and the remote control command analyzing unit 502 is electrically connected with the executing unit 503.
The remote control handle 7 is further included, the remote control handle 7 is provided with a direction and/or speed control mechanism 8, in this embodiment, the direction and/or speed control mechanism 8 may be configured as a control rocker, the control rocker may push left, right and front, the direction may be controlled by pushing left and right, the speed may be improved by pushing forward, and of course, the direction and/or speed control mechanism 8 may take other structures such as a key, sensing screen overturning, etc. The remote control handle 7 is internally provided with a remote control system 9, and the remote control system 9 is electrically connected with a second power supply device 10. The remote control system 9 comprises a user interaction unit 901, a remote control instruction encoding unit 902 and a remote control instruction transmitting unit 903, wherein the direction and/or speed control mechanism 8 is electrically connected with the user interaction unit 901, the user interaction unit 901 is electrically connected with the remote control instruction encoding unit 902, and the remote control instruction encoding unit 902 is electrically connected with the remote control instruction transmitting unit 903.
The direction and/or speed control mechanism 8 is configured to perform a change operation on the direction or speed of the rescue robot by the user, and is configured to convert the operation of the user into an operation signal, and transmit the operation signal to the user interaction unit 901;
The user interaction unit 901 is configured to receive an operation signal sent by the direction and/or speed control mechanism (8) and used for analyzing to obtain a remote control instruction.
The remote control instruction encoding unit 902 is configured to receive the control signal sent by the user interaction unit 901, and encode the control signal.
The remote control command sending unit 903 is configured to send the encoded remote control command to the buoy control system 5. The remote control mode comprises infrared rays, RF radio, wiFi and the like.
The remote control command receiving unit 501 is configured to receive the remote control command sent by the remote control command sending unit 903, and send the remote control command to the remote control command analyzing unit 502.
The remote control command parsing unit 502 is configured to parse the received remote control command, and send the parsed command to the execution unit 503.
The executing unit 503 is configured to execute a corresponding operation according to the remote control information from the remote control instruction analyzing unit 502.
The above buoy control system 5 and the remote control system 9 can realize that the rescue personnel is one person, and the condition of a rescue robot is remotely controlled by a remote control handle, but when the rescue personnel is many people, the robot for rescue receives the remote control instruction simultaneously, and the problem of confusion of receiving instructions exists, so further:
On the premise that one remote controller correspondingly remotely controls one rescue robot, the remote control system 9 further comprises a number sending unit 904 and a feedback signal receiving unit 905, wherein the number sending unit 904 is in signal connection with the feedback signal receiving unit 905, and the feedback signal receiving unit 905 is in signal connection with the remote control command sending unit 903. The buoy control system 5 further comprises a number receiving unit 504, a judging unit 505 and a feedback signal transmitting unit 506, wherein the number receiving unit 504 is electrically connected with the judging unit 505, the judging unit 505 is electrically connected with the feedback signal transmitting unit 506, and the feedback signal transmitting unit 506 is electrically connected with the remote control command receiving unit 501. The number sending unit 904 is connected with the number receiving unit 504, the feedback signal transmitting unit 506 and the feedback signal receiving unit 905 in a wireless manner.
The remote control system 9 stores the number of the remote control target rescue robot in advance, and the number sending unit 904 is configured to send the number of the remote control target rescue robot to the number receiving unit 504; the number receiving unit 504 is configured to receive the number information sent by the number sending unit 904, and transmit the number information to the judging unit 505; the judging unit 505 is configured to receive the number sent by the number receiving unit 504, compare the number with the number of the rescue robot corresponding to the number pre-stored by the buoy control system 5, so as to judge whether the two numbers are consistent, that is, whether the instruction sent by the remote control system 9 is for the rescue robot where the buoy control system 5 is located, and send the judging result to the feedback signal transmitting unit 506; the feedback signal transmitting unit 506 transmits the judgment result to the feedback signal receiving unit 905, the feedback signal receiving unit 905 receives the judgment result, and when the judgment result is matched, the feedback signal receiving unit 905 transmits a signal to the remote control command transmitting unit 903, and after receiving the signal, the remote control command transmitting unit 903 can transmit a remote control command, and establishes a communication connection between the remote control system 9 and the buoy control system 5. Therefore, the condition that instructions are not confused when the remote control handle is simultaneously operated when a plurality of rescue robots rescue at the same time can be ensured.
Furthermore, the buoy shell 1 is provided with a camera 11 for shooting the position of a person to be rescued, the direction of the rescue robot, the rescue condition and the like in real time; the remote control handle 7 is provided with the display screen 12, rescue workers can better master rescue information through the display screen 12 and control the rescue robot to return to the navigation, so that the problem that rescue conditions cannot be clearly checked during remote rescue is well solved. The technology of displaying the shooting content of the camera 11 on the display screen 12 is the prior art, and will not be described herein.
On the basis of the description, the invention can realize rescue in a mode that a rescuer controls the remote control handle to control the rescue robot to return, and can realize both close-range rescue and long-range rescue, so that the invention has the function of automatic return, and further:
The buoy shell 1 is provided with a GPS positioning unit 13, an infrared transmitting device 14, an infrared ranging sensor 15 and a pressure sensor 16.
The GPS positioning unit 13 is used for positioning the position of the rescue robot when the rescue robot starts and the position of the person to be rescued; the infrared emission device 14 is used for emitting infrared rays and determining the position of a rescuee according to the received detected infrared rays, and the infrared ranging sensor 15 measures the distance by utilizing the principle that the infrared signals meet different reflection intensities of the obstacle distances and realize the position searching of the rescuee in long distance; the pressure sensor 16 is used to sense whether the person to be rescued is safely moving onto the rescue robot.
In the rescue process, the rescue robot detects the position of the rescued person according to the infrared transmitting device 14 and the infrared ranging sensor 15, stops near the rescued person, and automatically returns to the target return position positioned by the GPAS positioning unit when the pressure sensor 16 senses that the rescued person climbs onto the rescue robot.
Furthermore, a positioning unit 17 is disposed in the remote control system 9, and is configured to dynamically position the returning target position, and transmit the position information to the buoy control system 5, which can be well applied when the returning position is moving, for example, the returning position is a fishing boat with a position that is continuously changed along with the movement of sea waves. The buoy control system 5 further comprises a route planning unit 18 and an infrared temperature sensor 19, wherein the route planning unit 18 is used for automatically and dynamically planning the shortest route between the variable return target point and the rescue point and avoiding obstacles on the return route so as to realize safe return; specifically, in the rescue process, the infrared temperature sensor 19 identifies the temperature of the obstacle to determine whether the obstacle is a biological obstacle or a non-biological obstacle, the infrared ranging sensor 15 performs distance measurement, the infrared emission time is set to be t 1, the receiving time is set to be t 2, and the distance between the rescue robot and the obstacle is set to beWherein c is the speed of light in vacuum. Setting the distance between the rescue robot and the obstacle as l 1 at the beginning, then turning the rescue robot clockwise to an angle theta, transmitting infrared rays again, detecting whether the obstacle exists and the distance l 2 from the obstacle, when the obstacle is not detected, advancing in the direction, if the obstacle is detected, turning the rescue robot anticlockwise to an angle 2 theta, detecting whether the obstacle exists and the distance l' 2 from the obstacle, when the obstacle is not detected, advancing in the direction, the turning time is t 3 milliseconds, the displacement of the obstacle in t 3 milliseconds is ignored, and the turning distance l isOr (b)
Further, the second power supply device 10 adopts a solar power supply mode.
Further, the outer surface of the buoy shell 1 is coated with a luminescent material, and the luminescent material is prepared from rare earth long afterglow fluorescent powder, high molecular polymer, auxiliary agent, acetone, benzene, ferric thiocyanate, tetramethyl ammonium chloride, hydroquinone, triethylamine, benzoic acid and acetone.
Claims (4)
1. The utility model provides a rescue robot on water which characterized in that: comprises a buoy shell (1), wherein a propulsion system (2) is arranged in the buoy shell (1), the propulsion system (2) is connected with a water inlet control system (3), the water inlet control system (3) is connected with a steering control system (4), a buoy control system (5) and a first power supply device (6) are also arranged in the buoy shell (1), the buoy control system (5) is respectively and electrically connected with the propulsion system (2) and the steering control system (4), and the first power supply device (6) is respectively and electrically connected with the propulsion system (2), the steering control system (4) and the buoy control system (5); the intelligent control device is characterized by further comprising a remote control handle (7), wherein a direction and/or speed control mechanism (8) is arranged on the remote control handle (7), a remote control system (9) is arranged in the remote control handle (7), and the remote control system (9) is electrically connected with a second power supply device (10); the buoy control system (5) is in wireless connection with the remote control system (9);
the propulsion system (2) comprises a motor (201), wherein the motor (201) is connected with a shaft (202), and the shaft (202) is connected with a turbine (203);
The water inlet control system (3) is Y-shaped and comprises an upper water inlet channel (301) and a lower water inlet channel (302) which are respectively arranged on the upper side and the lower side, a turbine sleeve (303) is connected at the intersection of the upper water inlet channel (301) and the lower water inlet channel (302), the tail end of the turbine sleeve (303) is connected with a water outlet channel (304), an upper rotating shaft (305) and a lower rotating shaft (306) are respectively arranged on the upper inner side wall of the upper water inlet channel (301) and the lower inner side wall of the lower water inlet channel (302), the upper rotating shaft (305) is movably connected with an upper turning plate (307), and the lower rotating shaft (306) is movably connected with a lower turning plate (308);
The steering control system (4) comprises a steering engine (401), a fixed shaft (402) is arranged on the steering engine (401), a rotary blade (403) is movably connected to the outer wall of the fixed shaft (402), a traction rod (404) is connected to the rotary blade (403), a steering nozzle (405) is connected to the traction rod (404), and the steering nozzle (405) is sleeved outside the water outlet channel (304);
The remote control system (9) comprises a user interaction unit (901), a remote control instruction encoding unit (902) and a remote control instruction transmitting unit (903), wherein the direction and/or speed control mechanism (8) is electrically connected with the user interaction unit (901), the user interaction unit (901) is electrically connected with the remote control instruction encoding unit (902), and the remote control instruction encoding unit (902) is electrically connected with the remote control instruction transmitting unit (903);
The direction and/or speed control mechanism (8) is used for a user to change the direction or speed of the rescue robot and is used for converting the operation of the user into an operation signal and transmitting the operation signal to the user interaction unit (901);
The user interaction unit (901) is used for receiving a user control signal sent by the direction and/or speed control mechanism (8) and analyzing the user control signal to obtain a remote control instruction;
The remote control instruction coding unit (902) is used for receiving the control signal sent by the user interaction unit (901) and coding the control signal;
the remote control instruction sending unit (903) is used for transmitting the encoded remote control instruction to the buoy control system (5);
The buoy control system (5) comprises a remote control instruction receiving unit (501), a remote control instruction analyzing unit (502) and an executing unit (503), wherein the remote control instruction receiving unit (501) is electrically connected with the remote control instruction analyzing unit (502), and the remote control instruction analyzing unit (502) is electrically connected with the executing unit (503);
The remote control instruction receiving unit (501) is used for receiving the remote control instruction sent by the remote control instruction sending unit (903) and sending the remote control instruction to the remote control instruction analyzing unit (502);
the remote control instruction analysis unit (502) is used for analyzing the received remote control instruction and sending the analyzed instruction to the execution unit (503);
The execution unit (503) is used for receiving the remote control instruction sent by the remote control instruction analysis unit (502) and executing corresponding operation according to the instruction;
The remote control system (9) further comprises a number sending unit (904) and a feedback signal receiving unit (905), wherein the number sending unit (904) is electrically connected with the feedback signal receiving unit (905), and the feedback signal receiving unit (905) is electrically connected with the remote control instruction sending unit (903);
The buoy control system (5) further comprises a number receiving unit (504), a judging unit (505) and a feedback signal transmitting unit (506), wherein the number receiving unit (504) is electrically connected with the judging unit (505), the judging unit (505) is electrically connected with the feedback signal transmitting unit (506), and the feedback signal transmitting unit (506) is electrically connected with the remote control instruction receiving unit (501);
The number sending unit (904) is connected with the number receiving unit (504), the feedback signal transmitting unit (506) and the feedback signal receiving unit (905) in a wireless mode;
The number sending unit (904) is configured to send a number pre-stored in the remote control system (9) to the number receiving unit (504), where the number uniquely corresponds to a target rescue robot to be controlled by the remote control system (9) where the number sending unit is located;
the number receiving unit (504) is configured to receive the number information sent by the number sending unit (904), and send the number information to the judging unit (505);
The judging unit (505) is configured to receive the number sent by the number receiving unit (504), compare the number with the number of the rescue robot corresponding to the number pre-stored by the buoy control system (5), so as to judge whether the two numbers are consistent, that is, whether the instruction sent by the remote control system (9) is for the rescue robot where the buoy control system (5) is located, and send the judging result to the feedback signal transmitting unit (506);
The feedback signal transmitting unit (506) is configured to send a judgment result of the judging unit (505) to the feedback signal receiving unit (905), and send a signal to the remote control command receiving unit (501) when two numbers are judged to be the same, and notify the remote control command receiving unit (501) that signal receiving preparation is performed, that is, communication connection between the remote control system (9) and the buoy control system (5) is completed;
The feedback signal receiving unit (905) is configured to receive the determination result sent by the feedback signal transmitting unit (506), and send a signal to the remote control command sending unit (903) when receiving the determination result with the same number, where the remote control command sending unit (903) may send a remote control command after receiving the signal;
An infrared ranging sensor (15) is arranged on the buoy shell (1), a positioning unit (17) is arranged in the remote control system (9), and the positioning unit (17) is used for dynamically positioning the position of the returning target and transmitting the position information to the buoy control system (5) so as to be suitable for the condition of the change of a safe returning place;
the buoy control system (5) further comprises a route planning unit (18) and an infrared temperature sensor (19);
the route planning unit (18) is used for automatically and dynamically planning the shortest route between the variable return target point and the rescue point and avoiding obstacles on the return route so as to realize safe return;
the infrared temperature sensor (19) is used for identifying the temperature of the obstacle to judge whether the obstacle is a biological obstacle or a non-biological obstacle;
During rescue, the infrared temperature sensor (19) judges the type of the obstacle, the infrared distance measuring sensor (15) measures the distance, the infrared transmitting time is set to be t 1, the receiving time is set to be t 2, and the distance between the rescue robot and the obstacle is set to be Wherein c is the speed of light in vacuum, the distance between the rescue robot and the obstacle is set to be l 1 at the beginning, then the rescue robot turns clockwise to an angle theta and emits infrared rays again, whether the obstacle exists or not and the distance l 2 from the obstacle are detected, when the obstacle is not detected, the rescue robot moves forwards in the direction, if the obstacle is detected, the rescue robot turns anticlockwise to an angle 2 theta, whether the obstacle exists or not and the distance l' 2 from the obstacle is detected, when the obstacle is not detected, the rescue robot moves forwards in the direction, the turning time is t 3 milliseconds, the displacement of the obstacle in t 3 milliseconds is ignored, and the turning distance l isOr (b)
2. The water rescue robot of claim 1, wherein: a camera (11) is arranged on the buoy shell (1), and the camera (11) is used for shooting rescue conditions in real time; the remote control handle (7) is provided with a display screen (12) for displaying video pictures shot by the camera (11).
3. The water rescue robot of claim 1, wherein: the buoy shell (1) is provided with a GPS positioning unit (13), an infrared emission device (14) and a pressure sensor (16) so as to realize automatic return of the rescue robot;
the GPS positioning unit (13) is used for positioning the initial position of the rescue robot and the position of the rescued person;
The infrared emission device (14) and the infrared ranging sensor (15) are used for detecting the position of the rescuee;
The pressure sensor (16) is used for detecting whether the rescuee moves to the rescue robot.
4. A water rescue robot as claimed in any one of claims 1 to 3 wherein: the outer surface of the buoy shell (1) is coated with a luminescent material, and the luminescent material is prepared from rare earth long afterglow fluorescent powder, high molecular polymer, auxiliary agent, acetone, benzene, ferric thiocyanate, tetramethyl ammonium chloride, hydroquinone, triethylamine, benzoic acid and acetone.
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| CN201810221154.1A CN108298044B (en) | 2018-03-17 | 2018-03-17 | Rescue robot on water |
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| CN201810221154.1A CN108298044B (en) | 2018-03-17 | 2018-03-17 | Rescue robot on water |
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| CN108298044B true CN108298044B (en) | 2024-08-09 |
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