CN105923127A - Integrated underwater searching and rescuing robot - Google Patents
Integrated underwater searching and rescuing robot Download PDFInfo
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- CN105923127A CN105923127A CN201610534428.3A CN201610534428A CN105923127A CN 105923127 A CN105923127 A CN 105923127A CN 201610534428 A CN201610534428 A CN 201610534428A CN 105923127 A CN105923127 A CN 105923127A
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- search
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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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
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- Engineering & Computer Science (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses an integrated underwater searching and rescuing robot. The integrated underwater searching and rescuing robot comprises a shell, a control system, a sensing system, an action system, a searching and alarming system, a rescuing system, a positioning and communication system, a buoyancy system and a power supply system, wherein the shell is spherical; the control system comprises a maritime control system, a processor, a relay, a driver and the like; the sensing system is composed of various sensors; the action system comprises a horizontal propeller and a vertical propeller; the searching and alarming system comprises an infrared thermal imaging system, a light source, an imaging sonar, an alarm and the like; and the rescuing system comprises a rescuing airbag, judgment equipment, triggering equipment, a gas generator and the like. The integrated underwater searching and rescuing robot has the beneficial effects that the size is small and action is rapid and flexible; a searching and rescuing manner is timely and effective and moderate and additional dangers to persons in distress are not caused; the infrared thermal imaging system is combined with the imaging sonar so that the accuracy is improved and influences caused by the environment are small; and an integrated searching and rescuing system can be used for initiatively searching and rescuing underwater, and the searching and rescuing efficiency and the success rate are improved.
Description
Technical field
The present invention relates to robot building technical field, in particular, relate to one search and rescue robot under water.
Background technology
At present, along with the raising of living standards of the people, people increasingly like going on a visit to the seaside when holiday, participate in seashore and the activity at sea, but because waters, ground of playing too much and is unfamiliar with by the stream of people, the accident of being drowned happens occasionally.Meanwhile, flourish along with ocean development cause, need the work of underwater operation to get more and more, difficulty is the most increasing, and the possibility caused danger is the highest.
In current search and rescue system, how to search and rescue on sea, for undersea search and rescue activity, due to the complicated severe operating environment such as low temperature, torrent, pollution, the biggest interference is caused for rescue worker, and the mode of manual search, search time is limited and easily brings injures and deaths to reseaching staff.Then, search and rescue robot, because it is not by the complicated advantage disliking slightly ambient influnence such as low temperature, torrent, pollution, is more suitable under sea searching and rescuing.But underwater robot is used for underwater operation at present, and scope of activities is relatively fixed, and functional requirement is the most more, therefore equipment mostly is complicated and main equipment, and this kind equipment is also simultaneously because of the existence of the hawsers such as umbilical cables, and action is the most dumb.
Chinese patent 201410323078.7 " one search and rescue robot under water " discloses one search and rescue robot under water, including frame structure, it is characterised in that described frame structure mounted inside electronic compartment group, monitoring system, alignment system, operating system, searchlighting system, propulsion system, buoyant module；Described electronic compartment group is made up of two nacelle, installs electronic control module in installing power transfer module, the second electronic compartment in the first electronic compartment；Described monitoring system is made up of the Underwater Camera and imaging sonar being positioned at frame structure front portion；Described alignment system is made up of fixed sonar；Described operating system is made up of manipulator, is installed on frame structure front portion center position, the under water underface of video camera；Described propulsion system has multiple propeller, and dispersion is installed in frame structure, it is achieved robot Multidirectional motion；Described buoyant module is positioned at frame structure top.It is disadvantageous in that manipulator, when performing rescue action, easily produces accidental injury to drowning person, for still the drowning person struggled more so；Further, described electronic compartment is connected with water surface control system by umbilical cables, although whole equipment is the most flexible, but because the existence of umbilical cables limits sphere of action, can not be timely and effective for search and rescue under sea；Further, search and rescue robot function is more described in patent, it is impossible to accomplish small and exquisite, when being used for searching and rescuing, underaction is motor-driven.
Summary of the invention
The invention provides a kind of search and rescue robot under water integrating search and rescue aid under water, to realize underwater security, fast and effectively search-and-rescue work.
For reaching function above, the present invention provides search and rescue robot under a kind of integrated water to include shell, control system, sensory perceptual system, behavioral system, search warning system, rescue system, location of communication system, buoyancy system and electric power system.It is characterized in that: under described integrated water, search and rescue robot outward appearance is spherical；Control system is mainly provided with marine control system, processor, repeater, driver etc.；Sensory perceptual system is mainly provided with depth pressure sensor, dynamic pickup, pressure sensor, temperature sensor, leakage sensor, velocity sensor, avoidance sensor etc.；Behavioral system is mainly provided with horizontal propeller, vertical pusher etc.；Search warning system is mainly provided with infra-red thermal imaging system, light source, imaging sonar, alarm etc.；Rescue system is mainly provided with rescuing air bag, judgement equipment, triggering equipment, gas generator etc.；Location of communication system is mainly provided with acoustics and magnetics alignment system, depth gauge, altimeter, direction compass etc.；Buoyancy system principal set up buoyancy water tank；Electric power system is mainly provided with rechargeable battery.
Under integrated water, the shell of search and rescue robot is mainly made up of Stainless steel 316, it is possible to be made up of aluminium alloy；The part sea control system being wherein in sea in control system includes the devices such as computer, display, signal reception；Horizontal propeller has two, and be symmetrically mounted on search and rescue robot center line on the lower side before and after position, described vertical pusher one, be arranged on immediately below search and rescue robot；Infra-red thermal imaging system cooperates with light source, has two sets, is symmetrically arranged on search and rescue robot center line two ends；Rescue system is arranged on the top of search and rescue robot, and wherein said rescue air bag is reusable；Buoyancy water tank has two, is symmetrically mounted on the horizontal propeller side of search and rescue robot.
The invention has the beneficial effects as follows:
1. mode of searching and rescuing is timely and effective and gentle, and person in distress will not cause additional injury；
2. the volume of search and rescue robot own is little, takes action rapid and flexible, and rescue efficiency is greatly improved；
3. search and rescue robot uses infra-red thermal imaging system to be combined with imaging sonar, substantially increases the accuracy of search and rescue, protected from environmental less；
4. search and rescue robot is with rescue system, can the most actively sue and labour, and substantially increases search efficiency and success rate.
Detailed description of the invention
The invention provides search and rescue robot under a kind of integrated water, to realize underwater security, fast and effectively search-and-rescue work.
The present invention provides search and rescue robot under a kind of integrated water to include shell, control system, sensory perceptual system, behavioral system, search warning system, rescue system, location of communication system, buoyancy system and electric power system.It is characterized in that: under described integrated water, search and rescue robot shell is spherical；Control system is mainly provided with marine control system, processor, repeater, driver etc.；Sensory perceptual system is mainly provided with depth pressure sensor, dynamic pickup, pressure sensor, temperature sensor, leakage sensor, velocity sensor, avoidance sensor etc.；Behavioral system is mainly provided with horizontal propeller, vertical pusher etc.；Search warning system is mainly provided with infra-red thermal imaging system, light source, imaging sonar, alarm etc.；Rescue system is mainly provided with rescuing air bag, judgement equipment, triggering equipment, gas generator etc.；Location of communication system is mainly provided with acoustics and magnetics alignment system, depth gauge, altimeter, direction compass etc.；Buoyancy system principal set up buoyancy water tank；Electric power system is mainly provided with rechargeable battery.
Under integrated water, search and rescue robot shell mainly can be made up of bi-material, respectively Stainless steel 316, or is mainly made up of aluminium alloy.
The part sea control system being in sea in control system includes the devices such as computer, display, signal reception, the search and rescue robot process of searching and rescuing under water can be real-time transmitted to marine control part, when the pattern of search and rescue robot under water shifts to semi-automatic from Full-automatic cutting, marine control system plays vital effect.
Behavioral system has two horizontal propellers, be symmetrically mounted on search and rescue robot center line on the lower side before and after position, control search and rescue robot operation all around under water；Vertical pusher one, is arranged on immediately below search and rescue robot, controls search and rescue robot dive under water and motion of floating.
Infra-red thermal imaging system in search warning system cooperates with light source, have two sets, it is symmetrically arranged on search and rescue robot center line two ends, wherein the areas imaging of two set infra-red thermal imaging systems is all higher than 180 °, two cover systems are with the use of just scanning for 360 °, imaging sonar matches with infra-red thermal imaging system work simultaneously so that under major part scene below sea, search and rescue robot all can rapidly and efficiently complete search-and-rescue work.
Rescue system is arranged on the top of search and rescue robot, and wherein said rescue air bag is reusable, and rescue air bag can quickly fill with after ejecting, and its edge is with a circle handle, is available for remaining intellectual person in distress and promptly grips, it is to avoid be panic.
The buoyancy water tank of buoyancy system has two, it is symmetrically mounted on the horizontal propeller side of search and rescue robot, signal according to horizon sensor is automatically adjusted the state of search and rescue robot, and the search and rescue robot rescue failure that causes of rollover or the accident such as hurt sb.'s feelings occur when preventing from rescuing people.
Under integrated water, the rescue method of search and rescue robot is quickly, effective, casualty rate is low, searches and rescues step as follows:
1) search and rescue robot enters water, and behavioral system controls search and rescue robot and the most quickly and flexibly runs；
2) search warning system is started working, and imaging sonar search and guides robot to dodge obstacle, and light source coordinates infra-red thermal imaging system to form search video, determine whether distress personnel, once it is judged to distress personnel, alarm equipment alarm, and transmits video information and positional information gives to search and rescue ship etc.；
3) after finding distress personnel, the state of distress personnel is judged rapidly by search and rescue robot by sensory perceptual system, now it is broadly divided into two kinds of situation reactions: if a distress personnel is still being struggled, then behavioral system control search and rescue robot runs the position near distress personnel near hand, triggering equipment triggers gas generator, eject rescue air bag, after person in distress catches cell edges handle or person in distress climbs to swim in together along with search and rescue robot on air bag more than sea, wait and search and rescue suing and labouring further of ship etc.；If b person in distress has been out consciousness, then running to immediately below person in distress center under the control of search and rescue robot system in action, the equipment that triggers triggers gas generator, and second time sends emergency relief alarm to marine control system, eject rescue air bag, person in distress is quickly lifted to more than sea.
The above-mentioned description to embodiment be for the ease of those skilled in the art it will be appreciated that and application this case technology, these embodiments obviously can be made various amendment by person skilled in the art easily, and General Principle described herein is applied in other embodiments without through performing creative labour.Therefore, this case is not limited to above example, and those skilled in the art should be in the protection domain of this case according to the announcement of this case, the improvement made for this case and amendment.
Claims (8)
1. a search and rescue robot under integrated water, wherein under integrated water, search and rescue robot includes shell, control system, sensory perceptual system, behavioral system, search warning system, rescue system, location of communication system, buoyancy system and electric power system；It is characterized in that: described shell is spherical；Described control system is mainly provided with marine control system, processor, repeater, driver etc.；Sensory perceptual system is mainly provided with depth pressure sensor, dynamic pickup, pressure sensor, temperature sensor, leakage sensor, velocity sensor, avoidance sensor etc.；Behavioral system is mainly provided with horizontal propeller, vertical pusher etc.；Search warning system is mainly provided with infra-red thermal imaging system, light source, imaging sonar, alarm etc.；Rescue system is mainly provided with rescuing air bag, judgement equipment, triggering equipment, gas generator etc.；Location of communication system is mainly provided with acoustics and magnetics alignment system, depth gauge, altimeter, direction compass etc.；Buoyancy system principal set up buoyancy water tank；Electric power system is mainly provided with rechargeable battery.
Search and rescue robot under a kind of integrated water the most according to claim 1, it is characterised in that described search and rescue robot shell main material is Stainless steel 316.
Search and rescue robot under a kind of integrated water the most according to claim 1, it is characterised in that described search and rescue robot shell main material is aluminium alloy.
Search and rescue robot under a kind of integrated water the most according to claim 1, it is characterised in that described marine control system includes the devices such as computer, display, signal reception.
5. according to search and rescue robot under a kind of integrated water described in claim 1, it is characterised in that described horizontal propeller has two, and position on the lower side before and after being symmetrically mounted on search and rescue robot center line, described vertical pusher one, it is arranged on immediately below search and rescue robot.
Search and rescue robot under a kind of integrated water the most according to claim 1, it is characterised in that described infra-red thermal imaging system cooperates with light source, has two sets, is symmetrically arranged on search and rescue robot center line two ends.
Search and rescue robot under a kind of integrated water the most according to claim 1, it is characterised in that described rescue system is arranged on the top of search and rescue robot, and wherein said rescue air bag is reusable.
Search and rescue robot under a kind of integrated water the most according to claim 1, it is characterised in that described buoyancy water tank has two, is symmetrically mounted on the horizontal propeller side of search and rescue robot.
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| CN201610534428.3A CN105923127A (en) | 2016-07-08 | 2016-07-08 | Integrated underwater searching and rescuing robot |
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| CN201610534428.3A CN105923127A (en) | 2016-07-08 | 2016-07-08 | Integrated underwater searching and rescuing robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737703A (en) * | 2016-11-22 | 2017-05-31 | 合肥中科艾帝尔机器人技术有限公司 | Rescue robot under water and its rescue mode based on wireless telecommunications |
| CN107554722A (en) * | 2017-09-11 | 2018-01-09 | 太仓博轩信息科技有限公司 | A kind of intelligent robot for being used in water rescue and its control method |
| CN108408002A (en) * | 2018-03-27 | 2018-08-17 | 中国海洋大学 | A kind of submersible integrating ROV and underwater assist function |
| CN108413962A (en) * | 2018-02-06 | 2018-08-17 | 武汉理工大学 | A kind of search and rescue robot waterborne quickly searches and rescues positioning system |
| CN108528661A (en) * | 2018-07-01 | 2018-09-14 | 甄聪伟 | A kind of control method of water life-saving robot |
| CN108891559A (en) * | 2018-07-01 | 2018-11-27 | 甄聪伟 | The control method of rescue robot on a kind of new type water |
| WO2019174005A1 (en) * | 2018-03-15 | 2019-09-19 | 深圳前海达闼云端智能科技有限公司 | Collision processing method, apparatus, robot and computer readable storage medium |
| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
| CN114344759A (en) * | 2017-03-28 | 2022-04-15 | 西华大学 | High useless well rescue robot of security |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737703A (en) * | 2016-11-22 | 2017-05-31 | 合肥中科艾帝尔机器人技术有限公司 | Rescue robot under water and its rescue mode based on wireless telecommunications |
| CN106737703B (en) * | 2016-11-22 | 2019-07-12 | 合肥中科艾帝尔机器人技术有限公司 | Underwater rescue mode based on underwater rescue robot |
| CN114344759A (en) * | 2017-03-28 | 2022-04-15 | 西华大学 | High useless well rescue robot of security |
| CN114344759B (en) * | 2017-03-28 | 2022-11-18 | 科茂经纬通讯科技(邳州)有限公司 | High useless well rescue robot of security |
| CN107554722A (en) * | 2017-09-11 | 2018-01-09 | 太仓博轩信息科技有限公司 | A kind of intelligent robot for being used in water rescue and its control method |
| CN108413962A (en) * | 2018-02-06 | 2018-08-17 | 武汉理工大学 | A kind of search and rescue robot waterborne quickly searches and rescues positioning system |
| WO2019174005A1 (en) * | 2018-03-15 | 2019-09-19 | 深圳前海达闼云端智能科技有限公司 | Collision processing method, apparatus, robot and computer readable storage medium |
| CN108408002A (en) * | 2018-03-27 | 2018-08-17 | 中国海洋大学 | A kind of submersible integrating ROV and underwater assist function |
| CN108528661A (en) * | 2018-07-01 | 2018-09-14 | 甄聪伟 | A kind of control method of water life-saving robot |
| CN108891559A (en) * | 2018-07-01 | 2018-11-27 | 甄聪伟 | The control method of rescue robot on a kind of new type water |
| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
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Application publication date: 20160907 |