CN109572960A - Lifesaving unmanned boat and lifesaving method equipped with convertible lifesaving appliance - Google Patents
Lifesaving unmanned boat and lifesaving method equipped with convertible lifesaving appliance Download PDFInfo
- Publication number
- CN109572960A CN109572960A CN201811443183.9A CN201811443183A CN109572960A CN 109572960 A CN109572960 A CN 109572960A CN 201811443183 A CN201811443183 A CN 201811443183A CN 109572960 A CN109572960 A CN 109572960A
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- CN
- China
- Prior art keywords
- unmanned boat
- lifesaving
- drowning man
- rotary shaft
- ontology
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention discloses a kind of lifesaving unmanned boats equipped with convertible lifesaving appliance, including unmanned boat ontology and the convertible lifesaving appliance that unmanned boat body first end is arranged in；The unmanned boat ontology is provided with dynamical system, control system and detection device；The convertible lifesaving appliance includes runing rest and pocket basket；First rotary shaft of runing rest and the first end of unmanned boat ontology are hinged and connected, and the first end of the unmanned boat ontology is provided with driving device, and first rotary shaft is provided with torque inductor；The pocket basket includes the blanket net that rigid hoop and surrounding are connected with rigid hoop, and the two sides of the rigidity hoop are hinged on the support arm of runing rest front end；The first end of the unmanned boat ontology is provided with telescopic rod, and rear end of the both ends of the telescopic rod respectively with the first end of unmanned boat ontology and rigid hoop is hinged and connected.The lifesaving unmanned boat cooperation present invention simultaneously discloses lifesaving method, can to drowning man implement effectively relief.
Description
Technical field
The present invention relates to a kind of lifesaving unmanned boats, particularly relate to a kind of lifesaving unmanned boat equipped with convertible lifesaving appliance
And lifesaving method.
Background technique
Water surface area takes up an area sphere area 71.18%, and the mankind largely rely on rivers,lakes and seas to carry out production and transportation, but the mankind are not
It can survive in water, the moment, therefore the rescue in waters was with regard to special along with danger again to the mankind for production, the life in waters
It is important.With the exploitation to ocean, mankind's offshore activities increase, and following ocean rescue will more be come by unmanned boat platform
It carries out.Chinese patent application CN201210451336.0 discloses a kind of remote control lifesaving aircraft, includes the navigation of long tubular
Body is installed on battery in sail body, and motor and propeller are installed in the rear end of sail body, and the front end of sail body is installed separable
Lifesaving drag-line is arranged in lifesaving module, sail body two sides, control device is installed on sail body, the lifesaving module design is can bullet
Structure is penetrated, buoyant apparatus and article can be launched according to circumstances to stranded region up to 10m or more, enhance and rescue by catapulting distance
The function of raw rescue.However, the remote control lifesaving aircraft predominantly lays relief goods and designs, and for drowning man --- it is special
It is not to lose the drowning man of self-saving ability to be difficult to carry out effective rescue；And when withdrawing the lifesaving module ejected, it is necessary to people
Work intervention is not able to achieve complete remote control or automation control.
Summary of the invention
The purpose of the present invention is to provide it is a kind of it is easy to automate, can effectively succour drowning man equipped with turning over
The lifesaving unmanned boat and lifesaving method of rotatable lifesaving appliance.
To achieve the above object, the lifesaving unmanned boat equipped with convertible lifesaving appliance designed by the present invention, including nothing
The convertible lifesaving appliance of people's ship ontology and setting in unmanned boat body first end (stern or bow)；The unmanned boat ontology is set
It is equipped with for the dynamical system of water sailing and the control system for being controlled；The convertible lifesaving appliance includes rotation
Bracket and pocket basket；First rotary shaft and the first end hinged phase of unmanned boat ontology of the runing rest by setting in its back-end
Even, the first end of the unmanned boat ontology is provided with the driving device for driving the first rotary shaft to be rotated, and described first
Rotary shaft is provided with the torque inductor for detecting its torque value；The pocket basket includes rigid hoop and surrounding and rigid hoop
The two sides of connected blanket net, the rigidity hoop are hinged on the support arm of runing rest front end, and the pocket basket can rotate
Rotation is on bracket to adjust posture；The first end of the unmanned boat ontology is provided with for adjusting the flexible of pocket basket rotation angle
Bar, rear end of the both ends of the telescopic rod respectively with the first end of unmanned boat ontology and rigid hoop are hinged and connected；It is described nobody
The first end of ship ontology is additionally provided with the detection device for detecting drowning man；The control signal of the driving device inputs
End, the control signal input of the telescopic rod, the torque inductor measuring signal output end, the detection device survey
Amount signal output end is respectively connected in control system.
Preferably, the unmanned boat ontology is provided in the second end (bow or stern) opposite with its first end for putting down
Weigh convertible lifesaving appliance and the balance sump of rescued drowning man.
Preferably, the rear end of the telescopic rod is hinged by the second rotary shaft and the first end of unmanned boat ontology；Described
Two rotary shafts are hollow tubular axis, are set on the outside of the middle part of the first rotary shaft, the rotation of first rotary shaft, the second rotary shaft
Transhipment is dynamic to be independent of each other.
Preferably, the rigid hoop is V-arrangement, so that pocket basket is integrally V-shaped, pocket basket can be easier using v-shaped structure
Ground enters drowning man's pocket in it.
Preferably, the driving device uses servo motor.
Preferably, the detection device uses sonic sensor or photographic device.Detection for drowning man can adopt
Manually long-range monitoring discovery, or detected automatically by human body recognition technology, human body recognition technology has maturation in related fields
Algorithm, this is not repeated.
Invention also provides a kind of lifesaving methods using aforementioned lifesaving unmanned boat, include the following steps:
1) when detection has drowning man into water body, unmanned boat ontology is travelled to drowning man, is led to
Over-driving device drives the rotation of the first rotary shaft, rotates runing rest downward to the deck level of unmanned boat ontology and keeps water
It is flat；
2) posture for adjusting unmanned boat ontology makes its first end towards drowning man, according to drowning man and ship it is opposite away from
It is further close to drowning man from control unmanned boat ontology；
3) when detection device senses the first end of unmanned boat ontology apart from drowning man position appropriateness, telescopic rod is adjusted
The front end of outreach control pocket basket tilts down, while unmanned boat ontology makes drowning man close to pocket basket close to drowning man,
Then pocket basket position is controlled by telescopic rod to hold in the palm drowning man in pocket basket；
4) when pocket basket does not pick up drowning man, the first rotary shaft is controlled by the drive unit holding posture, and reverses at this time
Inductor senses torque within given threshold, and torque inductor senses torque beyond setting value when the first rotary shaft rotates
When, determine that drowning man has fished out into pocket basket, controls the rotation of the first rotary shaft and hold up drowning man upwards, while controlling telescopic rod
Adjustment pocket basket posture is stablized with the position in pocket basket for guaranteeing drowning man；
5) when runing rest reaches predetermined position, pocket basket is controlled by telescopic rod and turns round that so that drowning man is taken advantage of a situation slow inwards
Slowly it falls above deck, when torque inductor detects torque lower than limit value, judges that personnel have been moved out pocket basket, control runing rest
With pocket basket homing, the rescue to drowning man is completed.
Preferably, the unmanned boat ontology is provided with balance sump in the second end opposite with its first end, falls picking up
During water personnel, the inclination of drowning man's bring hull is picked up to balance by control balance sump water inlet, avoids hull
It tumbles.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention controls the height and posture of pocket basket by control driving device and telescopic rod, is examined by torque inductor
The first torque of rotating shaft is surveyed to judge whether drowning man has fished out into pocket basket or pocket basket whether is had been moved out, is not needed substantially artificial
Intervene, high degree of automation is much higher than similar product.
2) mass activity of lifesaving appliance of the present invention is manipulated jointly by the first rotary shaft and telescopic rod, wherein
Runing rest is manipulated by the first rotary shaft, can control runing rest rotation angle, pocket basket is manipulated by telescopic rod, in runing rest
The use scope of pocket basket, the specific amplitude of variation of the two opposite position where system senses target are further expanded on the basis of movement
Automatic adjustment is set, also remote-controlled control.
3) present invention has more fully rescue ability, when implementing to succour to drowning man, does not require drowning man to have
There is self-saving ability, drowning man can be picked up safely drowning man loses consciousness, when necessary, it may also be used for pick up and fall
Water article.
Detailed description of the invention
Fig. 1 is the schematic view of the front view of lifesaving unmanned boat designed by the present invention.
Fig. 2 is the right side structural representation of the lifesaving unmanned boat in Fig. 1.
Fig. 3 is the overlooking structure diagram of the lifesaving unmanned boat in Fig. 1.
In Fig. 4, (a)~(d) is the step schematic diagram of lifesaving method provided by the present invention.
Wherein: unmanned boat ontology 1, driving device 2.1, torque inductor 2.2, the second rotary shaft 3, is stretched at first rotary shaft 2
Contracting bar 4, third rotary shaft 5, runing rest 6, support arm 6.1, pocket basket 7, rigid hoop 7.1, blanket net 7.2, the 4th rotary shaft 8,
Balance sump 9, water pump 10, detection device 11, water body 12, drowning man 13.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
As shown in Figures 1 to 3, the lifesaving unmanned boat equipped with convertible lifesaving appliance designed by the present invention is taken, including nothing
The convertible lifesaving appliance of people's ship ontology 1 and setting in 1 first end of unmanned boat ontology (stern).It is described as follows:
Unmanned boat ontology 1 is provided with for the dynamical system of water sailing and the control system for being controlled.Nobody
The bow of ship ontology 1 is provided with the balance sump 9 for balanced turning formula lifesaving appliance and rescued drowning man's gravity.
Convertible lifesaving appliance includes runing rest 6 and pocket basket 7.
Runing rest 6 is hinged and connected by the way that the stern of the first rotary shaft 2 in its back-end and unmanned boat ontology 1 is arranged, nothing
The second end (stern) of people's ship ontology 1 is provided with the driving device 2.1 for driving the first rotary shaft 2 to be rotated and (uses and watch
Take motor), the first rotary shaft 2 is provided with the torque inductor 2.2 for detecting its torque value.
Pocket basket 7 includes the blanket net 7.2 that rigid hoop 7.1 and surrounding are connected with rigid hoop 7.1, and rigid hoop 7.1 is V
Shape, so that pocket basket 7 is whole also V-shaped, the two sides of rigid hoop 7.1 are hinged on 6 front end of runing rest by the 4th rotary shaft 8
Support arm 6.1 on, pocket basket 7 can rotate on runing rest 6 to adjust posture.
The stern of unmanned boat ontology 1 is provided with the telescopic rod 4 that angle is rotated for adjusting pocket basket 7.The front end of telescopic rod 4
The third rotary shaft 5 being arranged with the rear end of rigid hoop 7.1 is hinged and connected, and the rear end of telescopic rod 4 passes through the second rotary shaft 3 and nothing
The stern of people's ship ontology 1 is hinged.Second rotary shaft 3 is hollow tubular axis, is set on the outside of the middle part of the first rotary shaft 2, first
Rotary shaft 2, the rotary motion of the second rotary shaft 3 is respectively independent, is independent of each other.
It is additionally provided with the detection device 11 for detecting drowning man on unmanned boat ontology 1, is passed in embodiment using sound wave
Sensor.
The survey of the control signal input of driving device 2.1, the control signal input of telescopic rod 4, torque inductor 2.2
Measure signal output end, the measuring signal output end of detection device 11 is respectively connected in control system.
As shown in figure 4, including the following steps: invention also provides the lifesaving method of the above-mentioned lifesaving unmanned boat of application
1) when detection device 11, which detects, has drowning man 13 in water body 12, the traveling of unmanned boat ontology 1 to drowning man
Near 13, the rotation of the first rotary shaft 2 is driven by driving device 2.1, rotates runing rest 6 downward to unmanned boat ontology 1
Deck level simultaneously keeps horizontal.
2) posture for adjusting unmanned boat ontology 1 makes its stern towards drowning man 13, according to the phase of drowning man 13 and ship
Adjusting the distance, it is further close to drowning man 13 to control unmanned boat ontology 1, such as Fig. 4 (a).
3) when detection device 11 senses the stern of unmanned boat ontology 1 apart from 13 position appropriateness of drowning man, adjustment is stretched
The front end of 4 outreach of contracting bar control pocket basket 7 tilts down, while unmanned boat ontology 1 makes it close to pocket close to drowning man 13
Basket 7 then controls 7 position of pocket basket by telescopic rod 4 and enters 13 support of drowning man in pocket basket 7, such as Fig. 4 (b), 4 (c).
4) when torque inductor 2.2 senses torque beyond setting value when the first rotary shaft 2 rotates, determine drowning man
13 have fished out into pocket basket 7, control the rotation of the first rotary shaft 2 and hold up drowning man 13 upwards, while controlling telescopic rod 4 and adjusting pocket basket
7 postures are to guarantee remaining in the middle part of V-type in pocket basket 7 for drowning man 13, such as Fig. 4 (d).Holding up drowning man's 13
In the process, the balance water inlet of sump 9 is controlled by water pump 10 to pick up 13 bring hull stern of drowning man to balance and incline, avoid hull
It tumbles.
5) when runing rest 6 reach predetermined position make drowning man 13 more than the deck level of unmanned boat ontology 1 when,
Being turned round inwards by the control pocket basket 7 of telescopic rod 4, which makes drowning man 13 take advantage of a situation slowly, falls above deck, such as Fig. 4 (e).Torque induction
When device 2.2 detects torque lower than limit value, judges that personnel have been moved out pocket basket 7, controls runing rest 6 and 7 homing of pocket basket,
The balance sump 9 for controlling bow drains outward, completes the rescue to drowning man 13.
Claims (8)
1. a kind of lifesaving unmanned boat equipped with convertible lifesaving appliance, it is characterised in that: including unmanned boat ontology (1) and setting
In the convertible lifesaving appliance of unmanned boat ontology (1) first end；
The unmanned boat ontology (1) is provided with for the dynamical system of water sailing and the control system for being controlled；
The convertible lifesaving appliance includes runing rest (6) and pocket basket (7)；
The runing rest (6) passes through the first rotary shaft (2) of setting in its back-end and the first end of unmanned boat ontology (1) is hinged
It is connected, the first end of the unmanned boat ontology (1) is provided with the driving device for driving the first rotary shaft (2) to be rotated
(2.1), first rotary shaft (2) is provided with the torque inductor (2.2) for detecting its torque value；
The pocket basket (7) includes the blanket net (7.2) that rigid hoop (7.1) and surrounding are connected with rigid hoop (7.1), the rigidity
The two sides of hoop (7.1) are hinged on the support arm (6.1) of runing rest (6) front end, and the pocket basket (7) can be in runing rest
(6) rotation is on to adjust posture；
The first end of the unmanned boat ontology (1) is provided with the telescopic rod (4) for adjusting pocket basket (7) rotation angle, described to stretch
Rear end of the both ends of contracting bar (4) respectively with the first end of unmanned boat ontology (1) and rigid hoop (7.1) is hinged and connected；
The first end of the unmanned boat ontology (1) is additionally provided with the detection device (11) for detecting drowning man；
Control signal input, the control signal input of the telescopic rod (4), the torque of the driving device (2.1)
The measuring signal output end of inductor (2.2), the measuring signal output end of the detection device (11) are respectively connected to control system
It is interior.
2. the lifesaving unmanned boat according to claim 1 equipped with convertible lifesaving appliance, it is characterised in that: it is described nobody
Ship ontology (1) is provided in the second end opposite with its first end for balanced turning formula lifesaving appliance and rescued drowning man
It balances sump (9).
3. the lifesaving unmanned boat according to claim 1 equipped with convertible lifesaving appliance, it is characterised in that: described flexible
The rear end of bar (4) is hinged by the second rotary shaft (3) and the first end of unmanned boat ontology (1)；Second rotary shaft (3) is sky
Central, tubular axis is set on the outside of the middle part of the first rotary shaft (2), the rotation of first rotary shaft (2), the second rotary shaft (3)
Movement is independent of each other.
4. the lifesaving unmanned boat according to claim 1 equipped with convertible lifesaving appliance, it is characterised in that: the rigidity
Hoop (7.1) is V-arrangement, so that pocket basket (7) is whole V-shaped.
5. the lifesaving unmanned boat according to any one of claims 1 to 4 equipped with convertible lifesaving appliance, feature exist
In: the driving device (2.1) uses servo motor.
6. the lifesaving unmanned boat according to any one of claims 1 to 4 equipped with convertible lifesaving appliance, feature exist
In: the detection device (11) uses sonic sensor or photographic device.
7. a kind of lifesaving method of application lifesaving unmanned boat as described in any one of claim 1~6, including walk as follows
It is rapid:
1) when detection device (11), which detects, has drowning man in water body, near unmanned boat ontology (1) traveling to drowning man,
By driving device (2.1) driving the first rotary shaft (2) rotation, rotate runing rest (6) downward to unmanned boat ontology (1)
Deck level simultaneously keeps horizontal；
2) posture for adjusting unmanned boat ontology (1) makes its first end towards drowning man, according to drowning man and ship it is opposite away from
It is further close to drowning man from control unmanned boat ontology (1)；
3) when detection device (11) senses the first end of unmanned boat ontology (1) apart from drowning man position appropriateness, adjustment is stretched
Contracting bar (4) outreach control pocket basket (7) front end tilt down, while unmanned boat ontology (1) make close to drowning man it is overboard
Personnel then control pocket basket (7) position by telescopic rod (4) and hold in the palm drowning man in pocket basket (7) close to pocket basket (7)；
4) when torque inductor (2.2) senses torque beyond setting value when the first rotary shaft (2) rotate, determine drowning man
It has fished out into pocket basket (7), has controlled the first rotary shaft (2) rotation and hold up drowning man upwards, while having controlled telescopic rod (4) adjustment pocket
Basket (7) posture is stablized with the position in pocket basket (7) for guaranteeing drowning man；
5) when runing rest (6) reach predetermined position, by telescopic rod (4) control pocket basket (7), revolution makes drowning man inwards
It takes advantage of a situation and slowly falls above deck, when torque inductor (2.2) detects torque lower than limit value, judge that personnel have been moved out pocket basket
(7), runing rest (6) and pocket basket (7) homing is controlled, the rescue to drowning man is completed.
8. lifesaving method according to claim 7, it is characterised in that: the unmanned boat ontology (1) with its first end phase
Pair second end be provided with balance sump (9), during picking up drowning man, by control balance sump (9) water inlet with
Balance picks up the inclination of drowning man's bring hull.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811443183.9A CN109572960B (en) | 2018-11-29 | 2018-11-29 | Life saving unmanned boat carrying turnover life saving device and life saving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811443183.9A CN109572960B (en) | 2018-11-29 | 2018-11-29 | Life saving unmanned boat carrying turnover life saving device and life saving method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109572960A true CN109572960A (en) | 2019-04-05 |
| CN109572960B CN109572960B (en) | 2021-09-03 |
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ID=65925335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811443183.9A Active CN109572960B (en) | 2018-11-29 | 2018-11-29 | Life saving unmanned boat carrying turnover life saving device and life saving method |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316335A (en) * | 2019-07-26 | 2019-10-11 | 上海大学 | A kind of unmanned boat having life-saving functions |
| CN114228951A (en) * | 2021-12-23 | 2022-03-25 | 航宇救生装备有限公司 | Air-drop unmanned ship |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL8301930A (en) * | 1983-05-31 | 1984-12-17 | Wijsmuller Eng | Lifeboat access device for survivors - includes port and starboard stowed mattresses and bow-mounted catch net |
| CN101450708A (en) * | 2007-11-29 | 2009-06-10 | 上海市莘格高级中学 | Marine salvage apparatus |
| CN102267548A (en) * | 2010-06-07 | 2011-12-07 | 朱步成 | Water area search and rescue system |
| JP2018062243A (en) * | 2016-10-12 | 2018-04-19 | 株式会社高知丸高 | Rescue boat |
| CN108569383A (en) * | 2018-07-06 | 2018-09-25 | 天海融合防务装备技术股份有限公司 | It is a kind of to be suitable for the unmanned boat waterborne intelligently searched and rescued |
-
2018
- 2018-11-29 CN CN201811443183.9A patent/CN109572960B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL8301930A (en) * | 1983-05-31 | 1984-12-17 | Wijsmuller Eng | Lifeboat access device for survivors - includes port and starboard stowed mattresses and bow-mounted catch net |
| CN101450708A (en) * | 2007-11-29 | 2009-06-10 | 上海市莘格高级中学 | Marine salvage apparatus |
| CN102267548A (en) * | 2010-06-07 | 2011-12-07 | 朱步成 | Water area search and rescue system |
| JP2018062243A (en) * | 2016-10-12 | 2018-04-19 | 株式会社高知丸高 | Rescue boat |
| CN108569383A (en) * | 2018-07-06 | 2018-09-25 | 天海融合防务装备技术股份有限公司 | It is a kind of to be suitable for the unmanned boat waterborne intelligently searched and rescued |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316335A (en) * | 2019-07-26 | 2019-10-11 | 上海大学 | A kind of unmanned boat having life-saving functions |
| CN114228951A (en) * | 2021-12-23 | 2022-03-25 | 航宇救生装备有限公司 | Air-drop unmanned ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109572960B (en) | 2021-09-03 |
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