CN108528661B - Control method of water rescue robot - Google Patents
Control method of water rescue robot Download PDFInfo
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- CN108528661B CN108528661B CN201810704928.6A CN201810704928A CN108528661B CN 108528661 B CN108528661 B CN 108528661B CN 201810704928 A CN201810704928 A CN 201810704928A CN 108528661 B CN108528661 B CN 108528661B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/28—Adaptations of vessel parts or furnishings to life-saving purposes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a control method of a water rescue robot, wherein a rescue robot body comprises a suspension warning mechanism, a submergence rescue mechanism and a diving chamber, the suspension warning mechanism comprises an annular suspension air bag, an annular suspension fixing plate, a first fixing rod and a second fixing rod, the diving chamber is provided with a propulsion motor, a search camera and an infrared detector, the robot is convenient to carry during water rescue by arranging the annular suspension air bag, and the underwater condition is more convenient to search by arranging the diving chamber, and is convenient for realizing the simultaneous work of a plurality of robots, greatly increasing the rescue speed, shortening the rescue time, by arranging the lifting fixing stretcher, the rescued people can be quickly taken out of the water surface, thereby avoiding the situation that when people are rescued, the speed is slow, the rescue speed is influenced, the workload of the rescuers is reduced, and the rescuers have extra energy to find more help-seeking personnel.
Description
Technical Field
The invention belongs to the technical field of water rescue, and particularly relates to a control method of a water rescue robot.
Background
The rescue robot is a robot developed by adopting advanced science and technology for rescue, such as an earthquake rescue robot, and is specially used for searching survivors in the ruins of underground shopping malls to execute rescue tasks after a great earthquake. The robot is provided with a color camera, a thermal imager and a communication system, and can be divided into a military rescue robot, a post-disaster rescue robot, an underwater rescue robot, a disaster reconnaissance robot and the like.
Disclosure of Invention
The invention aims to solve the problems, provides a water rescue robot and a control method thereof, and solves the problems that the existing rescue robot cannot enable a person to be rescued to be quickly brought out of the water surface because a plurality of robots cannot work simultaneously, the rescue speed is greatly reduced, the rescue time is prolonged, the person to be rescued cannot be quickly brought out of the water surface, the rescue speed is slow and influenced during manual rescue, the workload of the person to be rescued is increased, the person to be rescued does not have excessive energy to find more persons to be rescued, great convenience is brought to rescue, and the practicability of the water rescue robot is greatly improved.
In order to solve the above problems, the present invention provides a technical solution:
a water rescue robot and a control method thereof comprise a rescue robot body, wherein the rescue robot body consists of a suspension warning mechanism, a submergence rescue mechanism and a diving chamber, the suspension warning mechanism consists of an annular suspension air bag, an annular suspension fixing plate, a first fixing rod and a second fixing rod, one end of the top of the annular suspension air bag is fixedly connected with an inflating valve, an air pump is fixed inside the annular suspension air bag, the input end of the air pump is fixedly connected with an air guide pipe, one end of the air guide pipe, far away from the air pump, is fixedly connected with an air outlet hole of the inflating valve, the air pump is in signal connection with a control box, the top of the annular suspension air bag is fixedly connected with the annular suspension fixing plate, one side of the top of the annular suspension fixing plate is fixedly connected with the first fixing rod, and the other side of the top, a first winding shaft is rotatably connected between one end of the first fixed rod and one end of the second fixed rod, a second winding shaft is rotatably connected between the other end of the first fixed rod and the other end of the second fixed rod, one side of the second fixed rod, which is opposite to the first winding shaft, is fixedly connected with a first motor and a second motor through a motor fixing seat, and the first motor and the second motor are in signal connection with a control box;
the solar power generation device is fixedly connected between the middle parts of the first fixing rod and the second fixing rod and comprises a trapezoidal wavy light absorption layer, the light absorption layer is fixedly connected with the inner side of the waterproof box, the back side of the light absorption layer is fixedly connected with a thermoelectric power generation sheet, the back side of the thermoelectric power generation sheet is fixedly connected with a heat dissipation box, the left side of the heat dissipation box is provided with a water inlet which penetrates out of the waterproof box, the right side of the heat dissipation box is provided with a water outlet which penetrates out of the waterproof box, the water inlet is fixedly connected with a micro water suction pump, the lower side of the heat dissipation box is fixedly connected with the upper side of the base plate, the lower side of the base plate is fixedly connected with a fixing box, an inverter and a storage battery controller are fixedly connected in the fixing box, the inverter is respectively in electrical signal connection with the thermoelectric power generation sheet and the storage, the storage battery controller is used for protecting the storage battery in the process of charging and powering off the storage battery by the solar power generation device, and the inverter is used for converting direct current generated by the solar power generation device into alternating current.
The first motor is close to one side of the first winding shaft, the second motor is close to one side of the second winding shaft, the output end of the first motor is in transmission connection with the first winding shaft through a coupler, the output end of the second motor is in transmission connection with the second winding shaft through a coupler, two ends of the first winding shaft and two ends of the second winding shaft are both fixedly sleeved with winding grooves, and the inner sides of the winding grooves are wound with steel wire ropes, the first winding shaft and the second winding shaft are fixedly connected with the submergence rescue mechanism through the steel wire ropes, the diving rescue mechanism comprises a lifting fixing stretcher, two ends of the lifting fixing stretcher are fixedly connected with connecting plates, and the connecting plates are fixedly connected with the steel wire ropes, one side of the lifting fixing stretcher adjacent to the connecting plates is fixedly connected with an oxygen bottle through a fixing frame, and the output end of the oxygen bottle is connected with a respirator through an oxygen conveying pipe.
The oxygen cylinder lifting fixing stretcher comprises a lifting fixing stretcher, wherein two fixing bandages are fixedly connected to one side of the lifting fixing stretcher, one side of the fixing bandage, which is far away from the lifting fixing stretcher, is fixedly connected with an inserting plate connecting piece, one end of the inserting plate connecting piece, which is far away from the fixing bandage, is fixedly connected with a fixing inserting plate, and one side of the lifting fixing stretcher, which is close to the oxygen cylinder, is fixedly connected with two inserting plate fixing mechanisms, the inserting plate fixing mechanisms are composed of an inserting plate fixing box and a lock box, the middle part of the inserting plate fixing box is provided with an inserting plate limiting groove, the bottom of the inserting plate limiting groove is fixedly connected with a return spring, the top of the return spring is fixedly connected with a return top plate, the outer side of the return top plate is connected with the inner wall of the inserting plate limiting groove in a sliding manner, a fixing lock rod is inserted into one side of the lock box, the fixing, an interlocking spring is sleeved between the limiting plate and the inner wall of the lock box at the outer side of the fixed lock rod;
the bottom side of the lifting fixing stretcher is fixedly connected with a diving chamber, a storage battery is arranged in the diving chamber, the upper portion of the diving chamber is connected with a rectangular counterweight iron through a connecting ring, a propelling motor is arranged on the rear side of the diving chamber, a rotating shaft of the propelling motor penetrates through the diving chamber to be connected with a propelling impeller in a rotating mode, the propelling motor is electrically connected with the storage battery, a protective filter screen is arranged outside the propelling impeller, a searching camera and an infrared life detection instrument are arranged on the front side of the diving chamber, and the control box is electrically connected with the propelling motor, the searching camera and the infrared life detection instrument respectively.
Preferably, the annular suspension fixing plate is of a vacuum structure, one end of the annular suspension fixing plate is fixedly connected with a fixing block, and a fixing hole is formed in the middle of the fixing block.
Preferably, the water inlet and the water outlet are both provided with filter screens and connected with water pipes to lead to the water surface.
Preferably, the middle parts of the fixed inserting plates are provided with inserting plate fixing holes, the inserting plate fixing holes are through holes, and the diameters of the inserting plate fixing holes are the same as the diameters of the fixed locking rods.
Preferably, one end, far away from the limiting plate, of the fixed lock rod is fixedly connected with an unlocking pull ring, and the other side, opposite to the inflating valve, of the annular suspension air bag is provided with an air outlet.
Preferably, the return spring and the interlock spring are both in an extended state.
Preferably, the top of the first fixing rod and the top of the second fixing rod are fixedly connected with LED warning lamps at equal intervals, and the LED warning lamps are LT-70 type LED warning lamps.
Preferably, the outer side of the storage battery is wrapped with a moisture-proof sealing layer.
Preferably, the searching camera is subjected to waterproof treatment, and the camera can rotate by 360 degrees.
Preferably, the infrared radiation range detected by the infrared life detection instrument is 3-50 μm of the main radiation wave band of the human body.
The rescue robot control method comprises the following steps:
(1) the rescue robot body is moved to an accident place through a ship, after a worker sends an instruction, a control box turns on a power supply of an air pump, the interior of an annular suspension air bag is inflated through an inflating valve, so that the interior of the annular suspension air bag is filled with air and suspended on the water surface, and a power switch of an LED warning lamp is turned on, so that the LED warning lamp gives out warning to the surroundings;
(2) the control box starts a first motor and a second motor, a first winding shaft and a second winding shaft are driven to rotate through the first motor and the second motor respectively, the first winding shaft and the second winding shaft convey the steel wire rope downwards through a rotating winding groove, and the stretcher is lifted and fixed to settle downwards under the action of gravity;
(3) the device is moved by starting a propelling motor through a control box, a searching camera and an infrared life detector are started, the camera and the infrared life detector accurately search accident sites and send collected information to the control box, the control box processes the information and sends the processed information to search and rescue personnel, the search and rescue personnel quickly find the position of a survivor according to the information detected by the infrared life detector, and the search camera enables the water surface rescue personnel to know underwater conditions better;
(4) after the rescue workers find the rescue workers at the water bottom, firstly, a respirator is sent into the mouth of the rescued person, a valve of an oxygen cylinder is opened, oxygen is sent into the mouth of the rescued person through an oxygen conveying pipe, then the rescued person is placed on the top of the lifting fixing stretcher, the fixing bandage is wound on the outer side of the rescued person, the fixing inserting plate is inserted into an inserting plate limiting groove in an inserting plate fixing box, and under the action of the interlocking spring, the fixing locking rod is inserted into an inserting plate fixing hole, so that the rescued person is fixed;
(5) the control box controls the first motor and the second motor to move in opposite directions, and the steel wire rope is pulled upwards through the winding groove, so that the lifting fixing stretcher is quickly lifted upwards, and the rescued person can quickly float out of the water surface and obtain corresponding treatment.
The invention has the beneficial effects that: make portable robot when rescue on water through having set up annular suspension gasbag, it is more convenient to search the condition under water through setting up the diving chamber simultaneously, and be convenient for realize a plurality of robot simultaneous workings, greatly increased rescue speed, the rescue time has been shortened, through having set up the fixed stretcher of lift, make by the rescuers be taken out of the water surface fast, when avoiding artifical rescue, the problem of slow speed and influence rescue speed, the work load of rescue personnel has been reduced, make it have unnecessary energy to discover more rescue personnel.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
fig. 3 is a schematic view of the internal structure of the board inserting fixing mechanism of the present invention.
Fig. 4 is a structural view of a solar power generation device of the present invention.
In the figure: 1. a rescue robot body; 2. a suspension warning mechanism; 3. a submergence rescue mechanism; 4. an annular suspension airbag; 5. an annular suspension fixing plate; 6. a first fixing lever; 7. a fixed block; 8. an LED warning light; 9. an air pump; 10. an air duct; 11. a second fixing bar; 12. a first winding shaft; 13. a second wind-up reel; 14. a coiling groove; 15. a motor fixing seat; 16. a first motor; 17. a second motor; 18. an air outlet; 19. a steel wire rope; 20. lifting and fixing the stretcher; 21. a connecting plate; 22. fixing a bandage; 23. a board inserting connecting piece; 24. a plug board fixing mechanism; 25. a fixed mount; 26. an oxygen cylinder; 27. a connecting ring; 28. rectangular counterweight iron; 29. a respirator; 30. an oxygen delivery pipe; 31. fixing the inserting plate; 32. inserting plate fixing boxes; 33. a lock case; 34. a fixed lock bar; 35. unlocking the pull ring; 36. an interlock spring; 37. a limiting plate; 38. a plug board limiting groove; 39. a return spring; 40. a force-returning top plate; 41. inserting plate fixing holes; 42. an air valve; 43. a diving chamber; 44. a propulsion motor; 45. a rotating shaft; 46. propelling the impeller; 47. a protective filter screen; 48. a swinging steering engine; 49. a swing shaft; 50. a turning piece; 51. a storage battery; 52. a moisture-proof sealing layer; 53. searching a camera; 54. an infrared life detector; 55. a solar power generation device; 56. a transparent protective layer; 57. a light absorbing layer; 58. a thermoelectric power generation sheet; 59. a heat dissipation box; 60. a substrate; 61. a waterproof box; 62. a fixing box; 63. an inverter; 64. a battery controller; 65. a water inlet; 66. a water outlet, 67, a micro water pump; 68. and a control box.
The specific implementation mode is as follows:
as shown in fig. 1 to 4, the following technical solutions are adopted in the present embodiment:
a water rescue robot and a control method thereof comprise a rescue robot body 1, wherein the rescue robot body 1 consists of a suspension warning mechanism 2, a submergence rescue mechanism 3 and a diving chamber 43, the suspension warning mechanism 2 consists of an annular suspension air bag 4, an annular suspension fixing plate 5, a first fixing rod 6 and a second fixing rod 11, the top of the first fixing rod 6 and the top of the second fixing rod 11 are fixedly connected with LED warning lamps 8 at equal intervals, the LED warning lamps 8 are LT-70 type LED warning lamps 8, one end of the top of the annular suspension air bag 4 is fixedly connected with an air valve 42, an air pump 9 is fixed inside the annular suspension air bag 4, the input end of the air pump 9 is fixedly connected with an air guide pipe 10, one end of the air guide pipe 10, which is far away from the air pump 9, is fixedly connected with an air outlet of the air valve 42, the air pump 9 is in signal connection with a control box 68, the top of the annular suspension air bag 4, the annular suspension fixing plate 5 is of a vacuum structure, one end of the annular suspension fixing plate 5 is fixedly connected with a fixing block 7, a fixing hole is formed in the middle of the fixing block 7, one side of the top of the annular suspension fixing plate 5 is fixedly connected with a first fixing rod 6, the other side of the top of the annular suspension fixing plate 5 is fixedly connected with a second fixing rod 11, a first winding shaft 12 is rotatably connected between one end of the first fixing rod 6 and one end of the second fixing rod 11, a second winding shaft 13 is rotatably connected between the other end of the first fixing rod 6 and the other end of the second fixing rod 11, a first motor 16 and a second motor 17 are fixedly connected to one side, opposite to the first winding shaft 12, of the second fixing rod 11 through a motor fixing seat 15, and the first motor 16 and the second motor 17 are in signal connection with a control;
a solar power generation device 55 is fixedly connected between the middle parts of the first fixing rod 6 and the second fixing rod 11, the solar power generation device 55 comprises a trapezoidal wavy light absorption layer 57, the light absorption layer 57 is fixedly connected with the inner side of a waterproof box 61, the back side of the light absorption layer 57 is fixedly connected with a thermoelectric power generation sheet 58, the back side of the thermoelectric power generation sheet 58 is fixedly connected with a heat dissipation box 59, the left side of the heat dissipation box 59 is provided with a water inlet 65 which penetrates out of the waterproof box 61, the right side of the heat dissipation box 59 is provided with a water outlet 66 which penetrates out of the waterproof box 61, the water inlet 65 is fixedly connected with a micro water pump 67, the water inlet 65 and the water outlet 66 are both provided with filter screens and are connected with water pipes to the water surface, the lower side of the heat dissipation box 59 is fixedly connected with the upper side of a base plate 60, the lower side of the base plate 60 is fixedly, the battery controller 64 is electrically connected with the battery 51, the battery controller 64 protects the battery 51 in the charging and power-off process of the solar power generation device 55 to the battery 51, and the inverter 63 converts the direct current generated by the solar power generation device 55 into alternating current;
the first motor 16 is close to one side of the first winding shaft 12, the second motor 17 is close to one side of the second winding shaft 13, the output end of the first motor 16 is in transmission connection with the first winding shaft 12 through a coupler, the output end of the second motor 17 is in transmission connection with the second winding shaft 13 through a coupler, the two ends of the first winding shaft 12 and the two ends of the second winding shaft 13 are both fixedly sleeved with winding grooves 14, and the inner side of the winding groove 14 is wound with a steel wire rope 19, the first winding shaft 12 and the second winding shaft 13 are fixedly connected with the diving rescue mechanism 3 through the steel wire rope 19, the diving rescue mechanism 3 comprises a lifting fixed stretcher 20, two ends of the lifting fixed stretcher 20 are fixedly connected with connecting plates 21, and the connecting plates 21 are fixedly connected with the steel wire rope 19, one side of the lifting fixed stretcher 20 adjacent to the connecting plates 21 is fixedly connected with an oxygen cylinder 26 through a fixing frame 25, and the output end of the oxygen cylinder 26 is connected with a respirator 29 through an oxygen conveying pipe 30.
One side of the lifting fixing stretcher 20 opposite to the oxygen bottle 26 is fixedly connected with two fixing bandages 22, one side of the fixing bandages 22 far away from the lifting fixing stretcher 20 is fixedly connected with an inserting plate connecting piece 23, one end of the inserting plate connecting piece 23 far away from the fixing bandages 22 is fixedly connected with a fixing inserting plate 31, one side of the lifting fixing stretcher 20 close to the oxygen bottle 26 is fixedly connected with two inserting plate fixing mechanisms 24, each inserting plate fixing mechanism 24 consists of an inserting plate fixing box 32 and a lock box 33, the middle part of the inserting plate fixing box 32 is provided with an inserting plate limiting groove 38, the bottom of the inserting plate limiting groove 38 is fixedly connected with a return spring 39, the top of the return spring 39 is fixedly connected with a return top plate 40, the outer side of the return top plate 40 is connected with the inner wall of the inserting plate limiting groove 38 in a sliding manner, one side of the lock box 33 is inserted with a fixing lock rod 34, the fixing lock rod 34, a limiting plate 37 is fixedly connected to the middle of the fixed lock rod 34, an interlocking spring 36 is sleeved between the limiting plate 37 and the inner wall of the lock box 33 on the outer side of the fixed lock rod 34, inserting plate fixing holes 41 are formed in the middle of the fixed inserting plate 31, the inserting plate fixing holes 41 are through holes, the diameter of each inserting plate fixing hole 41 is the same as that of the fixed lock rod 34, an unlocking pull ring 35 is fixedly connected to one end, away from the limiting plate 37, of the fixed lock rod 34, an air outlet 18 is formed in the other side, opposite to the inflating valve 42, of the annular suspension air bag 4, and the return spring 39 and the interlocking spring 36 are;
the bottom side of the lifting fixing stretcher 20 is fixedly connected with a diving chamber 43, a storage battery 51 is arranged in the diving chamber 43, a moisture-proof sealing layer 52 is wrapped outside the storage battery 51, the upper part of the diving chamber 43 is connected with a rectangular counterweight 28 through a connecting ring 27, a propelling motor 44 is arranged on the rear side of the diving chamber 43, the rotating shaft of the propelling motor 44 penetrates through the diving chamber 43 to be connected with a propelling impeller 46 in a rotating mode, the propelling motor 44 is electrically connected with the storage battery 51, a protective filter screen 47 is arranged outside the propelling impeller 46, a searching camera 53 and an infrared life detector 54 are arranged on the front side of the diving chamber 43, the searching camera 53 can rotate at 360 degrees, the infrared radiation range detected by the infrared life detector 54 is 3-50 micrometers, and a controller 68 is respectively and electrically connected with the propelling.
The rescue robot control method comprises the following steps: the rescue robot body 1 is moved to an accident place through a ship, after a worker sends an instruction, the control box 68 turns on the power supply of the air pump 9, the inside of the annular suspension air bag 4 is inflated through the inflating valve 42, so that the inside of the annular suspension air bag 4 is filled with air and suspended on the water surface, and the power switch of the LED warning lamp 8 is turned on, so that the LED warning lamp 8 gives out warning to the surroundings;
the control box 68 starts the first motor 16 and the second motor 17, the first motor 16 and the second motor 17 respectively drive the first winding shaft 12 and the second winding shaft 13 to rotate, the first winding shaft 12 and the second winding shaft 13 downwards convey the steel wire rope 19 through the rotating winding groove 14, and the lifting fixing stretcher 20 downwards sinks under the action of gravity;
the propulsion motor 44 is started through the control box 68, the device is moved, the searching camera 53 and the infrared life detector 54 are started, the camera 53 and the infrared life detector 54 perform accurate searching on accident sites and send the collected information to the control box 68, the control box 68 processes the information and sends the processed information to search and rescue personnel, the search and rescue personnel can quickly find the position of a survivor according to the information detected by the infrared life detector 54, and the water surface rescue personnel can know underwater conditions better through the searching camera 53;
after the rescue personnel find the rescue personnel at the water bottom, firstly, a respirator 29 is sent into the mouth of the rescued person, a valve of an oxygen bottle 26 is opened, oxygen is sent into the mouth of the rescued person through an oxygen conveying pipe 30, then the rescued person is placed on the top of the lifting fixing stretcher 20, the fixing bandage 22 is wound outside the rescued person, the fixing inserting plate 31 is inserted into an inserting plate limiting groove 38 in an inserting plate fixing box 32, and under the action of the interlocking spring 36, the fixing locking rod 34 is inserted into an inserting plate fixing hole 41, so that the rescued person is fixed;
the control box 68 controls the first motor 16 and the second motor 17 to move in reverse direction, and the steel wire rope 19 is pulled upwards through the winding slot 14, so that the lifting fixing stretcher 20 is quickly lifted upwards, and the rescued person can quickly float out of the water and get corresponding treatment.
According to the invention, the annular suspension air bag is arranged, so that the robot is convenient to carry during water rescue, and a plurality of robots can work simultaneously, so that the rescue speed is greatly increased, the rescue time is shortened, the person to be rescued can be quickly brought out of the water surface by arranging the lifting fixing stretcher, the problems of slow speed and influence on the rescue speed during manual rescue are avoided, the workload of the person to be rescued is reduced, and the person to be rescued can find more persons to be rescued with redundant energy.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (2)
1. A control method of a water rescue robot is characterized in that: rescue robot includes body (1), and body (1) is including suspension warning mechanism (2), dive rescue mechanism (3) and diving chamber (43), suspension warning mechanism (2) are including annular suspension gasbag (4), first dead lever (6) and second dead lever (11), the one end fixedly connected with inflating valve (42) at annular suspension gasbag (4) top, inside fixed air pump (9) of annular suspension gasbag (4), just the input of air pump (9) passes through air duct (10) and is connected with the venthole of inflating valve (42), air pump and control box (68) signal connection, the top fixedly connected with annular suspension fixed plate (5) of annular suspension gasbag (4), annular suspension fixed plate (5) top both ends are equipped with first dead lever (6) and second dead lever (11) respectively, respectively with first rolling axle between first dead lever (6) both ends and second dead lever (11) both ends (12) The first motor (16) and the second motor (17) are respectively arranged on one side of the second fixing rod (11), the first motor (16) and the second motor (17) are in signal connection with a control box (68), the output ends of the first motor (16) and the second motor (17) are respectively in transmission connection with the first winding shaft (12) and the second winding shaft (13) through couplers, two ends of the first winding shaft (12) and two ends of the second winding shaft (13) are respectively and fixedly sleeved with winding grooves (14), steel wire ropes (19) are respectively wound on the inner sides of the winding grooves (14), the first winding shaft (12) and the second winding shaft (13) are respectively and fixedly connected with a descending rescue mechanism (3) through the steel wire ropes (19), the descending rescue mechanism (3) comprises a lifting fixing stretcher (20), two ends of the lifting fixing stretcher (20) are respectively and fixedly connected with connecting plates (21), the connecting plates (21) are fixedly connected with the steel wire ropes (19), one side of the lifting fixed stretcher (20) adjacent to the connecting plates (21) is fixedly connected with an oxygen cylinder (26) through a fixing frame (25), the output end of the oxygen cylinder (26) is connected with a respirator (29) through an oxygen conveying pipe (30), the bottom side of the lifting fixed stretcher (20) is fixedly connected with a diving chamber (43), a storage battery (51) is arranged in the diving chamber (43), the upper part of the diving chamber (43) is connected with a counterweight iron (28) through a connecting ring (27), a propelling motor (44) is arranged on the rear side of the diving chamber (43), a rotating shaft of the propelling motor (44) penetrates through the diving chamber (43) to be rotatably connected with a propelling impeller (46), the propelling motor (44) is electrically connected with the storage battery (51), and a protective filter screen (47) is arranged outside the propelling impeller (46), a searching camera (53) and an infrared life detector (54) are arranged on the front side of the diving chamber (43), the control box (68) is respectively electrically connected with the propelling motor (44), the searching camera (53) and the infrared life detector (54), a water inlet (65) penetrates out of the waterproof box (61) is arranged on the left side of the heat dissipation box (59), a water outlet (66) penetrates out of the waterproof box (61) is arranged on the right side of the heat dissipation box (59), a micro water suction pump (67) is fixedly connected with the water inlet (65), the lower side of the heat dissipation box (59) is fixedly connected with the upper side of the base plate (60), a fixing box (62) is fixedly connected with the lower side of the base plate (60), an inverter (63) and a storage battery controller (64) are fixedly connected inside the fixing box (62), and two fixing bandages (22) are fixedly connected with one side of the lifting fixing, one side fixedly connected with picture peg connecting piece (23) of fixed stretcher (20) of going up and down is kept away from in fixed bandage (22), the equal fixedly connected with fixed picture peg (31) of one end of fixed bandage (22) is kept away from in picture peg connecting piece (23), just two picture peg fixed establishment (24) of one side fixedly connected with that fixed stretcher (20) are close to oxygen cylinder (26) go up and down, picture peg fixed establishment (24) comprise picture peg fixed box (32) and lock box (33), the middle part of the fixed box of picture peg (32) is equipped with picture peg spacing groove (38), just the bottom fixedly connected with return spring (39) of picture peg spacing groove (38), just the top fixedly connected with return roof (40) of return spring (39), just the outside of return roof (40) and the inner wall sliding connection of picture peg spacing groove (38), just fixed locking lever (34) have been inserted to one side of lock box (33), fixed locking lever (34) pass and extend to in picture peg spacing groove (38) from lock box (33) middle part, just the middle part fixedly connected with limiting plate (37) of fixed locking lever (34), just the outside of fixed locking lever (34) is located that the cover has interlocking spring (36) between limiting plate (37) and lock box (33) inner wall, the middle part of fixed picture peg (31) all is equipped with picture peg fixed orifices (41), just picture peg fixed orifices (41) are the through-hole, just the diameter of picture peg fixed orifices (41) is the same with the diameter of fixed locking lever (34), the one end fixedly connected with unblock pull ring (35) of limiting plate (37) is kept away from in fixed locking lever (34), annular suspension gasbag (4) are equipped with gas outlet (18) for the opposite side of inflating valve (42), rescue robot's control method includes following step:
1) the rescue robot body (1) is moved to an accident place through a ship, after a worker sends an instruction, a control box (68) turns on a power supply of an air pump (9), the interior of an annular suspension air bag (4) is inflated through an air valve (42), so that the interior of the annular suspension air bag (4) is filled with air and is suspended on the water surface, a power switch of an LED warning lamp (8) is turned on, and the LED warning lamp (8) gives out warning to the surroundings;
2) the control box (68) starts the first motor (16) and the second motor (17), the first motor (16) and the second motor (17) respectively drive the first winding shaft (12) and the second winding shaft (13) to rotate, the first winding shaft (12) and the second winding shaft (13) downwards convey the steel wire rope (19) through the rotating winding groove (14), and the lifting fixing stretcher (20) downwards sinks under the action of gravity;
3) the device is moved by starting a propelling motor (44) through a control box (68), a searching camera (53) and an infrared life detector (54) are started, the camera (53) and the infrared life detector (54) accurately search accident sites and send collected information to the control box (68), the control box (68) processes the information and sends the information to search and rescue personnel, the search and rescue personnel quickly find the position of a survivor according to the information detected by the infrared life detector (54), and the water surface rescue personnel can know underwater conditions more through the searching camera (53);
4) after the rescue workers find the rescue workers at the water bottom, firstly, a respirator (29) is sent into the mouth of the rescued people, a valve of an oxygen bottle (26) is opened, oxygen is sent into the mouth of the rescued people through an oxygen conveying pipe (30), then the rescued people are placed on the top of the lifting fixing stretcher (20), a fixing bandage (22) is wound on the outer side of the rescued people, a fixing plug board (31) is inserted into a plug board limiting groove (38) in a plug board fixing box (32), and a fixing lock rod (34) is inserted into a plug board fixing hole (41) under the action of an interlocking spring (36), so that the rescued people are fixed;
5) the control box (68) controls the first motor (16) and the second motor (17) to move in reverse, and the steel wire rope (19) is pulled upwards through the winding groove (14), so that the lifting fixing stretcher (20) is quickly lifted upwards, and the rescued people quickly float out of the water and are treated correspondingly.
2. The method for controlling the water rescue robot as claimed in claim 1, wherein: the annular suspension fixing plate (5) is of a vacuum structure, one end of the annular suspension fixing plate (5) is fixedly connected with a fixing block (7), and a fixing hole is formed in the middle of the fixing block (7).
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| CN109378721B (en) * | 2018-10-12 | 2023-09-15 | 广西安裕普电力科技有限公司 | Gas all-insulated totally-enclosed ring main unit |
| CN109895978B (en) * | 2019-04-18 | 2023-12-05 | 广州拓浪智能应急科技有限公司 | Intelligent carrying platform for water surface rescue |
| CN110077537B (en) * | 2019-05-21 | 2020-03-13 | 江韵涛 | Multi-azimuth observation cruising rescue ship |
| CN113044184A (en) * | 2021-01-12 | 2021-06-29 | 桂林电子科技大学 | Deep learning-based water rescue robot and drowning detection method |
| CN115258101A (en) * | 2022-07-28 | 2022-11-01 | 青岛澳西智能科技有限公司 | Underwater rescue robot |
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| DE3310077A1 (en) * | 1983-03-21 | 1984-09-27 | Wolfgang Essen | DEVICE FOR RESCUE OF SHIPBACKED OR THE LIKE |
| JPH09201423A (en) * | 1996-01-26 | 1997-08-05 | Yokohama Rubber Co Ltd:The | Emergency escape chute |
| CN1579880A (en) * | 2003-08-13 | 2005-02-16 | 吴举杰 | Apparatus for recovering object sinking in water |
| CN102267548B (en) * | 2010-06-07 | 2013-09-18 | 朱步成 | Water area search and rescue system |
| CN105000156A (en) * | 2015-07-24 | 2015-10-28 | 李红军 | Submarine rescue platform for human-body detection |
| CN105523156A (en) * | 2016-01-27 | 2016-04-27 | 浙江海洋学院 | Sea island life-saving equipment |
| CN105923127A (en) * | 2016-07-08 | 2016-09-07 | 北京天心无限科技有限公司 | Integrated underwater searching and rescuing robot |
| CN106926992B (en) * | 2017-04-10 | 2018-08-21 | 武汉尼维智能科技有限公司 | A kind of multiaxis propulsion search and rescue robot waterborne |
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