CN109572960B

CN109572960B - Life saving unmanned boat carrying turnover life saving device and life saving method

Info

Publication number: CN109572960B
Application number: CN201811443183.9A
Authority: CN
Inventors: 刘维勤; 张国威; 黄宇; 王松波; 宋学敏
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2018-11-29
Filing date: 2018-11-29
Publication date: 2021-09-03
Anticipated expiration: 2038-11-29
Also published as: CN109572960A

Abstract

The invention discloses a lifesaving unmanned boat carrying a turnover type lifesaving device, which comprises an unmanned boat body and a turnover type lifesaving device arranged at the first end of the unmanned boat body; the unmanned boat body is provided with a power system, a control system and a detection device; the turnover type lifesaving device comprises a rotary support and a pocket basket; the first rotating shaft of the rotating bracket is hinged with the first end of the unmanned boat body, the first end of the unmanned boat body is provided with a driving device, and the first rotating shaft is provided with a torque sensor; the pocket basket comprises a rigid basket frame and a pocket net connected with the rigid basket frame at the periphery, and two side edges of the rigid basket frame are hinged on the supporting arms at the front end of the rotating support; the first end of unmanned ship body is provided with the telescopic link, the both ends of telescopic link articulate with the first end of unmanned ship body and the rear end of rigidity basket respectively and link to each other. The rescue unmanned ship can effectively rescue people falling into water by matching with the rescue method disclosed by the invention.

Description

Life saving unmanned boat carrying turnover life saving device and life saving method

Technical Field

The invention relates to a lifesaving unmanned ship, in particular to a lifesaving unmanned ship carrying a turnover lifesaving device and a lifesaving method.

Background

The area of the water area occupies 71.18 percent, but human beings rely on rivers, lakes and seas for production and transportation, but human beings can not live in the water, and the production and the life of the water area are accompanied by danger to the human beings, so the rescue in the water area is particularly important. With the development of the sea and the increase of human maritime activities, the future marine rescue is performed by more depending on unmanned ship platforms. The Chinese patent application CN201210451336.0 discloses a remote control lifesaving aircraft, which comprises a long cylindrical navigation body, wherein a storage battery is arranged in the navigation body, a motor and a propeller are arranged at the rear end of the navigation body, a separable lifesaving module is arranged at the front end of the navigation body, lifesaving cables are arranged on two sides of the navigation body, a control device is arranged on the navigation body, the lifesaving module is designed into an ejection structure, the ejection distance can reach more than 10m, lifesaving equipment and objects can be ejected to a trapped area according to the situation, and the lifesaving and rescue functions are enhanced. However, the remote control lifesaving aircraft is mainly designed for arranging rescue goods and materials, and effective rescue is difficult to implement for people falling into water, particularly people falling into water who lose self-rescue ability; when the ejected lifesaving module is retracted, manual intervention is required, and complete remote control or automation control cannot be realized.

Disclosure of Invention

The invention aims to provide a lifesaving unmanned boat which is easy to realize automation and can effectively rescue people falling into water and is provided with a turnover type lifesaving device and a lifesaving method.

In order to achieve the purpose, the invention provides a lifesaving unmanned boat carrying a turnover type lifesaving device, which comprises an unmanned boat body and a turnover type lifesaving device arranged at the first end (stern or bow) of the unmanned boat body; the unmanned boat body is provided with a power system for water navigation and a control system for control; the turnover type lifesaving device comprises a rotary support and a pocket basket; the rotary support is hinged and connected with a first end of the unmanned boat body through a first rotary shaft arranged at the rear end of the rotary support, a driving device used for driving the first rotary shaft to rotate is arranged at the first end of the unmanned boat body, and a torque sensor used for detecting a torque value of the first rotary shaft is arranged on the first rotary shaft; the pocket basket comprises a rigid basket frame and a pocket net connected with the rigid basket frame at the periphery, two side edges of the rigid basket frame are hinged to the supporting arms at the front end of the rotating support, and the pocket basket can rotate on the rotating support to adjust the posture; the first end of the unmanned boat body is provided with a telescopic rod for adjusting the rotation angle of the pocket basket, and two ends of the telescopic rod are respectively hinged with the first end of the unmanned boat body and the rear end of the rigid basket frame; the first end of the unmanned boat body is also provided with a detection device for detecting people falling into water; the control signal input end of the driving device, the control signal input end of the telescopic rod, the measurement signal output end of the torque sensor and the measurement signal output end of the detection device are respectively connected into a control system.

Preferably, the unmanned boat body is provided with a balance water sump at a second end (bow or stern) opposite to the first end thereof, wherein the balance water sump is used for balancing the overturning type life saving device and saving people falling into water.

Preferably, the rear end of the telescopic rod is hinged with the first end of the unmanned boat body through a second rotating shaft; the second rotating shaft is a hollow tubular shaft and is sleeved outside the middle of the first rotating shaft, and the rotating motion of the first rotating shaft and the second rotating shaft is not influenced by each other.

Preferably, the rigid basket is V-shaped, so that the whole bag basket is V-shaped, and the bag basket adopts a V-shaped structure to more easily wrap people falling into the water into the bag basket.

Preferably, the driving device adopts a servo motor.

Preferably, the detection device adopts an acoustic wave sensor or a camera device. The detection aiming at the person falling into the water can be found by adopting manual remote monitoring or can be automatically detected through a human body recognition technology, and the human body recognition technology has a mature algorithm in the related field, which is not described in detail.

The invention also provides a lifesaving method applying the lifesaving unmanned ship, which comprises the following steps:

1) when the detection device detects that people fall into water in the water body, the unmanned boat body runs to the position near the people falling into water, the driving device drives the first rotating shaft to rotate, and the rotating support rotates downwards to the deck plane of the unmanned boat body and keeps horizontal;

2) adjusting the posture of the unmanned boat body to enable the first end of the unmanned boat body to face the person falling into the water, and controlling the unmanned boat body to further approach the person falling into the water according to the relative distance between the person falling into the water and the boat;

3) when the detection device senses that the distance between the first end of the unmanned boat body and a person falling into water is proper, the extending distance of the telescopic rod is adjusted to control the front end of the pocket basket to incline downwards, meanwhile, the unmanned boat body approaches the person falling into water to enable the person falling into water to be close to the pocket basket, and then the position of the pocket basket is controlled by the telescopic rod to support the person falling into water into the pocket basket;

4) when the people falling into the water are not fished up by the pocket basket, the first rotating shaft is controlled by the driving device to keep the posture, the torsion sensor senses that the torque is within a set threshold value at the moment, when the torque sensor senses that the torque exceeds a set value when the first rotating shaft rotates, the people falling into the water are judged to be fished up by the pocket basket, the first rotating shaft is controlled to rotate to lift the people falling into the water upwards, and meanwhile, the telescopic rod is controlled to adjust the posture of the pocket basket to ensure the position of the people falling into the water in the pocket basket to be stable;

5) when the rotary support arrives at a preset position, the pocket basket is controlled to rotate inwards through the telescopic rod, so that people falling into the water slowly fall on a deck in a clockwise manner, when the torque sensor detects that the torque is lower than a limit value, the judgment personnel move out of the pocket basket, the rotary support and the pocket basket are controlled to return to the original position, and rescue of the people falling into the water is completed.

Preferably, the unmanned ship body is provided with a balance water sump at a second end opposite to the first end, and in the process of fishing the water landing personnel, the ship body is prevented from tipping by controlling the balance water sump to feed water so as to balance the inclination of the ship body brought by the water landing personnel.

Compared with the prior art, the invention has the beneficial effects that:

1) the height and the posture of the pocket basket are controlled by controlling the driving device and the telescopic rod, and the torque of the first rotating shaft is detected by the torque sensor to judge whether a person falling into the water is fished into the pocket basket or whether the person falling into the water is moved out of the pocket basket, so that manual intervention is basically not needed, and the degree of automation is higher than that of similar products.

2) The whole activity of the lifesaving device adopted by the invention is controlled by the first rotating shaft and the telescopic rod together, wherein the rotating support is controlled by the first rotating shaft, the rotating angle of the rotating support can be controlled, the pocket basket is controlled by the telescopic rod, the use range of the pocket basket is further expanded on the basis of the movement of the rotating support, and the specific change range of the pocket basket and the rotating support can be automatically adjusted by the relative position of a system sensing target and can also be controlled by remote control.

3) The invention has more comprehensive rescue ability, does not require the drowning person to have self-rescue ability when rescuing the drowning person, can safely scoop up the drowning person even if the drowning person loses consciousness, and can also be used for scooping up and falling water articles when necessary.

Drawings

Fig. 1 is a front view structural schematic diagram of the lifeboat designed by the invention.

Fig. 2 is a right-side structural schematic view of the lifeboat in fig. 1.

Fig. 3 is a schematic top view of the lifeboat of fig. 1.

In fig. 4, (a) to (d) are schematic steps of the lifesaving method provided by the invention.

Wherein: unmanned ship body 1, first rotation axis 2, drive arrangement 2.1, torque sensor 2.2, second rotation axis 3, telescopic link 4, third rotation axis 5, runing rest 6, support arm 6.1, pocket basket 7, rigidity basket 7.1, pocket net 7.2, fourth rotation axis 8, balanced sump 9, water pump 10, detecting device 11, water 12, personnel 13 that fall into water.

Detailed Description

The invention is described in further detail below with reference to the figures and the specific embodiments.

As shown in fig. 1 to 3, the rescue unmanned ship bridge provided with the overturn type rescue device comprises an unmanned ship body 1 and an overturn type rescue device arranged at the first end (stern) of the unmanned ship body 1. The concrete description is as follows:

the unmanned boat body 1 is provided with a power system for water navigation and a control system for control. The bow of the unmanned boat body 1 is provided with a balance sump 9 for balancing the gravity of the turnover type lifesaving device and the rescued drowned personnel.

The turnover life-saving device comprises a rotating bracket 6 and a pocket basket 7.

The rotating bracket 6 is hinged and connected with the stern of the unmanned boat body 1 through the first rotating shaft 2 arranged at the rear end of the rotating bracket, a driving device 2.1 (adopting a servo motor) for driving the first rotating shaft 2 to rotate is arranged at the second end (stern) of the unmanned boat body 1, and the first rotating shaft 2 is provided with a torque sensor 2.2 for detecting the torque value of the first rotating shaft 2.

The pocket basket 7 comprises a rigid basket frame 7.1 and a pocket net 7.2 connected with the rigid basket frame 7.1 at the periphery, the rigid basket frame 7.1 is V-shaped, so that the pocket basket 7 is integrally V-shaped, two side edges of the rigid basket frame 7.1 are hinged to the supporting arm 6.1 at the front end of the rotating support 6 through a fourth rotating shaft 8, and the pocket basket 7 can rotate on the rotating support 6 to adjust the posture.

The stern of the unmanned boat body 1 is provided with a telescopic rod 4 for adjusting the rotation angle of the basket 7. The front end of the telescopic rod 4 is hinged with a third rotating shaft 5 arranged at the rear end of the rigid basket 7.1, and the rear end of the telescopic rod 4 is hinged with the stern of the unmanned boat body 1 through a second rotating shaft 3. The second rotating shaft 3 is a hollow tubular shaft, and is sleeved outside the middle part of the first rotating shaft 2, and the rotating motions of the first rotating shaft 2 and the second rotating shaft 3 are independent and do not influence each other.

The unmanned ship body 1 is also provided with a detection device 11 for detecting people falling into water, and an acoustic wave sensor is adopted in the embodiment.

The control signal input end of the driving device 2.1, the control signal input end of the telescopic rod 4, the measuring signal output end of the torque sensor 2.2 and the measuring signal output end of the detecting device 11 are respectively connected into the control system.

As shown in fig. 4, the invention also provides a lifesaving method using the lifeboat, which comprises the following steps:

1) when the detection device 11 detects that a person 13 falls into water in the water body 12, the unmanned boat body 1 drives to the vicinity of the person 13 falling into water, the first rotating shaft 2 is driven to rotate by the driving device 2.1, and the rotating bracket 6 rotates downwards to the deck plane of the unmanned boat body 1 and keeps horizontal.

2) The posture of the unmanned ship body 1 is adjusted to make the stern of the unmanned ship body face the person falling into the water 13, and the unmanned ship body 1 is controlled to further approach the person falling into the water 13 according to the relative distance between the person falling into the water 13 and the ship, as shown in fig. 4 (a).

3) When detecting device 11 senses that the stern of unmanned ship body 1 apart from the personnel 13 position moderate degree that fall into water, adjustment telescopic link 4 stretches out the front end downward sloping of distance control pocket basket 7, and unmanned ship body 1 is close to the personnel 13 that fall into water simultaneously and makes it press close to pocket basket 7, and then control the position of pocket basket 7 through telescopic link 4 and will fall into water personnel 13 and hold in the palm in pocket basket 7, like fig. 4(b), 4 (c).

4) When the torque sensor 2.2 senses that the torque exceeds the set value when the first rotating shaft 2 rotates, the person in water 13 is judged to have fished into the pocket basket 7, the first rotating shaft 2 is controlled to rotate to upwards support the person in water 13, and meanwhile, the telescopic rod 4 is controlled to adjust the posture of the pocket basket 7 so as to ensure that the person in water 13 always keeps in the middle of the V shape in the pocket basket 7, as shown in fig. 4 (d). In the process of lifting the person 13 falling into the water, the water pump 10 controls the balance water sump 9 to feed water so as to balance the stern inclination of the ship body brought by the person 13 scooping up and landing the water, and the ship body is prevented from overturning.

5) When the rotating bracket 6 reaches a preset position so that the person 13 falling into the water is above the deck plane of the unmanned boat body 1, the telescopic rod 4 controls the pocket basket 7 to rotate inwards, so that the person 13 falling into the water slowly falls onto the deck, as shown in fig. 4 (e). When the torque sensor 2.2 detects that the torque is lower than the limit value, the judgment personnel move out of the pocket basket 7, control the rotating bracket 6 and the pocket basket 7 to return to the original position, control the balance water sump 9 of the bow to discharge water outwards, and complete the rescue of the personnel 13 falling into the water.

Claims

1. The utility model provides a carry unmanned ship of lifesaving of carrying convertible life saving equipment which characterized in that: the unmanned ship comprises an unmanned ship body (1) and a turnover type lifesaving device arranged at a first end of the unmanned ship body (1);

the unmanned boat body (1) is provided with a power system for water navigation and a control system for control;

the turnover type lifesaving device comprises a rotary bracket (6) and a basket (7);

the rotary support (6) is hinged with a first end of the unmanned boat body (1) through a first rotary shaft (2) arranged at the rear end of the rotary support, a driving device (2.1) used for driving the first rotary shaft (2) to rotate is arranged at the first end of the unmanned boat body (1), and a torque sensor (2.2) used for detecting a torque value of the first rotary shaft (2) is arranged on the first rotary shaft (2);

the pocket basket (7) comprises a rigid basket frame (7.1) and a pocket net (7.2) connected with the rigid basket frame (7.1) at the periphery, two side edges of the rigid basket frame (7.1) are hinged to a supporting arm (6.1) at the front end of the rotating support (6), and the pocket basket (7) can rotate on the rotating support (6) to adjust the posture;

the first end of the unmanned boat body (1) is provided with a telescopic rod (4) used for adjusting the rotation angle of the pocket basket (7), and two ends of the telescopic rod (4) are respectively hinged with the first end of the unmanned boat body (1) and the rear end of the rigid basket frame (7.1);

the first end of the unmanned boat body (1) is also provided with a detection device (11) for detecting people falling into water;

a control signal input end of the driving device (2.1), a control signal input end of the telescopic rod (4), a measurement signal output end of the torque sensor (2.2) and a measurement signal output end of the detection device (11) are respectively connected into a control system;

a second end of the unmanned boat body (1) opposite to the first end is provided with a balance water bin (9) for balancing the turnover type lifesaving device and the personnel falling into the water;

the rear end of the telescopic rod (4) is hinged with the first end of the unmanned boat body (1) through a second rotating shaft (3); the second rotating shaft (3) is a hollow tubular shaft and is sleeved outside the middle part of the first rotating shaft (2), and the rotating motions of the first rotating shaft (2) and the second rotating shaft (3) are not influenced by each other;

the rigid basket frame (7.1) is V-shaped, so that the pocket basket (7) is integrally V-shaped.

2. The unmanned lifeboat carrying a flip-flop life saving device of claim 1, wherein: the driving device (2.1) adopts a servo motor.

3. The unmanned lifeboat carrying a flip-flop life saving device of claim 1, wherein: the detection device (11) adopts an acoustic wave sensor or a camera device.

4. A lifesaving method, which is characterized in that: the life saving unmanned boat as claimed in any one of claims 1-3 is adopted, and comprises the following steps:

1) when the detection device (11) detects that people fall into water in the water body, the unmanned boat body (1) runs to the position near the people falling into water, the first rotating shaft (2) is driven to rotate through the driving device (2.1), and the rotating support (6) rotates downwards to the deck plane of the unmanned boat body (1) and keeps horizontal;

2) the posture of the unmanned boat body (1) is adjusted to enable the first end of the unmanned boat body to face the person falling into the water, and the unmanned boat body (1) is controlled to further approach the person falling into the water according to the relative distance between the person falling into the water and the boat;

3) when the detecting device (11) senses that the distance between the first end of the unmanned boat body (1) and a person falling into the water is proper, the telescopic rod (4) is adjusted to extend out to control the front end of the pocket basket (7) to incline downwards, meanwhile, the unmanned boat body (1) approaches the person falling into the water to enable the person falling into the water to be close to the pocket basket (7), and then the position of the pocket basket (7) is controlled through the telescopic rod (4) to support the person falling into the pocket basket (7);

4) when the torque sensor (2.2) senses that the torque exceeds a set value when the first rotating shaft (2) rotates, judging that a person falling into water drags into the pocket basket (7), controlling the first rotating shaft (2) to rotate to upwards support the person falling into water, and simultaneously controlling the telescopic rod (4) to adjust the posture of the pocket basket (7) to ensure that the position of the person falling into water in the pocket basket (7) is stable;

5) when the rotary support (6) reaches a preset position, the pocket basket (7) is controlled to rotate inwards through the telescopic rod (4) to enable people falling into the water to slowly fall onto a deck along the situation, when the torque sensor (2.2) detects that the torque is lower than a limit value, the judgment personnel are moved out of the pocket basket (7), the rotary support (6) and the pocket basket (7) are controlled to return to the original position, and rescue of the people falling into the water is completed.

5. A lifesaving method as claimed in claim 4, wherein: the unmanned ship body (1) is provided with a balance water sump (9) at a second end opposite to the first end, and in the process of fishing up the person falling into water, the balance water sump (9) is controlled to feed water so as to balance the inclination of a ship body brought by the person fishing up and landing the water.