CN108298044A - A kind of water life-saving robot - Google Patents
A kind of water life-saving robot Download PDFInfo
- Publication number
- CN108298044A CN108298044A CN201810221154.1A CN201810221154A CN108298044A CN 108298044 A CN108298044 A CN 108298044A CN 201810221154 A CN201810221154 A CN 201810221154A CN 108298044 A CN108298044 A CN 108298044A
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- China
- Prior art keywords
- unit
- control system
- telecommand
- buoy
- rescue
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 52
- 230000004888 barrier function Effects 0.000 claims description 44
- 230000003993 interaction Effects 0.000 claims description 19
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 claims description 14
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 claims description 12
- 230000008054 signal transmission Effects 0.000 claims description 11
- 230000007306 turnover Effects 0.000 claims description 10
- 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
- 230000008859 change Effects 0.000 claims description 5
- WPYMKLBDIGXBTP-UHFFFAOYSA-N benzoic acid Chemical compound OC(=O)C1=CC=CC=C1 WPYMKLBDIGXBTP-UHFFFAOYSA-N 0.000 claims description 4
- OKIZCWYLBDKLSU-UHFFFAOYSA-M N,N,N-Trimethylmethanaminium chloride Chemical compound [Cl-].C[N+](C)(C)C OKIZCWYLBDKLSU-UHFFFAOYSA-M 0.000 claims description 3
- 239000012752 auxiliary agent Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 239000005711 Benzoic acid Substances 0.000 claims description 2
- 235000010233 benzoic acid Nutrition 0.000 claims description 2
- 238000007667 floating Methods 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- NMOJAXCSURVGEY-UHFFFAOYSA-N N#CC#N.[S] Chemical compound N#CC#N.[S] NMOJAXCSURVGEY-UHFFFAOYSA-N 0.000 claims 1
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 229910052742 iron Inorganic materials 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 4
- 206010013647 Drowning Diseases 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 102000010637 Aquaporins Human genes 0.000 description 1
- 108010063290 Aquaporins Proteins 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 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
A kind of water life-saving robot, including buoy shell, the buoy shell is internally provided with propulsion system, the propulsion system is connected with water inflow control system, the water inflow control system is connected with steering control system, buoy control system and first is additionally provided with inside the buoy shell for electric installation, the buoy control system is electrical connected with propulsion system, steering control system respectively, and described first is electrical connected with propulsion system, steering control system and buoy control system respectively for electric installation；Further include remote-control handle, remote-control handle is equipped with direction and/or speed control mechanism, and the remote-control handle is internally provided with remote control system, and the remote control system, which is electrical connected, to be had second for electric installation.The present invention can two sides water inlet, regardless of after throwing down towards above, the hydraulic jet propulsion of achievable rescue robot；And it is low to the requirement of operator's technology, it is wide using crowd's range；Be also equipped with make a return voyage automatically, GPS positioning, infra-red detection, the functions such as outer housing self-luminous.
Description
Technical field
The invention belongs to water based rescues fields, and in particular to a kind of water life-saving robot.
Background technology
It is reported that drowned is the third-largest reason of Unintentional injury death all over the world, account for all related with injury dead
7%, therefore water life-saving equipment is extremely important.
Current most common rescue aid is lifebuoy, life vest and lifeboat etc., but in practical rescue operations,
Play the role of very limited, lifebuoy and life vest needs are thrown by near rescue personnel, but for drowning at a distance
It is difficult not only to throw, nor can guarantee that it accurately falls on drowning person at one's side for personnel；And for lifeboat, though
Its right speed is fast, but limited amount, it cannot be guaranteed that there is rescue ship to be waited for rescue on bank when in danger every time, and its
Rescue personnel is required, the technology of sailing etc. is needed to be grasped, it is therefore desirable to be equipped with professional, in addition, be reached in lifeboat
Drowning people at one's side when often complete to rescue by the way of sliding to drowning people in kayak body from kayak body from pull-up in water, it is general
The kayak body of lifeboat has certain altitude from the water surface, and drowning people is easy to injury in the process, when drowning people is pulled out water
Kayak body can be tilted to side, serious kayak body to be caused to topple.
Invention content
To solve the problems in the background art, the present invention provides a kind of water life-saving robots, solve existing rescue
It helps device rate and requires high and rescue safety difference problem slowly, to rescue personnel's technology.
The technical scheme is that：
A kind of water life-saving robot, it is characterised in that：Including buoy shell, the buoy shell is internally provided with propulsion system,
The propulsion system is connected with water inflow control system, and the water inflow control system is connected with steering control system, the buoy shell
Internal portion is additionally provided with buoy control system and first for electric installation, the buoy control system respectively with the propulsion system, institute
Steering control system is stated to be electrical connected, described first for electric installation respectively with the propulsion system, steering control system and buoy
Control system is electrical connected；Further include remote-control handle, the remote-control handle is equipped with direction and/or speed control mechanism, described
Remote-control handle portion is equipped with remote control system, and the remote control system, which is electrical connected, to be had second for electric installation；The buoy control
System processed is wirelessly connected with the remote control system.
Further, the propulsion system includes motor, and the motor is connected with axis, and the axis connection has turbine.
Further, the water inflow control system be in " Y " font, including be located at upper and lower both sides upper intake tunnel and
The infall of lower intake tunnel, the upper intake tunnel and lower intake tunnel is connected with Cover For A Turbine, the Cover For A Turbine end connection
There is an exhalant canal, upper rotary shaft is respectively equipped on madial wall under the upper madial wall of the upper intake tunnel and the lower intake tunnel
And lower rotary shaft, the upper rotary shaft are connected with flap, the lower rotary shaft is connected with lower turnover panel.
Further, the steering control system includes steering engine, and the steering engine is equipped with fixing axle, the fixing axle outer wall
It is connected with rotating vane, the rotating vane is connected with stayed pole, and the stayed pole is connected with steering spout, the steering
Spout is set in the outside of the exhalant canal.
Further, the remote control system includes user interaction unit, telecommand coding unit and telecommand
Transmission unit, the direction and/or speed control mechanism are electrical connected with the user interaction unit, the user interaction unit
It is electrical connected with the telecommand coding unit, the telecommand coding unit and the electrical phase of telecommand transmission unit
Even；
The direction and/or speed control mechanism carry out the operation of the change to the direction or speed of rescue robot for user,
And for being that operation signal is transferred to user interaction unit by the operational transition of user；
The user interaction unit, user's control signal for receiving the direction and/or speed control mechanism transmission, goes forward side by side
Row analysis is to obtain telecommand.
The telecommand coding unit, the control signal sent for receiving the user interaction unit, and to its into
Row coding；
The telecommand transmission unit, for the telecommand after coding to be passed to buoy control system；
The buoy control system includes telecommand receiving unit, telecommand resolution unit and execution unit, the remote control
Instruction reception unit is electrical connected with the telecommand resolution unit, the telecommand resolution unit and the execution unit
It is electrical connected；
The telecommand receiving unit, the telecommand for receiving the transmission of telecommand transmission unit, and send it to
Telecommand resolution unit；
Instruction after parsing is sent to and holds for being parsed to the telecommand of reception by the telecommand resolution unit
Row unit；
The execution unit, the telecommand for receiving the transmission of telecommand resolution unit, and it is corresponding according to the instruction execution
Operation.
Further, the remote control system further includes coding transmission unit and feedback signal reception unit, the volume
Code receiving unit is electrical connected with the feedback signal reception unit, and the feedback signal reception unit is sent out with the telecommand
Unit is sent to be electrical connected；
The buoy control system further includes number receiving unit, judging unit and feedback signal transmission unit, and the number connects
It receives unit to be electrical connected with judging unit, the judging unit and the feedback signal transmission unit are electrical connected, the feedback
Signal transmitting unit is electrical connected with the telecommand receiving unit；
The number transmission unit and the number receiving unit, the feedback signal transmitter unit and feedback signal reception unit
Between wirelessly connect；
The coding transmission unit, for the number to prestore in the remote control system to be sent to number receiving unit,
The number is uniquely corresponding to the remote control system target rescue robot to be controlled residing for the coding transmission unit；
The coding receiving unit, the number information sent for receiving coding transmission unit, and it is further transmitted to institute
State judging unit；
The judging unit, the number sent for receiving the coding transmission unit, and the number and the buoy are controlled
The number for the corresponding rescue robot that system is prestored is compared, to judge whether two numbers are consistent, i.e., described
Whether what remote control system was sent is instruction for the rescue robot where the buoy control system；
The feedback signal transmission unit, for will determine that the judging result of unit is sent to feedback signal reception unit, also,
When judging that two numbers are identical, telecommand receiving unit can be also sent a signal to, notifies telecommand receiving unit
It carries out signal and receives and prepare, that is, complete the communication connection being remotely controlled between control system and buoy control system；
The feedback signal reception unit, the judging result sent for receiving the feedback signal transmission unit, when receiving
When numbering consistent judging result, telecommand transmission unit is sent a signal to, the telecommand transmission unit receives the letter
After number, you can send telecommand.
Further, the buoy shell is equipped with camera, and the camera is used for captured in real-time rescue situations；It is described
Remote-control handle is equipped with display screen, the video pictures for showing the camera shooting.
Further, the buoy shell is equipped with GPS positioning unit, infrared transmitting device, infrared distance measuring sensing
Device and pressure sensor, to realize that the automatic of rescue robot is maked a return voyage；
The GPS positioning unit, for positioning rescue robot initial position and by rescue personnel position；
The infrared transmitting device and infrared distance measuring sensor, for carrying out by the detection of rescue personnel position；
Whether the pressure sensor moves to rescue robot for detecting by rescue personnel.
Further, positioning unit is equipped in the remote control system, the positioning unit is positioned for dynamic to make a return voyage
Target location, and this location information is passed into buoy control system, the case where variation with the place that is suitable for making a return voyage safely；
The buoy control system further includes route planning unit and infrared temperature sensor；
The route planning unit, for automatically and dynamically being advised to becoming the minimal path between target point and rescue point that makes a return voyage
It draws, and the barrier on return route is evaded, to realize that safety is maked a return voyage；
The infrared temperature sensor, is identified for the temperature to barrier, with judge its for biological barrier or
Abiotic barrier；
Specifically, when rescue, the infrared temperature sensor judges barrier classification, the infrared distance measuring sensor
Carry out range measurement, set the infrared emitting moment as, the time of reception is, then the spacing of rescue robot and barrier be, whereinFor the light velocity in vacuum, when setting initial rescue robot at a distance from barrier as, subsequent rescuing machine
Device people turns to clockwiseAngle, and emit infrared ray again, detect whether barrier and the distance apart from barrier, when
When barrier is not detected, advance to this direction, if detecting barrier, rescue robot turns to counterclockwiseAngle is visited
Whether survey has barrier and the distance apart from barrier, and advance to this direction when barrier is not detected, turnaround time
ForMillisecond, barrier existDisplacement in millisecond is ignored, then turns to distanceForOr。
Further, the buoy shell outer surface is coated with luminescent material, and the luminescent material is glimmering by long afterglow
Light powder, high molecular polymer, auxiliary agent, acetone, benzene, ferric rhodanate, tetramethyl ammonium chloride, hydroquinone, triethylamine, benzoic acid,
Acetone is made.
Beneficial effects of the present invention are：
Further include remote control hand 1. the present invention includes propulsion system, water inflow control system, steering control system, buoy control system
Handle, remote control system, when there is personnel to drown, rescue personnel can be come in safety zones such as banks by controlling remote-control handle
It controls propulsion system and promotes rescue robot, control steering control system is to adjust the direction of advance of rescue robot so that rescues
Help robot and quickly reach and at one's side and rescued by rescue personnel, the rescue robot technology of rescue personnel is required it is low,
Anyone can simply and easily manipulate use, and rescue speed is fast, while not needing water under rescue personnel and rescuing, and be rescued
Personnel can climb up rescue robot by itself strength, and make a return voyage under the load support of rescue robot, and safety and rescue are imitated
Rate higher.
2. the water inflow control system of the present invention includes the upper intake tunnel for being located at upper and lower both sides and lower intake tunnel, on
Upper rotary shaft and lower rotary shaft are respectively equipped under the upper madial wall of intake tunnel and lower intake tunnel on madial wall, upper rotary shaft is lived
Dynamic to be connected with flap, lower rotary shaft is connected with lower turnover panel.This two sides water inlet structure can ensure no matter rescue robot
From on ship, on the bank or on aircraft by throw intake in when towards above how, rescue robot can be pushed away by normal water spray
Into ensureing the smooth expansion of rescue work with this.
3. remote control system of the present invention, which includes user interaction unit, telecommand coding unit and telecommand, sends list
Member；Buoy control system includes telecommand receiving unit, telecommand resolution unit and execution unit.It can be by user to distant
The manipulation and control of control handle is converted to the execution of the relevant action of rescue robot.Remote control system further includes that number sends list
Member and feedback signal reception unit；The buoy control system further includes number receiving unit, judging unit and feedback signal hair
Penetrate unit.It, which can be further implemented in the same time, manipulates multiple rescue robots, and is not in that telecommand is obscured
Situation.
4. buoy shell of the present invention is equipped with camera, remote-control handle is equipped with display screen, is observed convenient for rescue personnel
Rescue situations, and make corresponding operation.GPS positioning unit, infrared transmitting device, infrared is additionally provided on the buoy shell
Line distance measuring sensor and pressure sensor, can to being positioned by rescue personnel position and rescue robot initial position,
Detection is by the position of rescue personnel simultaneously, and judges whether moved on rescue robot by rescue personnel.
5. the buoy shell outer surface of the present invention is coated with luminescent material, do not known in the light such as cloudy day or night conveniently
In the case of be unfolded rescue, improve nighttime visibility.
Description of the drawings
Fig. 1 is the external structure schematic diagram of the present invention；
Fig. 2 is the side view of the present invention；
Fig. 3 is the vertical view of the present invention；
Fig. 4 is the structural schematic diagram of propulsion system of the present invention；
Fig. 5 is the structural schematic diagram of water inflow control system of the present invention；
Fig. 6 is remote-control handle structural schematic diagram of the present invention；
Fig. 7 is remote control system of the present invention and buoy control system schematic diagram；
It intakes on 1. buoy shell, 2. propulsion system, 201. motor, 202. axis, 203. turbine, 3. water inflow control system 301. in figure logical
306. lower rotary shaft of intake tunnel 303. Cover For A Turbine, 304. exhalant canal, 305. upper rotary shaft of road 302. times, 307. flap 308.
It is floating that 403. rotating vane of lower turnover panel 4. steering control system, 401. steering engine, 402. fixing axle, 404. stayed pole 405. turns to spout 5.
It marks 501. telecommand receiving unit of control system, 502. telecommand resolution unit, 503. number of execution unit 504. and receives list
First 505. judging unit, 506. feedback signal transmitter unit 6. first is for 7. remote-control handle of electric installation, 8. direction and/or speed control
9. remote control system 901. of mechanism includes that 902. telecommand coding unit of user interaction unit, 903. telecommand sends list
First 904. number transmission unit, 905. feedback signal reception unit 10. second is for 11. camera of electric installation, 12. display screen 13.GPS
17. positioning unit of positioning unit 14. infrared transmitting device, 15. infrared distance measuring sensor, 16. pressure sensor, 18. route is advised
Draw 19. infrared temperature sensor of unit.
Specific implementation mode
A kind of water life-saving robot, including buoy shell 1, the buoy shell 1 are preferably shaped to inverted U, that is, wrap
Include streamlined front and the left support arm being integrally connected respectively with the streamlined front left and right sides and right support arm.
Propulsion system 2 is equipped with inside the left support arm and right support arm of the buoy shell 1, the propulsion system 2 includes electricity
Machine 201, axis 202 and turbine 203.The motor 201 is connected with axis 202, and the other end of the axis 202 is connected with turbine 203, institute
Stating motor 201 can drive turbine 203 to rotate.
The propulsion system 2 is connected with water inflow control system 3, the water inflow control system 3 include upper intake tunnel 301,
Lower intake tunnel 302, Cover For A Turbine 303, exhalant canal 304, upper rotary shaft 305, lower rotary shaft 306, flap 307 and lower turnover panel
308.The water inflow control system 3 is in " Y " font, and the upper intake tunnel 301 and lower intake tunnel 302 respectively constitute " Y " word
Liang Ge branches, the Cover For A Turbine 303 and exhalant canal 304 collectively form the trunk of " Y " word, 301 He of upper intake tunnel
The infall of lower intake tunnel 302 is connected with Cover For A Turbine 303, and the Cover For A Turbine 303 is set in the outside of the turbine 203, institute
It states 303 end of Cover For A Turbine and is connected with exhalant canal 304.The upper intake tunnel 301 and lower intake tunnel 302 are respectively arranged at institute
The both sides up and down of axis 202 are stated, water inlet, the water inlet are respectively equipped on the upper intake tunnel 301 and lower intake tunnel 302
It is preferably arranged to horizontal direction, to realize the maximization with water engaging surface product.The water inlet position is corresponded on the buoy shell 1
It sets place and is equipped with corresponding opening.
It is respectively equipped on the lower madial wall of the upper madial wall of the upper intake tunnel 301 and the lower intake tunnel 302
Rotation axis 305 and lower rotary shaft 306, the upper rotary shaft 305 are connected with flap 307,306 activity of the lower rotary shaft
It is connected with lower turnover panel 308.
The design principle of 308 shape size of the flap 307 and lower turnover panel is：It is described under self gravitation effect
The upper intake tunnel 301 or lower intake tunnel can be just covered when flap 307 and lower turnover panel 308 turn to extreme position
302, to stop the entrance of flow.Meanwhile the water inlet control principle of the water inflow control system 3 is：When the upper intake tunnel
301 upper, and when lower intake tunnel 302 is under, the flap 307 covers the upper intake tunnel 301 and stops flow naturally
Enter from upper intake tunnel 301, the lower turnover panel 308 is affixed with lower 302 inner wall of intake tunnel, completely by lower intake tunnel 302
It opens, water can enter from lower intake tunnel 302 at this time, realize hydraulic jet propulsion；And when the lower intake tunnel 302 is upper, on
When intake tunnel 301 is under, the flap 307 is overturn under its own gravity around upper rotary shaft 305, is made described enterprising
Aquaporin 301 is unimpeded, while the lower turnover panel 308 is overturn under its own gravity around rotation axis 306, and it is logical to cover lower water inlet
Road 302, at this time water can enter from upper intake tunnel 301, equally realize hydraulic jet propulsion.This structure can ensure by rescuing machine
When device people is thrown into water, without considering upward, water spray can be achieved and advance.
The water inflow control system 3 is connected with steering control system 4, and the steering control system 4 includes steering engine 401, consolidates
Dead axle 402, rotating vane 403, stayed pole 404 and steering spout 405.The steering engine 401 is equipped with fixing axle 402, described solid
402 outer wall of dead axle is connected with rotating vane 403, and the rotating vane 403 is connected with stayed pole 404, the stayed pole 404
The other end be connected with and turn to spout 405, the outside for turning to spout 405 part and being set in the exhalant canal 304 is described
Turn to the outside that spout 405 is located at buoy shell 1.The steering engine 401 can drive rotating vane 403 to rotate, and then by leading
The control of pull rod 404 turns to 405 left-right rotation of spout, realizes straight trip or left and right turning, controls direction of advance.
1 outer wall of the buoy shell is additionally provided with handle, has an effect in order to be grasped by rescue personnel, body is lain prone in rescuing machine
Device people top.
Buoy control system 5 and first is additionally provided with inside the shell 1 for electric installation 6, the buoy control system 5 is distinguished
It is electrical connected with the propulsion system 2, the steering control system 4, to control motor 201 and course changing control in propulsion system 2
The operating of steering engine 401 in system 4, and then realize that the hydraulic jet propulsion of rescue robot and control turn to.Described first for electric installation 6
It is electrical connected respectively with the propulsion system 2, steering control system 4 and buoy control system 5.The buoy control system 5 is wrapped
Include telecommand receiving unit 501, telecommand resolution unit 502 and execution unit 503, the telecommand receiving unit
501 are electrical connected with the telecommand resolution unit 502, the telecommand resolution unit 502 and the execution unit 503
It is electrical connected.
Further include remote-control handle 7, the remote-control handle 7 is equipped with direction and/or speed control mechanism 8, in the present embodiment
In, the direction and/or speed control mechanism 8 could be provided as control rocking bar, the control rocking bar can to left and right, preceding promotion,
It pushes to left and right and can control direction, push that speed can be improved forward, certainly, the direction and/or speed control mechanism 8 can be with
Take the structures such as other buttons, induction screen overturning.The remote-control handle 7 is internally provided with remote control system 9, described
Remote control system 9, which is electrical connected, to be had second for electric installation 10.The remote control system 9 includes user interaction unit 901, distant
Instruction encoding unit 902 and telecommand transmission unit 903 are controlled, the direction and/or speed control mechanism 8 are handed over the user
Mutual unit 901 is electrical connected, and the user interaction unit 901 is electrical connected with the telecommand coding unit 902, described distant
Control instruction encoding unit 902 and telecommand transmission unit 903 are electrical connected.
The direction and/or speed control mechanism 8 carry out the change to the direction or speed of rescue robot for user
Operation, and for being that operation signal is transferred to user interaction unit 901 by the operational transition of user；
The user interaction unit 901, for receiving the direction and/or speed control mechanism（8）The user of transmission is to direction
And/or the operation signal of speed control mechanism 8, and analyzed to obtain telecommand.
The telecommand coding unit 902, the control signal for receiving the transmission of the user interaction unit 901, and
It is encoded.
The telecommand transmission unit 903, for the telecommand after coding to be passed to buoy control system 5.Its
The mode of remote control includes infrared ray, RF radio, WiFi etc..
The telecommand receiving unit 501, the telecommand for receiving the transmission of telecommand transmission unit 903, and
Send it to telecommand resolution unit 502.
The telecommand resolution unit 502 is for parsing the telecommand of reception, and by the instruction after parsing
It is sent to execution unit 503.
The execution unit 503, for according to the remote information from telecommand resolution unit 502, executing corresponding
Operation.
The above buoy control system 5 and the structure setting of remote control system 9 may be implemented by rescue personnel to be a people, and
One remote-control handle is remotely controlled the case where rescue robot, but when being more people by rescue personnel, the machine rescued
People receives telecommand simultaneously, will there are problems that receiving order confusion, therefore, further：
Under the premise of a remote controler corresponds to one rescue robot of remote control, the remote control system 9 further includes number hair
Send unit 904 and feedback signal reception unit 905,905 signal phase of the number transmission unit 904 and feedback signal reception unit
Even, the feedback signal reception unit 905 is connected with 903 signal of telecommand transmission unit.The buoy control system 5
Further include number receiving unit 504, judging unit 505 and feedback signal transmission unit 506, the number receiving unit 504 with
The judging unit 505 is electrical connected, and the judging unit 505 is electrical connected with the feedback signal transmitter unit 506, described
Feedback signal transmission unit 506 is electrical connected with the telecommand receiving unit 501.The number transmission unit 904 and institute
It states between number receiving unit 504, the feedback signal transmitter unit 506 and feedback signal reception unit 905 by wireless
Mode connects.
The remote control system 9 is previously stored the number of remote-control target rescue robot, the number transmission unit 904
For the number of remote-control target rescue robot to be sent to number receiving unit 504；The number receiving unit 504 is for connecing
It incorporates the number information of the transmission of yard transmission unit 904 into own forces, and transmits it to judging unit 505；The judging unit 505 is for connecing
The number that the coding transmission unit 504 is sent is received, and the number is corresponding to it with what the buoy control system 5 was prestored
The number of rescue robot be compared, to judge whether two numbers consistent, i.e., what the described remote control system 9 was sent is
No is the instruction for the rescue robot where the buoy control system 5, and will determine that result is sent to feedback signal hair
Send unit 506；The feedback signal transmitter unit 506 will determine that result is transmitted to feedback signal reception unit 905, the feedback
Signal receiving unit 905 receives judging result, and when judging result is matching, sends a signal to telecommand transmission unit
（903）, the telecommand transmission unit（903）After receiving the signal, you can send telecommand, and set up the remote control
Communication connection between control system 9 and buoy control system 5.It can ensure multiple rescue robots within the same time in this way
When rescuing simultaneously, while manipulating the case where remote-control handle will not cause order confusion.
Further, the buoy shell 1 be equipped with camera 11, for captured in real-time by the position of rescue personnel,
The direction of rescue robot and rescue situations etc.；The remote-control handle 7 is equipped with display screen 12, and rescue personnel passes through display
Screen 12 preferably grasps rescue information, and controls rescue robot and make a return voyage, and can not understand when solving remote rescue well
The problem of checking rescue situations.The technology that the content of shooting of the camera 11 is shown on the display 12 is the prior art,
This is repeated no more.
On the basis of described above, the present invention may be implemented to manipulate remote-control handle with rescuer and then control rescue machine
The mode that people is maked a return voyage is rescued, and either closely rescue or remote rescue can be realized well, in order to make this hair
It is bright to have both the function of making a return voyage automatically, further：
The buoy shell 1 is equipped with GPS positioning unit 13, infrared transmitting device 14, infrared distance measuring sensor 15 and pressure
Force snesor 16.
The GPS positioning unit 13 is for positioning position when rescue robot sets out and being rescued the position of personnel；It is described
Infrared transmitting device 14 is for emitting infrared ray, described and according to the determination of the detection infrared ray of reception by the position of rescuer
Infrared distance sensor 15 using infrared signal encounters the different reflected intensitys of obstacle distance, and also different principle measures
Distance, to by the location lookup of rescue personnel when realizing remote；The pressure sensor 16 is used to incude by rescue personnel
No safety moves on on rescue robot.
In rescue operations, rescue robot detects quilt according to infrared transmitting device 14 and infrared distance measuring sensor 15
The position of rescue personnel, and stop near by rescue personnel, it waits for that pressure sensor 16 is sensed and is climbed to rescue by rescue personnel
When in robot, the target navigated to GPAS positioning units of making a return voyage automatically is maked a return voyage position.
Further, it is equipped with positioning unit 17 in the remote control system 9, target position of making a return voyage is positioned for dynamic
It sets, and this location information is passed into buoy control system 5, can be obtained very well in the case where position of making a return voyage is in mobile
Be applicable in, such as make a return voyage place for wave movement make the continually changing fishing boat in position.The buoy control system 5 further includes route
Planning unit 18 and infrared temperature sensor 19, the route planning unit 18 are used to make a return voyage between target point and rescue point to change
Minimal path automatically and dynamically planned, and the barrier on return route is evaded, to realize that safety is maked a return voyage；Tool
Body, in rescuing journey, the temperature of barrier is identified in the infrared temperature sensor 19, to judge it as biological barrier
Object or abiotic barrier, the infrared distance measuring sensor 15 carry out range measurement, set the infrared emitting moment as, connect
Quarter in time receiving is, then the spacing of rescue robot and barrier be, whereinFor the light velocity in vacuum.Setting is just
Rescue robot is at a distance from barrier when the beginning, subsequent rescue robot turns to clockwiseAngle, and emit again infrared
Line detects whether barrier and the distance apart from barrier, when barrier is not detected, advance to this direction, if inspection
Barrier is measured, then rescue robot turns to counterclockwiseAngle detects whether barrier and the distance apart from barrier,
And it is to the advance of this direction, turnaround time when barrier is not detectedMillisecond, barrier existDisplacement in millisecond is ignored not
Meter, then turn to distanceForOr。
Further, described second solar powered mode is used for electric installation 10.
Further, 1 outer surface of the buoy shell is coated with luminescent material, and the luminescent material is by long afterglow
Fluorescent powder, high molecular polymer, auxiliary agent, acetone, benzene, ferric rhodanate, tetramethyl ammonium chloride, hydroquinone, triethylamine, benzene first
Acid, acetone are made.
Claims (10)
1. a kind of water life-saving robot, it is characterised in that：Including buoy shell（1）, the buoy shell（1）It is internally provided with and pushes away
Into system（2）, the propulsion system（2）It is connected with water inflow control system（3）, the water inflow control system（3）It is connected with steering
Control system（4）, the buoy shell（1）Inside is additionally provided with buoy control system（5）With first for electric installation（6）, described floating
Mark control system（5）Respectively with the propulsion system（2）, the steering control system（4）It is electrical connected, described first for Denso
It sets（6）Respectively with the propulsion system（2）, steering control system（4）With buoy control system（5）It is electrical connected；Further include distant
Control handle（7）, the remote-control handle（7）It is equipped with direction and/or speed control mechanism（8）, the remote-control handle（7）Inside is set
There is remote control system（9）, the remote control system（9）Being electrical connected has second for electric installation（10）；The buoy control
System（5）With the remote control system（9）It is wireless to be connected.
2. water life-saving robot as described in claim 1, it is characterised in that：The propulsion system（2）Including motor
（201）, the motor（201）It is connected with axis（202）, the axis（202）It is connected with turbine（203）.
3. water life-saving robot as claimed in claim 1 or 2, it is characterised in that：The water inflow control system（3）In " Y "
Font, including it is located at the upper intake tunnel of upper and lower both sides（301）With lower intake tunnel（302）, the upper intake tunnel
（301）With lower intake tunnel（302）Infall be connected with Cover For A Turbine（303）, the Cover For A Turbine（303）End is connected with water outlet
Channel（304）, the upper intake tunnel（301）Upper madial wall and the lower intake tunnel（302）It is set respectively on lower madial wall
There is upper rotary shaft（305）And lower rotary shaft（306）, the upper rotary shaft（305）It is connected with flap（307）, under described
Rotation axis（306）It is connected with lower turnover panel（308）.
4. water life-saving robot as claimed in claim 3, it is characterised in that：The steering control system（4）Including steering engine
（401）, the steering engine（401）It is equipped with fixing axle（402）, the fixing axle（402）Outer wall is connected with rotating vane
（403）, the rotating vane（403）It is connected with stayed pole（404）, the stayed pole（404）It is connected with steering spout（405）,
The steering spout（405）It is set in the exhalant canal（304）Outside.
5. water life-saving robot as claimed in claim 1 or 2 or 3 or 4, it is characterised in that：
The remote control system（9）Including user interaction unit（901）, telecommand coding unit（902）And telecommand
Transmission unit（903）, the direction and/or speed control mechanism（8）With the user interaction unit（901）It is electrical connected, institute
State user interaction unit（901）With the telecommand coding unit（902）It is electrical connected, the telecommand coding unit
（902）With telecommand transmission unit（903）It is electrical connected；
The direction and/or speed control mechanism（8）, the behaviour of the change to the direction or speed of rescue robot is carried out for user
Make, and for being that operation signal is transferred to user interaction unit by the operational transition of user（901）；
The user interaction unit（901）, for receiving the direction and/or speed control mechanism（8）The user of transmission manipulates
Signal, and analyzed to obtain telecommand；
The telecommand coding unit（902）, for receiving the user interaction unit（901）The control signal of transmission, and
It is encoded；
The telecommand transmission unit（903）, for the telecommand after coding to be passed to buoy control system（5）；
The buoy control system（5）Including telecommand receiving unit（501）, telecommand resolution unit（502）And execution
Unit（503）, the telecommand receiving unit（501）With the telecommand resolution unit（502）It is electrical connected, it is described distant
Control instruction resolution unit（502）With the execution unit（503）It is electrical connected；
The telecommand receiving unit（501）, for receiving telecommand transmission unit（903）The telecommand of transmission, and
Send it to telecommand resolution unit（502）；
The telecommand resolution unit（502）It is parsed for the telecommand to reception, and the instruction after parsing is sent out
It send to execution unit（503）；
The execution unit（503）, for receiving telecommand resolution unit（502）The telecommand of transmission, and referred to according to this
It enables and executes corresponding operation.
6. water life-saving robot as claimed in claim 5, it is characterised in that：
The remote control system（9）It further include coding transmission unit（904）And feedback signal reception unit（905）, the volume
Code receiving unit（904）With the feedback signal reception unit（905）It is electrical connected, the feedback signal reception unit（905）
With the telecommand transmission unit（903）It is electrical connected；
The buoy control system（5）It further include number receiving unit（504）, judging unit（505）It is sent with feedback signal single
Member（506）, the number receiving unit（504）With judging unit（505）It is electrical connected, the judging unit（505）With it is described
Feedback signal transmission unit（506）It is electrical connected, the feedback signal transmission unit（506）With the telecommand receiving unit
（501）It is electrical connected；
The number transmission unit（904）With the number receiving unit（504）, the feedback signal transmitter unit（506）With
Feedback signal reception unit（905）Between wirelessly connect；
The coding transmission unit（904）, it is used for the remote control system（9）The number inside to prestore is sent to number and connects
Receive unit（504）, described to number the remote control system being uniquely corresponding to residing for the coding transmission unit（9）It to be controlled
Target rescue robot；
The coding receiving unit（504）, for receiving coding transmission unit（904）The number information of transmission, and by it into one
Step is sent to the judging unit（505）；
The judging unit（505）, for receiving the coding transmission unit（504）The number of transmission, and by the number and institute
State buoy control system（5）The number of the corresponding rescue robot to be prestored is compared, to judge that two numbers are
It is no consistent, i.e., the described remote control system（9）Whether what is sent is to be directed to the buoy control system（5）The rescue machine at place
The instruction of people, and will determine that result is sent to feedback signal transmission unit（506）；
The feedback signal transmission unit（506）, for will determine that unit（505）Judging result be sent to feedback signal reception
Unit（905）, also, when judging that two numbers are identical, also send a signal to telecommand receiving unit（501）, lead to
Know telecommand receiving unit（501）It carries out signal and receives and prepare, that is, complete to be remotely controlled control system（9）It is controlled with buoy and is
System（5）Between communication connection；
The feedback signal reception unit（905）, for receiving the feedback signal transmission unit（506）The judgement knot of transmission
Fruit, when receive number consistent judging result when, send a signal to telecommand transmission unit（903）, the telecommand
Transmission unit（903）After receiving the signal, you can send telecommand.
7. water life-saving robot as claimed in claim 5, it is characterised in that：The buoy shell（1）It is equipped with camera
（11）, the camera（11）For captured in real-time rescue situations；The remote-control handle（7）It is equipped with display screen（12）, it is used for
Show the camera（11）The video pictures of shooting.
8. water life-saving robot as claimed in claims 6 or 7, it is characterised in that：The buoy shell（1）It is equipped with GPS
Positioning unit（13）, infrared transmitting device（14）, infrared distance measuring sensor（15）And pressure sensor（16）, rescued with realizing
The automatic of robot is helped to make a return voyage；
The GPS positioning unit（13）, for positioning rescue robot initial position and by rescue personnel position；
The infrared transmitting device（14）And infrared distance measuring sensor（15）, for carrying out by the spy of rescue personnel position
It surveys；
The pressure sensor（16）, whether rescue robot is moved to by rescue personnel for detecting.
9. water life-saving robot as claimed in claim 8, it is characterised in that：
The remote control system（9）It is interior to be equipped with positioning unit（17）, the positioning unit is for dynamically positioning target position of making a return voyage
It sets, and this location information is passed into buoy control system（5）, the case where variation with the place that is suitable for making a return voyage safely；
The buoy control system（5）It further include route planning unit（18）And infrared temperature sensor（19）；
The route planning unit（18）, the minimal path for making a return voyage between target point and rescue point to change carries out automatically and dynamic
State is planned, and is evaded to the barrier on return route, to realize that safety is maked a return voyage；
The infrared temperature sensor（19）, it is identified for the temperature to barrier, to judge it as biological barrier
Object or abiotic barrier；
Specifically, when rescue, the infrared temperature sensor（19）Barrier classification is judged, the infrared distance measuring passes
Sensor（15）Carry out range measurement, set the infrared emitting moment as, the time of reception is, then rescue robot and barrier
Spacing be, whereinFor the light velocity in vacuum, when setting initial rescue robot at a distance from barrier as,
Subsequent rescue robot turns to clockwiseAngle, and emit infrared ray again, detect whether barrier and apart from barrier
Distance, when barrier is not detected, advance to this direction, if detecting barrier, rescue robot turns counterclockwise
ToAngle detects whether barrier and the distance apart from barrier, and when barrier is not detected to before this direction
It is into, turnaround timeMillisecond, barrier existDisplacement in millisecond is ignored, then turns to distanceForOr。
10. the water life-saving robot as described in claims 1 or 2 or 4, it is characterised in that：The buoy shell（1）Outer surface
Coated with luminescent material, the luminescent material is by long afterglow fluorescent powder, high molecular polymer, auxiliary agent, acetone, benzene, sulphur cyanogen
Sour iron, tetramethyl ammonium chloride, hydroquinone, triethylamine, benzoic acid, acetone are made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810221154.1A CN108298044B (en) | 2018-03-17 | 2018-03-17 | Rescue robot on water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810221154.1A CN108298044B (en) | 2018-03-17 | 2018-03-17 | Rescue robot on water |
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| Publication Number | Publication Date |
|---|---|
| CN108298044A true CN108298044A (en) | 2018-07-20 |
| CN108298044B CN108298044B (en) | 2024-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810221154.1A Active CN108298044B (en) | 2018-03-17 | 2018-03-17 | Rescue robot on water |
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| CN109229323A (en) * | 2018-11-02 | 2019-01-18 | 珠海云洲智能科技有限公司 | Water blocking mechanism for propeller |
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| CN109552577A (en) * | 2018-12-26 | 2019-04-02 | 魏磊 | A kind of remote control life buoy |
| CN109760800A (en) * | 2019-02-27 | 2019-05-17 | 青岛无疆技术有限公司 | A kind of interactive intelligent lifebuoy |
| CN110228573A (en) * | 2019-05-24 | 2019-09-13 | 浙江大学 | It is a kind of can automatic straightening route water rescue device and method |
| CN110316325A (en) * | 2019-06-26 | 2019-10-11 | 中船电子科技(三亚)有限公司 | A kind of remote control lifeboat based on dual channel |
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| CN109501992A (en) * | 2018-12-21 | 2019-03-22 | 青岛海狮网络科技有限公司 | ROV pump type axial flow propulsor and its multifunction remote-control lifebuoy |
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| CN110316325A (en) * | 2019-06-26 | 2019-10-11 | 中船电子科技(三亚)有限公司 | A kind of remote control lifeboat based on dual channel |
| CN113998081A (en) * | 2021-09-30 | 2022-02-01 | 福建佰育科技有限公司 | Overwater and underwater search and rescue robot |
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