CN107351991A - Quick unmanned plane rescue system for outdoor fixed swimming area - Google Patents
Quick unmanned plane rescue system for outdoor fixed swimming area Download PDFInfo
- Publication number
- CN107351991A CN107351991A CN201610400953.6A CN201610400953A CN107351991A CN 107351991 A CN107351991 A CN 107351991A CN 201610400953 A CN201610400953 A CN 201610400953A CN 107351991 A CN107351991 A CN 107351991A
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- Prior art keywords
- calling
- help
- module
- information
- aerial vehicle
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Classifications
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- 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
- B63C9/0005—Life-saving in water by means of alarm devices for persons falling into the water, e.g. by signalling, by controlling the propulsion or manoeuvring means of the boat
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- 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
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
- G08B21/088—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water by monitoring a device worn by the person, e.g. a bracelet attached to the swimmer
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- 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]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
For the quick unmanned plane rescue system in outdoor fixed swimming area, the method rescued using unmanned plane fixed swimming area is disclosed.System includes calling for help bracelet, control centre, rotor wing unmanned aerial vehicle.Call for help bracelet and send calling for help information in time when swimmer needs rescue, rotor wing unmanned aerial vehicle receives automatic takeoff after calling for help information, and according to the positional information of calling for help person and the positional information of the machine, autonomous flight is to the top of calling for help person, after reaching above calling for help person, it is automatically lowered suitable altitude range and keeps constant, ensures the accurate dispensing of next step rescue aid.Rotor wing unmanned aerial vehicle completes the dispensing of rescue aid under the manipulation of person on duty, and calling for help person is drawn to bank afterwards, calling for help person subsequently given treatment within the shortest time.
Description
Technical field
This rescue system can implement rescue according to the calling for help information of calling for help person within the shortest time, belong to unmanned plane water surface rescue field.
Background technology
Unmanned plane during flying speed is fast, and time is short, and manipulation is flexibly and cost is low, and application is more and more extensive.Unmanned plane loads rescue aid and water surface implementation rescue is also come into question and studied more and more, and what research was more at present is at two aspects.
On the one hand it is that the water surface rescues unmanned plane in itself.Such as China Patent No. ZL201520179590.9, it is entitled：A kind of water life-saving duct unmanned aerial vehicle, authorized announcement date are on July 22nd, 2015, which disclose a kind of water life-saving duct unmanned aerial vehicle; unmanned plane body is enclosed in water wing; when endurance deficiency, body water wing protects unmanned plane body not intake, and is easy to follow-up recovery to use；When lifebuoy deficiency, body water wing can be disengaged and make lifebuoy use.On the other hand it is the loading and dispensing of water surface rescue aid.Such as China Patent No. ZL201420509051.2, it is entitled：A kind of unmanned plane air life-saving device, authorized announcement date are on April 8th, 2015.Which disclose a kind of unmanned plane air life-saving device, using from inflatable life preserver, can disposably carry 4, high efficient and reliable, it is accurate to launch, and low to rescue region environmental requirement.
The two aspects are that the unmanned plane water surface rescues important part, are indispensable.However, these patents only have studied the plant issue carried out using unmanned plane in water surface rescue, correlative study was not carried out to how to be reached within the shortest time above calling for help person using rescue unmanned plane and complete rescue.Existing literature shows that process of being drowned was rescued water surface calling for help person at 6 minutes or so within the time as short as possible using unmanned plane, successfully most important to rescuing.For on-fixed swimming area, it is difficult to accomplish that drowned accident prejudge, rescue unmanned plane can not be arranged in advance.And, the open air fixed swimming area of densely populated place big for flow of the people, the unmanned plane of reasonable Arrangement rescue in advance can be accomplished, can effectively reduce the probability being drowned.
The content of the invention
1st, the technical problem that invention solves.
The defects of for prior art, the quick unmanned plane rescue system for outdoor fixed area of swimming is invented.After calling for help bracelet sends calling for help information in this rescue system, unmanned plane automatic takeoff, planning optimal path goes to rescue, is reached with the shortest time above calling for help person and drops to proper height；Person on duty manipulates unmanned plane and launches rescue aid, and calling for help person is drawn to bank, completes rescue.
2nd, technical scheme.
This rescue system includes calling for help bracelet 1, control centre 2, the three parts of rotor wing unmanned aerial vehicle 3.Call for help bracelet 1 and information is sent to control centre 2 and rotor wing unmanned aerial vehicle 3 using radio communication.Information is mutually sent using radio communication between control centre 2 and rotor wing unmanned aerial vehicle 3, as shown in Figure 1.
Calling for help bracelet 1 includes power module 10, bracelet master control 11, indicator lamp 12, button 13, monitoring of pulse module 14, waterproof shatter-resistant shell 15, locating module 16, information sending module 17, switch 18.All functional modules are all sealed in waterproof shatter-resistant shell 15, power module 10 is connected with bracelet master control 11 and switch 18, indicator lamp 12, button 13, monitoring of pulse module 14, locating module 16, information sending module 17 are connected with bracelet master control 11, as shown in Figure 2.
Switch 18 is responsible for the connecting and disconnecting of power supply.Power module 10 is charged the battery using wireless charging mode, and battery is lithium battery, is responsible for powering to whole bracelet circuit.Indicator lamp 12 selects redgreenblue lamp, for showing battery electric quantity.Monitoring of pulse module 14 is photoelectric sphyg detection module, monitors the pulse of calling for help person in real time.Locating module 16 selects GPS or Big Dipper locating module, is responsible for obtaining the positional information of calling for help person.Bracelet master control 11 is from chip STM32F030F4P6, it is responsible for reading pulse and positional information, the down state for monitoring button 13, when bracelet master control 11 judges pulse rate or rate of change beyond normal range (NR), or monitor that the length of button 13 is pressed, calling for help information is transmitted to information sending module 17, calling for help information includes the pulse and positional information of calling for help person；In addition, bracelet master control 11 detects the electricity of power module 10 and controls indicator lamp 12 to show electricity.Information sending module 17 is responsible for the transmission of calling for help information.Waterproof shatter-resistant shell 15 is electro-insulating rubber material, seals waterproof.
Control centre 2 includes communications facility 20, unmanned aerial vehicle (UAV) control platform 21, presentation of information platform 22, power supply unit 23.Communications facility 20 is connected with unmanned aerial vehicle (UAV) control platform 21, and presentation of information platform 22 is connected with communications facility 20 and unmanned aerial vehicle (UAV) control platform 21, as shown in Figure 3.
Power supply unit 23 is responsible for powering to whole control centre 2.Communications facility 20 is responsible for receiving the information that calling for help information and multi-rotor unmanned aerial vehicle 3 are sent, and sends unmanned aerial vehicle (UAV) control platform 21 and presentation of information platform 22 to afterwards, while is responsible for the manipulation information that unmanned aerial vehicle (UAV) control platform 21 transmits to be sent to rotor wing unmanned aerial vehicle 3.Unmanned aerial vehicle (UAV) control platform 21 is furnished with unmanned aerial vehicle (UAV) control bar, is responsible for the manipulation information of generation unmanned plane.Presentation of information platform 22 includes LCDs, loudspeaker and indicator lamp, shows the positional information of calling for help person, pulse information, the positional information of rotor wing unmanned aerial vehicle 3, flight information, image information etc..
Rotor wing unmanned aerial vehicle 3 includes communication module 30, photographing module 31, rescue aid 32, locating module 33, winged control module 34, power supply 35, unmanned plane body 36, main control module 37, rescue aid throwing mechanism 38, communication module 30, photographing module 31, locating module 33, winged control module 34, power supply 35, rescue aid throwing mechanism 38 are connected with main control module 37, communication module 30 is connected with photographing module 31, locating module 33, rescue aid 32 is connected with rescue aid throwing mechanism 38, as shown in Figure 4.
Communication module 30 is responsible for calling for help bracelet 1, control centre 2 communicates.Camera 31 uses CMOS camera, for obtaining live realtime graphic, image information is sent to communication module 30 afterwards.Rescue aid 32 includes water wing and rescue rope, loads on rescue aid throwing mechanism 38, is connected by safety rope, is responsible for connection calling for help person and is allowed to the head disengaging water surface.Locating module 33 selects GPS or Big Dipper locating module, is responsible for obtaining the positional information of the machine, positional information is sent to communication module 30 afterwards.Fly control module 34 and fly control module from the NAZA of big boundary, be responsible for the flight attitude control of the machine.Power supply 35 is multicore lithium battery, is powered to complete machine.Main control module 37 is from chip STM32F030F4P6, it is responsible for information and ownship position information that processing communication module 30 transmits, generation flies control instruction and control instruction, winged control instruction is sent to fly control module 34 afterwards, control instruction is sent to photographing module 31, rescue aid throwing mechanism 38；In addition, main control module 37 monitors the machine electricity, communication module 30 is sent to afterwards.Rescue aid throwing mechanism 38 is made up of action motor and carbon fiber support, is responsible for launching rescue aid 32.
3rd, beneficial effect.
Using technical scheme provided by the invention, there is following remarkable result.
（1）The quick unmanned plane rescue system for being used for outdoor fixed area of swimming of the present invention, it calls for help bracelet in addition to calling for help information is sent after button length is pressed, and can also send calling for help information by monitoring the pulse physiological change of calling for help person, ensure to implement rescue as early as possible.
（2）The quick unmanned plane rescue system for being used for outdoor fixed area of swimming of the present invention, after its unmanned plane receives calling for help information, unmanned plane automatic takeoff is simultaneously gone to above calling for help person by the optimal path calculated, it is reduced as far as rescuing the time used, increase the success rate of rescue, after reaching above calling for help person, it is automatically lowered suitable altitude range and keeps constant, ensures the accurate dispensing of next step rescue aid.
（3）The quick unmanned plane rescue system for being used for outdoor fixed area of swimming of the present invention, its unmanned plane draw calling for help person to bank, calling for help person can subsequently given treatment within the shortest time after the dispensing of rescue aid is completed under person on duty manipulates.
Brief description of the drawings
Fig. 1：Rescue system overall structure block diagram.
Fig. 2：Call for help bracelet theory diagram.
Fig. 3：Control centre's theory diagram.
Fig. 4：Rotor wing unmanned aerial vehicle theory diagram.
Fig. 5：System rescues flow chart.
Embodiment
To further illustrate present disclosure, with reference to accompanying drawing, the present invention is described in detail.
First, the three parts calling for help bracelet 1 to rescue system, control centre 2, the structure content of rotor wing unmanned aerial vehicle 3 specifically describe respectively.
It is as shown in Figure 2 to call for help the internal structure of bracelet 1.Before use, first opening bracelet switch 18, viewing lamp 12, the not enough power supply of bracelet 1 is called for help if indicator lamp is red, is used after need to charging, be full electricity if indicator lamp is blueness, electricity is placed in the middle if indicator lamp is green, also needs to be charged to full power state using preceding.In use, monitoring of pulse module 14 obtains the pulse of calling for help person in real time, locating module 16 obtains the positional information of calling for help person in real time.The state of button 13, the pulse of calling for help person and positional information are read in bracelet master control 11 in real time.If bracelet master control 11 monitors button 13, length is pressed（More than 2 seconds time）When, calling for help information is sent to information sending module 17 by main control module 11, is sent by information sending module 17, and calling for help information includes the pulse and positional information of calling for help person, and calling for help information is uninterruptedly sent, until rescue terminates.If main control module 11 judges pulse rate or rate of change beyond the normal range (NR) of setting, calling for help information is automatically delivered to information sending module 17 by main control module 11, sent automatically by information sending module 17, calling for help information includes the pulse and positional information of calling for help person, calling for help information is uninterruptedly sent, until rescue terminates.
The internal structure of control centre 2 is as shown in Figure 3.During work, the calling for help information of the receive information sending module 17 of communications facility 20 transmission（Pulse and positional information including calling for help person）Afterwards, it is sent to unmanned aerial vehicle (UAV) control platform 21 and presentation of information platform 22, presentation of information platform 22 calls person on duty by sound and light alarm and enters rescue state, the realtime graphic obtained by LCDs display calling for help information, the position of rotor wing unmanned aerial vehicle 3 and information about power, the parameter of unmanned aerial vehicle (UAV) control platform 21, photographing module 31.After rotor wing unmanned aerial vehicle 3 is reached above calling for help person, the control-rod on person on duty's manually handle unmanned aerial vehicle (UAV) control platform 21, manipulation rotor wing unmanned aerial vehicle 3 adjustment position, rotate photographing module 31, launch rescue aid 32 etc..The generation manipulation information of unmanned aerial vehicle (UAV) control platform 21, sends communications facility 20 to, rotor wing unmanned aerial vehicle 3 is sent to by it.Manipulation information transmission feeds back to person on duty to presentation of information platform 22 and checked.When rotor wing unmanned aerial vehicle 3 is not reached above calling for help person, person on duty can also manipulate rotor wing unmanned aerial vehicle 3 in advance.
The internal structure of rotor wing unmanned aerial vehicle 3 is as shown in Figure 4.When rotor wing unmanned aerial vehicle 3 is in holding state, communication module 30 receives the calling for help information of the transmission of information sending module 17（Pulse and positional information including calling for help person）After send main control module 37 to.Main control module 37 determines flight path according to calling for help person position and ownship position, the winged control instruction comprising flight path is sent to fly control module 34 afterwards, winged control module 34 automatically controls rotor wing unmanned aerial vehicle 3 according to winged control instruction and taken off.In flight way, photographing module 31 obtains realtime graphic, and locating module 33 obtains the machine real-time position information, and realtime graphic, ownship position information, the machine electricity for monitoring are sent to communication module 30, control centre 2 are sent to by it by main control module 37.Simultaneously, communication module 30 constantly receives calling for help information and sends main control module 37 to, and main control module 37 adjusts heading in real time according to new calling for help person position and ownship position, generation flies control instruction, sends winged control module 34 to and controls rotor wing unmanned aerial vehicle 3 to carry out autonomous navigation.After rotor wing unmanned aerial vehicle 3 is flown to above calling for help person, main control module 37 is sent to winged control module 34 flies control instruction, and control rotor wing unmanned aerial vehicle 3 drops to 3 to 6 meters of height and keeps constant；The manipulation information transmission that communication module 30 sends the control centre 2 of reception is to main control module 37, main control module 37 rotates according to manipulation information control photographing module 31, meanwhile generation flies control and instructs and send winged control module 34 to, adjusts the position of rotor wing unmanned aerial vehicle 3 and height.After adjustment terminates, main control module 37 sends action signal according to manipulation information to rescue aid throwing mechanism 38, launches rescue aid 32.Afterwards, according to the manipulation information received, rotor wing unmanned aerial vehicle 3 completes corresponding flight and action.
Furthermore the rescue flow to unmanned plane rescue system specifically describes, referring to Fig. 5.
Step 40, triggering is called for help, bracelet 1 is called for help and sends calling for help information to control centre 2 and rotor wing unmanned aerial vehicle 3.
Step 41, rotor wing unmanned aerial vehicle 3 receives calling for help information, automatic takeoff, and setting flight optimization route flies to above calling for help person, drops to 3 to 6 meters of height and keep constant.
Step 42, control centre 2 receives calling for help information, calls person on duty, and person on duty enters rescue state.
Step 43, person on duty's adapter rotor wing unmanned aerial vehicle 3, position and the height of unmanned plane 3 is finely tuned by manipulating unmanned aerial vehicle (UAV) control platform 21, ensures the accurate dispensing of rescue aid.
Step 44, rescue aid throwing mechanism 38 is controlled to act, rescue aid 32 pushes wind-force in gravity and unmanned plane and fallen to calling for help person.
Step 45, treat that calling for help person and the connection of rescue aid 32 are completed, head departs from the water surface, and person on duty manipulates unmanned plane 3 and calling for help person is drawn to bank.
Step 46, after calling for help person reaches bank, it is subsequently given treatment to.Unmanned plane 3 disconnects safety rope in the case where person on duty manipulates, and returns to standby area, charges and reload packed rescue aid 32, unmanned plane 3 reenters holding state afterwards.
Claims (5)
1. the quick unmanned plane rescue system for outdoor fixed area of swimming includes calling for help bracelet（1）, control centre（2）, rotor wing unmanned aerial vehicle（3）；Wherein call for help bracelet（1）Including power module（10）, bracelet master control（11）, indicator lamp（12）, button（13）, monitoring of pulse module（14）, waterproof shatter-resistant shell（15）, locating module（16）, information sending module（17）, switch（18）, all functional modules are all sealed in waterproof shatter-resistant shell（15）It is interior, power module（10）With bracelet master control（11）And switch（18）Connection, indicator lamp（12）, button（13）, monitoring of pulse module（14）, locating module（16）And information sending module（17）With bracelet master control（11）Connection；Control centre（2）Including communications facility（20）, unmanned aerial vehicle (UAV) control platform（21）, presentation of information platform（22）, power supply unit（23）, communications facility（20）With unmanned aerial vehicle (UAV) control platform（21）Connection, presentation of information platform（22）With communications facility（20）With unmanned aerial vehicle (UAV) control platform（21）Connection；Rotor wing unmanned aerial vehicle（3）Including communication module（30）, photographing module（31）, rescue aid（32）, locating module（33）, fly control module（34）, power supply（35）, unmanned plane body（36）, main control module（37）, rescue aid throwing mechanism（38）, communication module（30）, photographing module（31）, locating module（33）, fly control module（34）, power supply（35）, rescue aid throwing mechanism（38）And main control module（37）Connection, communication module（30）With photographing module（31）, locating module（33）Connection, rescue aid（32）With rescue aid throwing mechanism（38）Connection.
2. the quick unmanned plane rescue system according to claim 1 for being used for outdoor fixed area of swimming, it is characterised in that：Call for help bracelet（1）Send calling for help information automatically after monitoring calling for help person's pulse rate or rate of change beyond normal range (NR)（Pulse and positional information including calling for help person）；Can also be in button（13）Calling for help information is sent after pressing the time more than 2 seconds by calling for help person（Pulse and positional information including calling for help person）, calling for help information is uninterruptedly sent, until rescue terminates.
3. the quick unmanned plane rescue system according to claim 1 for being used for outdoor fixed area of swimming, it is characterised in that：Rotor wing unmanned aerial vehicle（3）Receive calling for help information（Pulse and positional information including calling for help person）Calling for help person is pointed in automatic takeoff afterwards, flight path direction all the time, and autonomous flight drops to 3 to 6 meters of height and keep constant to calling for help person top.
4. the quick unmanned plane rescue system according to claim 1 for being used for outdoor fixed area of swimming, it is characterised in that：Presentation of information platform（22）The positional information of display calling for help person, pulse information, rotor wing unmanned aerial vehicle（3）Positional information and image information.
5. the quick unmanned plane rescue system according to claim 1 for being used for outdoor fixed area of swimming, it is characterised in that：Rotor wing unmanned aerial vehicle（3）Manipulated by person on duty and complete rescue aid（32）Dispensing after calling for help person is drawn to bank, complete rescue.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016103060959 | 2016-05-10 | ||
| CN201610306095 | 2016-05-10 |
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| CN107351991A true CN107351991A (en) | 2017-11-17 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080793A (en) * | 2018-07-04 | 2018-12-25 | 上海海事大学 | A kind of maritime search and rescue system and its rescue method and control method based on unmanned plane |
| CN110422304A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of trailing type life saving system and its device based on Beidou navigation |
| CN110588973A (en) * | 2019-09-27 | 2019-12-20 | 江苏科技大学 | Juvenile drowning prevention and rescue platform based on amphibious unmanned aircraft and method thereof |
| CN111275924A (en) * | 2020-03-18 | 2020-06-12 | 手拉手信息技术有限公司 | Child drowning prevention monitoring method and system based on unmanned aerial vehicle and unmanned aerial vehicle |
| CN112384440A (en) * | 2018-07-16 | 2021-02-19 | 瑞典爱立信有限公司 | Method and apparatus for rescue task assistance |
| WO2022037041A1 (en) * | 2020-08-21 | 2022-02-24 | 南京灵雀智能制造有限公司 | Aquatic rescue robot and operation method thereof |
| GB2608614A (en) * | 2021-07-05 | 2023-01-11 | Geake Vincent | System for assisting with water rescue |
-
2016
- 2016-06-08 CN CN201610400953.6A patent/CN107351991A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080793A (en) * | 2018-07-04 | 2018-12-25 | 上海海事大学 | A kind of maritime search and rescue system and its rescue method and control method based on unmanned plane |
| CN109080793B (en) * | 2018-07-04 | 2020-01-14 | 上海海事大学 | Maritime search and rescue system based on unmanned aerial vehicle and search and rescue method and control method thereof |
| CN112384440A (en) * | 2018-07-16 | 2021-02-19 | 瑞典爱立信有限公司 | Method and apparatus for rescue task assistance |
| CN110422304A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of trailing type life saving system and its device based on Beidou navigation |
| CN110588973A (en) * | 2019-09-27 | 2019-12-20 | 江苏科技大学 | Juvenile drowning prevention and rescue platform based on amphibious unmanned aircraft and method thereof |
| CN110588973B (en) * | 2019-09-27 | 2023-01-06 | 江苏科技大学 | Juvenile drowning prevention and rescue platform based on amphibious unmanned aircraft and method thereof |
| CN111275924A (en) * | 2020-03-18 | 2020-06-12 | 手拉手信息技术有限公司 | Child drowning prevention monitoring method and system based on unmanned aerial vehicle and unmanned aerial vehicle |
| CN111275924B (en) * | 2020-03-18 | 2023-08-25 | 手拉手信息技术有限公司 | Unmanned aerial vehicle-based child drowning prevention monitoring method and system and unmanned aerial vehicle |
| WO2022037041A1 (en) * | 2020-08-21 | 2022-02-24 | 南京灵雀智能制造有限公司 | Aquatic rescue robot and operation method thereof |
| GB2608614A (en) * | 2021-07-05 | 2023-01-11 | Geake Vincent | System for assisting with water rescue |
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Application publication date: 20171117 |