CN102582804A - Marine rescue system - Google Patents
Marine rescue system Download PDFInfo
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- CN102582804A CN102582804A CN2012100673040A CN201210067304A CN102582804A CN 102582804 A CN102582804 A CN 102582804A CN 2012100673040 A CN2012100673040 A CN 2012100673040A CN 201210067304 A CN201210067304 A CN 201210067304A CN 102582804 A CN102582804 A CN 102582804A
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- wing
- life
- robot
- jettisoninging
- lifesaving
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Abstract
The invention discloses a marine rescue system comprising a throwing life-saving device and a life-saving robot used in coordination with the throwing life-saving device, wherein the throwing life-saving device is provided with a plurality of meshes floated radially on water; a wing is arranged at the front part of the life-saving robot; a plurality of hooks are arranged on the surface of the wing; and an omnidirectional propeller and a plurality of rudder faces are arranged at the tail part of the life-saving robot. When in use, the life-saving robot seeks the throwing life-saving device carried with drowning personnel by self, hooks the meshes on the throwing life-saving device through using the hooks on the wing, and drags the throwing life-saving device to an appointed place to finish the life-saving process. The life-saving robot is released from a rescue vessel or a helicopter, the throwing life-saving device is thrown from a vessel in distress, and the life-saving robot takes the initiative in catching a rescue thrower to achieve the independent interactive rescue. The marine rescue system can rapidly reach the area near the vessel in distress in heavy sea.
Description
Technical field
The present invention relates to a kind of maritime life-saving system, relate in particular to the marine Intelligent lifesaving system under a kind of high sea situation.
Background technology
The deficiency of existing high sea rescue skills: helicopter band cable, rescue ship aft deck all depend on the prerequisite of reliable band cable, need artificial assistance when being with cable near ship in danger, contact rope transfer personnel etc., have life danger; And artificial heaving line chance is few, accuracy is low under the high sea.Utilize the life boat (buoyant apparatus of jettisoninging) of boats and ships self to save oneself, pick up floating personnel just to the relief of persons falling in water, can't realize the common relief of whole boats and ships property in danger and ship's staff's life with dragging for tool; Oil plant is filled out wave: pollution is arranged, and the zone is limited, the ship in distress position can drift about under the high sea effect, and its relief zone changes, and fills out unrestrained zone and need follow up with ship, and is unrealistic.
Therefore adopt robot for rescue on water surface to realize that relief is a safer scheme; But its anti-classification of seas of robot for rescue on water surface of existing Shenyang Institute of Automation exploitation is up to 5 grades; Do not reach the above relief demand of high sea (7 grades of sea situations); Its relief speed of a ship or plane is 5.5 joints to the maximum at still water simultaneously, and the high sea surface navigation is difficult to the control direction and reaches the predetermined speed of a ship or plane, and this and Emergency Assistance need the slewing requirement not meet; Existing robot for rescue on water surface can't initiatively reclaim rope; Need be rescued the life that personnel manually catch its input; This situation is fit to distress personnel and has floated on the water surface; And being not suitable for the band cable (this moment, distress personnel was arranged in the deck or the cabin of the ship in danger of dried up higher distance) of most of ships in distress, its band cable process is half autonomous, has increased the risk of life.
Summary of the invention
The present invention is directed to the proposition of above problem, and a kind of maritime life-saving system of development has: the lifesaving robot of jettisoninging buoyant apparatus and being used with the buoyant apparatus of jettisoninging;
The buoyant apparatus of jettisoninging has a plurality of radial floating nets that in water, are;
The front portion of said lifesaving robot has the wing, and the surface of this wing has a plurality of hooks, and the afterbody of lifesaving robot has all direction propeller and a plurality of rudder face;
During use, the robot autonomous searching of lifesaving is loaded with the buoyant apparatus of jettisoninging of persons falling in water, uses the hook on self wing, catches on the net on the buoyant apparatus of jettisoninging, and the buoyant apparatus of will jettisoninging is dragged to the appointed place, accomplishes the lifesaving process.
The front end of lifesaving robot has the collision lock; The periphery of buoyant apparatus of jettisoninging has the ring around the buoyant apparatus sidewall of jettisoninging; During use, the robot autonomous searching of lifesaving is loaded with the buoyant apparatus of jettisoninging of persons falling in water, and the collision lock that uses its front end to have clashes into and lock the ring of the buoyant apparatus sidewall of jettisoninging, and the buoyant apparatus of will jettisoninging is dragged to the appointed place, accomplishes the lifesaving process.
The wing is connected with robot through connecting portion, and the said connecting portion control wing is accomplished packing up, launch and overturning of the wing.
Connecting portion has: push rod and adapter shaft;
Push rod drives it by the motor of lifesaving robot interior through drive nut and makes axial crank motion; One end of adapter shaft is a drive nut, and the other end has hollow tubular; Drive nut matches with said push rod, and packing up and launching of the wing accomplished in the rotation of the axial motion control wing through push rod; The inside of hollow tubular is provided with rotary motor, and rotary motor is connected with the wing, through the rotation of rotary motor, and the upset of the control wing.
The wing has a plurality of when the wing turn to vertical position or certain angle, reduces the through hole of running resistance.
The artificial stream line pattern swivel of lifesaving machine, the middle part of lifesaving robot has vertical through hole, and the inside of this through hole has the propelling unit that changes lifesaving robot keel depth.
The hawser that net adopted that buoyant apparatus hung of jettisoninging is a S type hawser, and this hawser is near the density of the shackle of the fixed end density greater than seawater, near the density of the free-ended shackle density less than seawater
The afterbody of lifesaving robot is provided with all direction propeller.
Owing to adopted technique scheme; A kind of maritime life-saving system of the present invention, its robot for rescue discharges from rescue ship or helicopter, and life-saving casting device is thrown in from ship in danger; Let robot for rescue initiatively catch life-saving casting device, realize autonomous interactive relief.Can realize that quick sailing is near ship in danger under the high sea; Can realize simultaneously giving ship band cable in danger, and the ship personnel auxiliary autonomous zone cable characteristic to the deck of need not getting into danger in the band cable process, and through reliably docking life-saving casting device; Realize and life-saving casting device locking; Homeward, realize the autonomous zone cable, its relief is:
Autonomous intelligence, do not need artificial participation;
The relief navigation can realize rapidity, and road-holding property is good;
Improve the down reliable butt joint of high sea, band cable reliability is high.
Description of drawings
Technical scheme for clearer explanation embodiments of the invention or prior art; To do one to the accompanying drawing of required use in embodiment or the description of the Prior Art below introduces simply; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the birds-eye view of lifesaving robot of the present invention
Fig. 2 is the lateral plan of lifesaving robot of the present invention
Fig. 3 is the block diagram of lifesaving robot of the present invention
Fig. 4 is the jettisoning lateral plan of buoyant apparatus of the present invention
Fig. 5 is the jettisoning birds-eye view of buoyant apparatus of the present invention
Fig. 6 is the schematic perspective view of connecting portion of the present invention
Fig. 7 catches the scheme drawing of the buoyant apparatus of jettisoninging for lifesaving robot of the present invention uses the collision lock
Fig. 8 catches the scheme drawing of the buoyant apparatus of jettisoninging for lifesaving robot of the present invention uses pterygoid hamulus
The specific embodiment
For the purpose, technical scheme and the advantage that make embodiments of the invention clearer; Below in conjunction with the accompanying drawing in the embodiment of the invention; Technical scheme in the embodiment of the invention is known complete description; Obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to protection scope of the present invention not making all other embodiment that obtained under the creative work prerequisite.
Like Fig. 1-shown in Figure 8: a kind of maritime life-saving system, have the buoyant apparatus A1 that jettisonings that carries by the maritime navigation ship, in danger or when having personnel to fall the sea at ship; The buoyant apparatus A1 that jettisonings that vessel will carry; Jettisoning near persons falling in water, carry persons falling in water, wait for rescue.Rescue ship or rescue helicopters carry the lifesaving robot B1 that has autonomous dynamic and have autonomous target-seeking ability, behind the arrival accident marine site; Discharge lifesaving robot B1; Lifesaving robot B1 independently seeks target, and submerge is caught and is equipped with the buoyant apparatus A1 that jettisonings near jettisoninging buoyant apparatus A1; The buoyant apparatus B1 that will jettisoning is dragged to the designated area together with distress personnel, accomplishes the lifesaving process.
Consider native system in use, marine stormy waves is all bigger usually, and the buoyant apparatus A1 that jettisonings is bigger with the wave fluctuation, is difficult to catch.In order to increase the success ratio that lifesaving robot B1 catches the buoyant apparatus A1 that jettisonings; As a preferred implementation, like Fig. 7, Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5: be provided with the net A2 of a plurality of strips in the bottom of the buoyant apparatus A1 that jettisonings, the end of net A2 is fixed on the bottom of the buoyant apparatus A1 that jettisonings; The fixed end of a plurality of net A2 constitutes a circle; To guarantee that net A2 when the water float, is radial, to increase area of contact.Simultaneously, be provided with wing B2, on wing B2, be provided with a plurality of hook B21 in the front portion of lifesaving robot B1.
During use, lifesaving robot B1 relies on the hook B21 on its anterior wing B2 to catch on net A2, accomplishes the seizure to the buoyant apparatus A1 that jettisonings, and the buoyant apparatus A1 that will jettisoning is dragged to the appointed place and gets final product.
Under the situation that sea situation allows, as the mode that another preferable lifesaving robot B1 catches the buoyant apparatus A1 that jettisonings, as shown in Figure 8: the front end of lifesaving robot B1 has collision lock B3; Around the buoyant apparatus A1 that jettisonings, be provided with a plurality of ring A3, ring A3 is around the sidewall of the whole buoyant apparatus A1 that jettisonings, and lifesaving robot B1 relies on its front end crash lock B3, and collision ring A3 with the whole buoyant apparatus A1 locking of jettisoninging, is dragged to the appointed place and gets final product.
Collision lock B3 is fixed on the front end of lifesaving robot B1; Integral body is a ring, and the leading edge of this ring has opening, and an end of opening is connected with the bar of a movable certain angle; This bar is only when bearing external world's sensing ring pressure inside; Bar just can be the inner rotation of axial rings with the point of connection, and when external force disappeared, bar was got back to original position.
In order to increase the success ratio of the hook B21 catching net A2 on the wing B2, preferred, the quantity of said hook B21 is a plurality of, is evenly distributed on one side or the two sides of whole wing B2.
In order to guarantee that lifesaving robot B1 the time has minimum resistance in navigation, wing B2 is designed to folding, and near Lifesaving Heaving Device A1 the time, wing B2 launches in navigation, and when navigation and store status, wing B2 is a collapsed state.
As a preferred implementation, each lifesaving robot B1 has the wing B2 of two symmetries, and wing B2 is connected with lifesaving robot B1 through connecting portion B5, the expansion of connecting portion B5 control wing B2, packs up and overturns, and is as shown in Figure 6.
Preferably, connecting portion B5 has push rod B51 and the adapter shaft B52 that links to each other with push rod B51.Push rod B51, is driven it and makes axial crank motion through drive nut by lifesaving robot B1 in-to-in motor; The end of adapter shaft B52 is drive nut B521, and the other end is hollow tubular B522; Drive nut B521 matches with said push rod B51, accomplishes packing up and launching of wing B2 through the axial crank motion control of push rod B51; The inside of hollow tubular B522 is provided with rotary motor, and rotary motor is connected with wing B2, through the rotation of rotary motor B533, and the upset of control wing B2.
At the hook B21 of wing B2, catch on net A2 after, in order to strengthen connecting effect, preferred, wing B2 overturns, and will net A2 and be wrapped on the wing B2.
In order launching at wing B2, and to turn under upright position or the situation near the upright position, to reduce the running resistance of lifesaving robot B1, said wing B2 is provided with a plurality of through holes.
Existing sea rescue robot is generally the ship type, and its wind-proof and wave-proof system can be relatively poor, and under severe sea condition, the speed of navigation is also undesirable.As a preferred implementation, said lifesaving robot B1 is the stream line pattern swivel, and profile is similar to torpedo; Displacement when guaranteeing its complete submergence is greater than gravity, guarantee that promptly lifesaving robot B1 can bubble through the water column on, for this profile; Even lifesaving robot B1 is overturned by high sea, it is heavy to beat, because its gravity is less than flooding buoyancy; Still can bubble through the water column automatically, again because its cross section is circle, weight concentrates on the bottom and arranges simultaneously; Then can return to balance position very soon, thereby improve the navigation stability under the high sea.
Lifesaving robot B1 of the present invention in order to avoid the wave of the water surface, adopts submarine navigation in whole rescue process, arrive fast near the Lifesaving Heaving Device A1, and come-up is opened double-vane then, catches.Except leaning on the rudder blade of robot afterbody, outside the control keel depth, preferably, be provided with the propelling unit B7 of vertical direction at the middle part of lifesaving robot B1, to arrive the purpose of fast control lifesaving robot B1 keel depth.
Further, the middle part of said lifesaving robot B1 has the through hole B6 of vertical direction, and propelling unit B7 is installed among the through hole B6.
The above; Be merely the preferable specific embodiment of the present invention; But protection scope of the present invention is not limited thereto; Any technical personnel of being familiar with the present technique field is equal to replacement or change according to technical scheme of the present invention and inventive concept thereof in the technical scope that the present invention discloses, all should be encompassed within protection scope of the present invention.
Claims (9)
1. a maritime life-saving system is characterized in that having: buoyant apparatus of jettisoninging (A1) and the lifesaving robot (B1) that is used with the buoyant apparatus of jettisoninging (A1);
The buoyant apparatus (A1) of jettisoninging has a plurality of radial floating nets (A2) that in water, are;
The front portion of lifesaving robot (B1) has the wing (B2), and the surface of this wing (B2) has a plurality of hooks (B21);
During use, the robot autonomous searching of lifesaving is loaded with the buoyant apparatus of jettisoninging (A1) of persons falling in water, uses the hook (B21) on self wing (B2), catches on the net (A2) on the buoyant apparatus of jettisoninging (A1), and the buoyant apparatus (A1) of will jettisoninging is dragged to the appointed place, accomplishes the lifesaving process.
2. maritime life-saving system according to claim 1, its characteristic also is: the front end of said lifesaving robot (B1) has collision lock (B3); The periphery of buoyant apparatus (A1) of jettisoninging has the ring (A3) around the buoyant apparatus of jettisoninging (A1) sidewall; During use, the robot autonomous searching of lifesaving is loaded with the buoyant apparatus of jettisoninging (A1) of persons falling in water, uses collision lock (B3) bump ring (A3) that its front end has with the locking buoyant apparatus (A1) of jettisoninging, and the buoyant apparatus (A1) of will jettisoninging is dragged to the appointed place, accomplishes the lifesaving process.
3. a kind of maritime life-saving system according to claim 1, its characteristic also is: the said wing (B2) is connected with robot (B1) through connecting portion (B5), and said connecting portion (B5) the control wing (B2) is accomplished packing up, launch and overturning of the wing (B2).
4. a kind of maritime life-saving system according to claim 3, its characteristic also is: said connecting portion (B5) has: push rod (B51) with captive joint the adapter shaft (B52) of the wing (B2);
Said push rod (B51) drives it by lifesaving robot (B1) in-to-in motor through drive nut and makes axial crank motion;
One end of adapter shaft (B52) is drive nut (B521), and the other end has hollow tubular (B522);
Drive nut (B521) matches with said push rod (B51), through the axially reciprocating control linkage axle (B52) of push rod (B51), adapter shaft (B52) is accomplished horizontally rotated, and then the control wing (B2) horizontally rotates, and accomplishes packing up and launching of the wing (B2); The inside of hollow tubular (B522) is provided with rotary motor (B533), and rotary motor (B533) is connected with the wing (B2), through the rotation of rotary motor (B533), and the upset of the control wing (B2).
5. according to claim 1 or 3 described a kind of maritime life-saving systems, its characteristic also is: the said wing (B2) has a plurality of minimizings when the wing (B2) turn to vertical position or certain angle, reduces the through hole (B22) of running resistance.
6. according to the described a kind of maritime life-saving system of any claim of claim 1-5; Its characteristic also is: said lifesaving robot (B1) is the stream line pattern swivel, and the middle part of lifesaving robot (B1) has the propelling unit (B7) that changes lifesaving robot (B1) keel depth.
7. a kind of maritime life-saving system according to claim 6, its characteristic also is: the middle part of said lifesaving robot (B1) has vertical through hole (B6), and said propelling unit (B7) is arranged in the through hole (B6).
8. a kind of maritime life-saving system according to claim 1; Its characteristic also is: the hawser that the net (A2) that the said buoyant apparatus of jettisoninging (A1) is hung is adopted is a S type hawser; Perturbation action with decay water surface wave; This hawser is near the density of the shackle of the fixed end density greater than seawater, near the density of the free-ended shackle density less than seawater.
9. a kind of maritime life-saving system according to claim 1, its characteristic also is: the said buoyant apparatus of jettisoninging (A1) is a buoy quoit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210067304.0A CN102582804B (en) | 2012-03-14 | 2012-03-14 | Marine rescue system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210067304.0A CN102582804B (en) | 2012-03-14 | 2012-03-14 | Marine rescue system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102582804A true CN102582804A (en) | 2012-07-18 |
| CN102582804B CN102582804B (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210067304.0A Expired - Fee Related CN102582804B (en) | 2012-03-14 | 2012-03-14 | Marine rescue system |
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| Country | Link |
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| CN (1) | CN102582804B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828826A (en) * | 2017-02-27 | 2017-06-13 | 上海交通大学 | One kind automation rescue at sea method |
| CN106864697A (en) * | 2017-02-27 | 2017-06-20 | 上海交通大学 | One kind automation rescue at sea robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB207758A (en) * | 1923-06-05 | 1923-12-06 | Harriette Ensley Hodgson | Improvements in or relating to marine and like life saving devices |
| JPS63255196A (en) * | 1987-04-10 | 1988-10-21 | Mitsubishi Heavy Ind Ltd | Robot type salvage device |
| CN101323357A (en) * | 2008-05-27 | 2008-12-17 | 大连海事大学 | Safe salvage method for passenger ship distress persons under bad sea condition |
| US7506606B2 (en) * | 2003-07-03 | 2009-03-24 | Robert Joseph Murphy | Marine payload handling craft and system |
-
2012
- 2012-03-14 CN CN201210067304.0A patent/CN102582804B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB207758A (en) * | 1923-06-05 | 1923-12-06 | Harriette Ensley Hodgson | Improvements in or relating to marine and like life saving devices |
| JPS63255196A (en) * | 1987-04-10 | 1988-10-21 | Mitsubishi Heavy Ind Ltd | Robot type salvage device |
| US7506606B2 (en) * | 2003-07-03 | 2009-03-24 | Robert Joseph Murphy | Marine payload handling craft and system |
| CN101323357A (en) * | 2008-05-27 | 2008-12-17 | 大连海事大学 | Safe salvage method for passenger ship distress persons under bad sea condition |
Non-Patent Citations (1)
| Title |
|---|
| 燕奎臣等: "一种水面救助机器人", 《机器人》, vol. 23, no. 6, 30 November 2001 (2001-11-30), pages 494 - 497 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828826A (en) * | 2017-02-27 | 2017-06-13 | 上海交通大学 | One kind automation rescue at sea method |
| CN106864697A (en) * | 2017-02-27 | 2017-06-20 | 上海交通大学 | One kind automation rescue at sea robot |
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| Publication number | Publication date |
|---|---|
| CN102582804B (en) | 2014-01-15 |
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