CN110228573A - It is a kind of can automatic straightening route water rescue device and method - Google Patents
It is a kind of can automatic straightening route water rescue device and method Download PDFInfo
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- CN110228573A CN110228573A CN201910441844.2A CN201910441844A CN110228573A CN 110228573 A CN110228573 A CN 110228573A CN 201910441844 A CN201910441844 A CN 201910441844A CN 110228573 A CN110228573 A CN 110228573A
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- rescue
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- pressure
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B7/00—Collapsible, foldable, inflatable or like vessels
- B63B7/06—Collapsible, foldable, inflatable or like vessels having parts of non-rigid material
- B63B7/08—Inflatable
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention discloses it is a kind of can automatic straightening route water rescue device and method.The device is double-layer structure, and lower layer is the air cushion for playing floating in water, and upper layer is the sealing device of waterproof.The device captures the image of rescue target by camera, and is analysed whether to deviate rescue path automatically according to the realtime graphic of camera in rescue operations.Camera is connected with control device respectively with electric control valve, constitutes feedback control.Control device is used to receive the image of camera acquisition, and identifies the position of rescue target and cook up rescue route, and change the movement and steering of whole device by adjusting two electric control valve opening sizes.Water survival gear of the present invention voluntarily programme path, do not have to it is whole all receive radio signal, the fault of rescue work caused by avoiding because of poor signal, the device be it is pneumatic, provide power, cleanliness without any pollution by the energy of compressed air release.
Description
Technical field
The present invention relates to lifesaving appliance field, especially it is a kind of can automatic straightening route water rescue device.
Background technique
Water survival gear refers to the hull equipment, including lifebuoy, life jacket etc. for referring mainly to relief drowning man, is chiefly used in
Short time saves oneself, and Chang Yinwei drowning people is short of physical strength, fails to see the reasons influence rescue such as aqueous.The distance of lifebuoy throwing is limited,
Drowning people probably can not be sent at one's side, if being sent by rescue personnel to drowning people when use, it is contemplated that rescue personnel
Physical strength also will limit rescue distance.
Even if not needing rescue personnel to be lauched, current lifesaving appliance is also required to artificially manipulate, due to general overboard place
Will not offshore side it is too close, if due to weather or at sea increasing rescue difficulty if poor signal when long-range control,
It may cannot not only successfully complete rescue work and lose lifesaving appliance instead.
Summary of the invention
The present invention existing water survival gear when specifically used there are aiming at the problem that, providing one kind can automatic straightening
The water rescue device of route, which, which does not need the sending instruction of rescue personnel's whole process, can be realized rescue task, to environment friend
Well, it can reuse.
The present invention adopts the following technical scheme that:
It is a kind of can automatic straightening route water rescue device, the device be double-layer structure, lower layer be play floating in water
The air cushion of effect, upper layer are the sealing device of waterproof；
Camera is installed in the water rescue device, for acquiring water rescue device forward image in real time；
Gas cylinder, power supply unit and control device are equipped in the sealing device；The gas cylinder by air delivering pipeline according to
Secondary connection high-pressure solenoid valve and high-pressure pressure-reducing valve, high-pressure pressure-reducing valve export pipeline are divided into two branches, and two branch roads are set respectively
There is electric control valve, two branch ends are respectively accessed in a power device；The power device include flying wheel,
Crank, crankshaft, power output shaft, piston rod and cylinder；Every branch end is connected to the air inlet of cylinder, and piston rod is installed on
The Pneumatic extension structure of reciprocal telescopic is constituted in cylinder；The output end of piston rod is connect with crankshaft with dynamic crankshaft by crank
It is rotated, the side of crankshaft is equipped with flying wheel, the other side and the coaxially connected transmission of power output shaft；Water rescue device
Two sides be separately installed with one be located at water surface propeller below, the power output shaft of two power devices respectively with it is not ipsilateral
Propeller is connected；
The camera is connected with control device respectively with electric control valve, and control device is for receiving camera acquisition
Image, and identify rescue target position and cook up rescue route, and by adjust two motorized adjustment valve openings it is big
The small movement and steering for changing whole device；The power supply unit is used to provide electricity for current consuming apparatus in water rescue device
Power.
Preferably, the high-pressure solenoid valve uses guide structure, it is integrated with main valve plug design.
Preferably, the high-pressure pressure-reducing valve is the adjustable restricting element of aperture.
Preferably, the cylinder is single-piston rod tail portion axial pin type cylinder.
Preferably, the propeller is ducted propeller.
Preferably, the gas cylinder is provided with the compressed air that pressure is at least 15MPa；Gas cylinder is equipped with for detecting
The baroceptor of compression pressure in bottle.
Preferably, the control device using single-chip microcontroller as core, further includes for receiving remote terminal control signal
Wireless communication module, detected for the valve position to different valves valve position sensor, for receiving camera acquisition
The video image acquisition module of video image, the position that rescue target is identified for being pre-processed to the video image of acquisition
Set and cook up the image pre-processing module of rescue route, for judging current advance route and programme path with the presence or absence of deviation
Path judgment module, for changing the PID adjustment module of electric control valve valve opening, for storing image, path, valve
The data memory module of aperture data and for providing the power module of electric energy.
Preferably, two propellers are installed on the tail portion of air cushion, and it is lower than the water line of air cushion.
Preferably, the air cushion is equipped with gas exhaust piping, gas exhaust piping is equipped with the first electricity of control piper opening and closing
Magnetic control valve；The gas cylinder connects the inflating port of air cushion by an air inlet pipeline, and air inlet pipeline is equipped with control piper
Second solenoid electric valve of opening and closing, and the first solenoid electric valve and the second solenoid electric valve are connected with control device.
Another object of the present invention is to provide it is a kind of it is above-mentioned can automatic straightening route water rescue device controlling party
Method, it the following steps are included:
1) being lauched front opening high-pressure solenoid valve makes it remain open state, checks the pressure of gas cylinder in deliverance apparatus,
Water rescue device is thrown into water by confirmation in such a way that air cushion touches water again after meeting requirement；
2) Surface Picture is acquired by camera, and identifies the position of rescue target from image, cook up rescue road
Line adjusts electric control valve valve opening size then by the drive module of control electric control valve, to change entire dress
The movement velocity and steering angle set；On the water in deliverance apparatus traveling process, continues the position of real-time detection rescue target, sentence
Current advance route of breaking and programme path whether there is deviation, pass through PID adjustment module when needing to correct route there are deviation
The electric control valve valve opening for changing two branch roads, keeps advance route consistent with programme path, connects water rescue device
Nearly rescue target；
3) when water rescue device is close to rescue target position, by the described control device control it is described the
One solenoid electric valve turns off after opening a period of time, make air cushion lose heart by be suspended in the water surface it is below in a manner of continue close to rescue
Target is opened until controlling second solenoid electric valve after holding rescue target, is inflated, driven into air cushion by gas cylinder
Rescue target floats up to the water surface again；
4) the two sides propeller differential speed rotation that water rescue device is controlled by the control device, turns device integrally
To then rescue is completed on return bank；
5) it checks the gas pressure in gas cylinder, if lower than gas cylinder is needed to change if lowest threshold, otherwise directly closes high-voltage electricity
Magnet valve waits rescue task next time.
The above technical solution of the present invention has the following advantages over the prior art:
(1) voluntarily programme path avoids water survival gear of the present invention without whole all receptions radio signal
Because of the fault of rescue work caused by poor signal, and carry out return line only and need to plan primary, saves the time；
(2) overboard without rescue personnel, it can be achieved that remote rescue, uses front opening than traditional rescue mode rapid and convenient
Switch, remaining time gas cylinder are in close state, and sensor can detect atmospheric pressure value in bottle, and replace convenient, sustainable use；
(3) device is overboard without rescue personnel, it can be achieved that remote succour, than traditional rescue mode rapid and convenient；
(4) based on the method obtain can automatic straightening route water rescue device be it is pneumatic, by compressed air
The energy of release provides power, cleanliness without any pollution.
Detailed description of the invention
To be more easily understood the contents of the present invention, the present invention is made with case study on implementation with reference to the accompanying drawing further detailed
It describes in detail bright, in which:
Fig. 1 is device planar structure schematic diagram according to the present invention；
Fig. 2 is powerplant configuration schematic diagram according to the present invention.
Fig. 3 is the water rescue device structural schematic diagram that drowning man can be actively picked up based on one kind of the invention.
In figure: 1, gas cylinder；2, high-pressure solenoid valve；3, high-pressure pressure-reducing valve；4, power supply unit；5, sealing device；6, electric adjustable
Save valve；7, power device；8, propeller；9, control device；10, air cushion；11, camera；12, the second solenoid electric valve；71,
Flying wheel；72, crank；73, crankshaft；74, power output shaft；75, piston；76, cylinder.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As shown in Figure 1, for provide in one embodiment of the present of invention can automatic straightening route water rescue device, should
Device is the double-layer structure of ellipse, and lower layer is the air cushion 10 for playing floating in water, and upper layer is the sealing device 5 of waterproof.
The buoyancy of air cushion 10 in the deflated condition should be enough to support other equipment and target to be rescued (the usually overboard people of top
Member) do not sink.In view of the manned demand on air cushion 10, sealing device 5 should minimize height, can be partially submerged into air cushion 10
In lower the center of gravity, surface should also be as it is smooth as far as possible, reduce corner angle.
The front end of entire water rescue device is equipped with a camera 11, for acquiring in front of water rescue device in real time
Image.In view of search needs, which can be used the camera for capableing of rotary viewing angle, if night use can also be used it is red
Outer camera.
The effect of sealing device 5 is that the component that cannot contact water to part is protected, and prevents touching Water Damage.It is filled in sealing
It sets and is mainly provided with gas cylinder 1, power supply unit 4, control device 9 and necessary pipeline parts (including high-pressure solenoid valve 2, high pressure in 5
Pressure reducing valve 3, electric control valve 6 etc.).Gas cylinder 1 is sequentially connected high-pressure solenoid valve 2 and high-pressure pressure-reducing valve 3, high pressure by air delivering pipeline
Master switch of the solenoid valve 2 as air delivering pipeline, high-pressure pressure-reducing valve 3 play depressurization to high pressure gas.High-pressure solenoid valve 2 and height
Pressure pressure reducing valve 3 can be controlled by the battery main switch of whole device, when master switch is opened, keep high-pressure solenoid valve 2 and high pressure
Pressure reducing valve 3, which is powered, to be opened.3 export pipeline of high-pressure pressure-reducing valve is divided into two branches, and two branch roads are respectively equipped with an electric adjustable
Save valve 6.Two branch ends are respectively accessed in a power device 7, can control two respectively by two electric control valves 6
Branch goes out throughput, and then controls two power devices 7 and export different power.
As shown in Fig. 2, each power device 7 includes flying wheel 71, crank 72, crankshaft 73, power output shaft 74, piston rod
75 and cylinder 76.Cylinder 76 is cylindrical, and every branch end is connected to the air inlet of cylinder 76, and piston rod 75 is installed on cylinder
The Pneumatic extension structure of reciprocal telescopic, the gas push which is exported by every branch are constituted in 76.Cylinder 76
One end be hingeably secured on sealing device 5, and the output end of piston rod 75 is connect by crank 72 with crankshaft 73, and then band
Dynamic crankshaft 73 is rotated, and the side of crankshaft 73 is equipped with flying wheel 71, the other side and the coaxially connected transmission of power output shaft 74.
Flying wheel 71 has enough rotary inertias, it is ensured that power device 7 can smoothly realize air inlet-expansion-exhaust cycles.It is waterborne to rescue
The two sides of tail of the air cushion 10 of shaking apparatus is separately installed with a propeller 8, and the power output shaft 74 of two power devices 7 is distinguished
It is connected with not ipsilateral propeller 8.Two propellers 8 are mountable to the two sides of tail of air cushion 10, and are lower than the drinking water of air cushion 10
Line.When two 8 constant speed rotations of propeller, water rescue device is advanced forward, and when differential speed rotation, water rescue device occurs
It turns to.For example, it is desired to which the valve opening on the right increases when turning left, the gas for discharging greater flow adds right side 8 revolving speed of propeller
Fastly, device is caused to be turned left under the action of reaction force.It therefore, can be by adjusting two 6 opening sizes of electric control valve
Change the movement and steering of whole device.
In the present invention, the image of rescue target is captured by camera 11, and according to camera in rescue operations
11 realtime graphic to analyse whether to deviate rescue path automatically.The algorithm and path for rescuing target are identified from image
Planning algorithm can be used any feasible method in the prior art and realize.Therefore, camera 11 and electric control valve 6 respectively with control
Device 9 processed is connected, and constitutes feedback control.Control device 9 is used to receive the image of the acquisition of camera 11, and identifies rescue target
Position and cook up rescue route, and by adjust two 6 opening sizes of electric control valve change whole devices movement and
It turns to.
In addition, a power supply unit 4 is additionally provided in entire water rescue device, for setting for power consumption in water rescue device
It is standby that electric power, such as camera 11, control device 9 etc. are provided.
In above-mentioned water survival gear, the high-pressure solenoid valve 2 uses guide structure, is designed as one with main valve plug
Body is opened after receiving instruction, the gas in gas cylinder 1 is conveyed outward.High-pressure pressure-reducing valve 3 is the section of an adjustable aperture
Compressed air is depressurized to suitable pressure and is re-fed into cylinder 76 by fluid element.Cylinder 76 is connected with high-pressure pressure-reducing valve 3, is single living
Stopper rod tail portion axial pin type cylinder, caused by shock and vibration it is smaller.Propeller 8 is ducted propeller, can protect propeller not
It collides with foreign matter, people will not be accidentally injured.Gas cylinder 1 is provided with the compressed air that pressure is at least 15MPa, is able to bear 100kg's
Load-carrying weight.Meanwhile gas cylinder 1 is equipped with the baroceptor for detecting compression pressure in bottle, in order to detect gas cylinder 1
In remaining tolerance, prevent midway cast anchor.
Control device 9 in above-mentioned apparatus can be realized using automatic control equipments such as single-chip microcontroller, PLC, can be realized corresponding
Function.In one embodiment, above-mentioned control device 9 further includes for receiving remote terminal control using single-chip microcontroller as core
The wireless communication module of signal, for the valve position sensor that the valve position to different valves is detected, for receiving camera 11
The video image acquisition module of the video image of acquisition, for being pre-processed to the video image of acquisition to identify rescue mesh
Target position and the image pre-processing module for cooking up rescue route, for judging whether current advance route and programme path deposit
In the path judgment module of deviation, for changing the PID adjustment module of 6 valve opening of electric control valve, for storing image, road
Diameter, the data memory module of valve opening data and for providing the power module of electric energy.Operator can be in bank as a result,
Module carries out long-range manual control to device by wireless communication on side, assists going on smoothly for rescue operations.And PID adjusts mould
The cooperation of block and valve position sensor can accurately adjust 6 valve opening of electric control valve, and then accurately control the fortune of whole device
Dynamic and steering.
Above-mentioned water rescue device when in use, can navigate by the camera of itself, all connect without whole process
Receive radio signal, the fault of rescue work caused by avoiding because of poor signal.When it is close to rescue target, spiral can be stopped
Paddle 8 rotates, and so that rescue target is actively climbed up air cushion 10, then returns again to bank, completes rescue work.
But when the device is used for overboard personnel rescuing in water, it is understood that there may be drowning man loses consciousness or inability is actively climbed
The case where upper air cushion 10.Therefore, in another embodiment, a kind of water life-saving dress that can actively pick up drowning man is provided
It sets.On the basis of water rescue device device shown in Fig. 1, gas exhaust piping, gas exhaust piping are further equipped on air cushion 10
It is equipped with the first solenoid electric valve of control piper opening and closing.And gas cylinder 1 connects the inflating port of air cushion 10 by an air inlet pipeline,
And air inlet pipeline is equipped with the second solenoid electric valve 12 of control piper opening and closing.And first solenoid electric valve and the second Electromagnetic Control
Valve is connected with control device 9, is normally off in the case where being not connected to control signal.When the first solenoid electric valve is beaten
When opening, 10 gas leakage of air cushion, integral sinking can open the second solenoid electric valve 12 using the progress of gas cylinder 1 after holding drowning man
Inflation, air cushion 10 is whole to float, and completes the active salvage of drowning man.
Based on the control method of this water rescue device, specific steps are as follows:
1) it is lauched the master switch of front opening whole device, so that high-pressure solenoid valve 2 and high-pressure pressure-reducing valve 3 is powered, makes it always
It keeps it turned on, checks and rescued again by waterborne after the pressure of gas cylinder 1 in deliverance apparatus, confirmation meet requirement (>=15MPa)
Shaking apparatus is thrown into water in such a way that air cushion 10 touches water；
2) under original state can by bank operator's manual control its towards drowning man position, pass through camera 11
Surface Picture is acquired, and identifies the position of rescue target from image, cooks up rescue route, then passes through control electric adjustable
The drive module of valve 6 is saved, 6 valve opening size of electric control valve is adjusted, to change the movement velocity and steering of whole device
Angle；On the water in deliverance apparatus traveling process, continues the position of real-time detection rescue target, judge current advance route and rule
Drawing route whether there is deviation, change the electricity of two branch roads by PID adjustment module when needing to correct route there are deviation
Dynamic 6 valve opening of regulating valve, adjusts direction of travel, keeps advance route consistent with programme path, water rescue device moves closer to
Rescue target.
3) when water rescue device is close to rescue target position, the first electromagnetism control can be controlled by control device 9
Valve processed turns off after opening a period of time, make air cushion 10 lose heart by be suspended in the water surface it is below in a manner of continue close to rescue target.
The process can carry out automatically, can also be controlled by onshore operation personnel indirect labor, and specific first solenoid electric valve is opened
Time can be according to practical adjustment, and being subject to air cushion 10 being capable of stable suspersion.When air cushion 10 is located at below rescue target, it is only necessary to
Floating can hold rescue target, can control the second solenoid electric valve opening at this time, inflated by gas cylinder 1 into air cushion 10,
Rescue target is driven to float up to the water surface again.
4) 8 differential speed rotation of two sides propeller that water rescue device is then controlled by control device 9, turns device integrally
To bank can be returned to according to the path originally planned after going to rescue personnel's direction, by drowning man from device
On help down, complete this rescue.
5) it after completing rescue, needs to check the gas pressure in gas cylinder 1, needs to change gas cylinder 1 if being lower than lowest threshold, it is no
Then directly close the master switch of pneumatic water rescue device.High-pressure solenoid valve 2 is closed, rescue task next time is waited.
Above-described case study on implementation is only a specific embodiment of the invention, not the limit of protection scope of the present invention
It is fixed.Those skilled in the relevant technical field can also make the trial of other distinct methods on the basis of the present invention.And by
The change or replacement carried out without creative work that the present invention causes, all cover protection scope of the present invention it
It is interior.
Claims (10)
1. one kind can automatic straightening route water rescue device, it is characterised in that: the device be double-layer structure, lower layer be in water
In play the air cushion (10) of floating, upper layer is the sealing device (5) of waterproof；
Camera (11) are installed, for acquiring water rescue device forward image in real time in the water rescue device；
Gas cylinder (1), power supply unit (4) and control device (9) are equipped in the sealing device (5)；The gas cylinder (1) passes through
Air delivering pipeline is sequentially connected high-pressure solenoid valve (2) and high-pressure pressure-reducing valve (3), and high-pressure pressure-reducing valve (3) export pipeline is divided into two branch
Road, two branch roads are respectively equipped with electric control valve (6), and two branch ends are respectively accessed in a power device (7)；Each
The power device (7) include flying wheel (71), crank (72), crankshaft (73), power output shaft (74), piston rod (75) and
Cylinder (76)；Every branch end is connected to the air inlet of cylinder (76), piston rod (75) be installed in cylinder (76) constitute it is past
Flexible Pneumatic extension structure again；The output end of piston rod (75) is connect with crankshaft (73) with dynamic crankshaft by crank (72)
(73) it is rotated, the side of crankshaft (73) is equipped with flying wheel (71), the other side and power output shaft (74) coaxially connected biography
It is dynamic；The two sides of water rescue device are separately installed with one and are located at water surface propeller below (8), two power devices (7)
Power output shaft (74) is connected with not ipsilateral propeller (8) respectively；
The camera (11) is connected with control device (9) respectively with electric control valve (6), and control device (9) is for receiving
The image of camera (11) acquisition, and identify the position of rescue target and cook up rescue route, and by adjusting two electricity
Dynamic regulating valve (6) opening size changes the movement and steering of whole device；The power supply unit (4) is used to fill for water life-saving
It sets middle current consuming apparatus and electric power is provided.
2. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the high-voltage electromagnetic
Valve (2) uses guide structure, is integrated with main valve plug design.
3. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the high pressure relief
Valve (3) is the adjustable restricting element of aperture.
4. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the cylinder (76)
For single-piston rod tail portion axial pin type cylinder.
5. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the propeller
It (8) is ducted propeller.
6. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the gas cylinder (1)
It is provided with the compressed air that pressure is at least 15MPa；Gas cylinder (1) is equipped with the air pressure transmission for detecting compression pressure in bottle
Sensor.
7. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the control device
It (9) further include for receiving the wireless communication module of remote terminal control signal, for different valves using single-chip microcontroller as core
Valve position detected valve position sensor, for receive camera (11) acquisition video image video image acquisition mould
Block, for being pre-processed to the video image of acquisition with identify rescue target position and cook up rescue route image
Preprocessing module, for judge current advance route and programme path with the presence or absence of deviation path judgment module, for changing
The PID adjustment module of electric control valve (6) valve opening, for store image, path, valve opening data data store mould
Block and for providing the power module of electric energy.
8. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: two spirals
Paddle (8) is installed on the tail portion of air cushion (10), and is lower than the water line of air cushion (10).
9. as described in claim 1 can automatic straightening route water rescue device, it is characterised in that: the air cushion (10)
It is equipped with gas exhaust piping, gas exhaust piping is equipped with the first solenoid electric valve of control piper opening and closing；The gas cylinder (1) passes through one
The inflating port of air inlet pipeline connection air cushion (10), and air inlet pipeline is equipped with the second solenoid electric valve of control piper opening and closing,
And first solenoid electric valve and the second solenoid electric valve be connected with control device (9).
10. described in a kind of claim 9 can automatic straightening route water rescue device control method, which is characterized in that packet
Include following steps:
1) being lauched front opening high-pressure solenoid valve (2) makes it remain open state, checks the pressure of gas cylinder (1) in deliverance apparatus
Water rescue device is thrown into water by power, confirmation in such a way that air cushion (10) touch water again after meeting requirement；
2) Surface Picture is acquired by camera (11), and identifies the position of rescue target from image, cook up rescue road
Line adjusts electric control valve (6) valve opening size, to change then by the drive module of control electric control valve (6)
The movement velocity and steering angle of whole device；On the water in deliverance apparatus traveling process, continue real-time detection rescue target
Position judges that current advance route and programme path with the presence or absence of deviation, pass through PID tune when needing to correct route there are deviation
Electric control valve (6) valve opening that module changes two branch roads is saved, keeps advance route consistent with programme path, makes waterborne rescue
The close rescue target of shaking apparatus；
3) when water rescue device is close to rescue target position, by described control device (9) control it is described the
One solenoid electric valve open a period of time after turn off, make air cushion (10) lose heart by be suspended in the water surface it is below in a manner of continue it is close
Target is rescued, is opened until controlling second solenoid electric valve after holding rescue target, by gas cylinder (1) to air cushion (10)
Middle inflation drives rescue target to float up to the water surface again；
4) two sides propeller (8) differential speed rotation that water rescue device is controlled by the control device (9) keeps device whole
It turns to, then returns to bank and complete rescue；
5) it checks the gas pressure in gas cylinder (1), if lower than gas cylinder (1) is needed to change if lowest threshold, otherwise directly closes high pressure
Solenoid valve (2) waits rescue task next time.
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| CN108298044A (en) * | 2018-03-17 | 2018-07-20 | 烟台尼达船艇科技开发有限公司 | A kind of water life-saving robot |
| CN109159865A (en) * | 2018-07-23 | 2019-01-08 | 江苏科技大学 | A kind of novel maritime search and rescue unmanned boat and its rescue method |
| CN109760800A (en) * | 2019-02-27 | 2019-05-17 | 青岛无疆技术有限公司 | A kind of interactive intelligent lifebuoy |
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