CN110228573B - Water rescue device and method capable of automatically correcting route - Google Patents
Water rescue device and method capable of automatically correcting route Download PDFInfo
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- CN110228573B CN110228573B CN201910441844.2A CN201910441844A CN110228573B CN 110228573 B CN110228573 B CN 110228573B CN 201910441844 A CN201910441844 A CN 201910441844A CN 110228573 B CN110228573 B CN 110228573B
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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
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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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- 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 a water rescue device and method capable of automatically correcting a route. The device is of a double-layer structure, the lower layer is an air cushion which plays a role of floating in water, and the upper layer is a waterproof sealing device. The device captures images of the rescue target through the camera, and automatically analyzes whether the rescue path deviates from the real-time images of the camera in the rescue process. The camera and the electric regulating valve are respectively connected with the control device to form feedback control. The control device is used for receiving the images acquired by the camera, identifying the position of a rescue target, planning a rescue route, and changing the motion and the steering of the whole device by adjusting the opening of the two electric adjusting valves. The water life-saving equipment disclosed by the invention automatically plans a route, does not need to receive radio signals in the whole process, avoids the error of rescue work caused by poor signals, is pneumatic, is powered by energy released by compressed air, and is clean and pollution-free.
Description
Technical Field
The invention relates to the field of lifesaving equipment, in particular to a water rescue device capable of automatically correcting a route.
Background
The water life-saving equipment mainly refers to ship equipment for saving people falling into water, comprises life buoys, life jackets and the like, is mainly used for saving self in a short time, and is often influenced by the weak physical strength, the unfamiliar water property and the like of people falling into water. The life buoy has limited throwing distance and is probably incapable of being sent to the side of a person falling into the water, and the rescue distance is limited by considering the physical strength of rescuers if the life buoy is sent to the vicinity of the person falling into the water by the rescuers during use.
Even if rescue workers do not need to launch, the existing lifesaving device also needs to be manually operated, and as the general water falling place is not too close to the shore, the rescue difficulty is increased if the signal is not good due to weather reasons or at sea in the process of remote control, so that the rescue work cannot be successfully completed, and the lifesaving device is lost.
Disclosure of Invention
The invention provides a water rescue device capable of automatically correcting a route, aiming at the problems of the existing water rescue equipment in specific use, the device can realize a rescue task without giving an instruction to rescue personnel in the whole process, is environment-friendly and can be repeatedly used.
The invention adopts the following technical scheme:
a water rescue device capable of automatically correcting a route is of a double-layer structure, the lower layer is an air cushion playing a floating role in water, and the upper layer is a waterproof sealing device;
the water rescue device is internally provided with a camera which is used for acquiring images in front of the water rescue device in real time;
the sealing device is internally provided with a gas cylinder, a power supply device and a control device; the gas cylinder is sequentially connected with a high-pressure electromagnetic valve and a high-pressure reducing valve through a gas transmission pipeline, an outlet pipeline of the high-pressure reducing valve is divided into two branches, electric regulating valves are respectively arranged on the two branches, and the tail ends of the two branches are respectively connected into a power device; each power device comprises an inertia wheel, a crank, a crankshaft, a power output shaft, a piston rod and a cylinder; the tail end of each branch is communicated with an air inlet of the air cylinder, and a piston rod is arranged in the air cylinder to form a reciprocating telescopic pneumatic telescopic structure; the output end of the piston rod is connected with a crankshaft through a crank so as to drive the crankshaft to rotate, one side of the crankshaft is provided with an inertia wheel, and the other side of the crankshaft is coaxially connected with a power output shaft for transmission; two sides of the water rescue device are respectively provided with a propeller below the water surface, and power output shafts of the two power devices are respectively connected with the propellers on different sides;
the camera and the electric control valves are respectively connected with the control device, the control device is used for receiving images collected by the camera, identifying the position of a rescue target and planning a rescue route, and the movement and the steering of the whole device are changed by adjusting the opening sizes of the two electric control valves; the power supply device is used for supplying power to power consumption equipment in the water rescue device.
Preferably, the high-pressure electromagnetic valve adopts a pilot structure and is designed as a whole with the main valve core.
Preferably, the high-pressure reducing valve is a throttling element with an adjustable opening degree.
Preferably, the cylinder is a single-piston rod tail shaft pin type cylinder.
Preferably, the propeller is a ducted propeller.
Preferably, the gas cylinder is filled with compressed air with the pressure of at least 15 MPa; the gas cylinder is provided with a gas pressure sensor for detecting the pressure of the compressed gas in the cylinder.
Preferably, the control device takes a single chip microcomputer as a core, and further comprises a wireless communication module for receiving a remote terminal control signal, a valve position sensor for detecting valve positions of different valves, a video image acquisition module for receiving a video image acquired by a camera, an image preprocessing module for preprocessing the acquired video image to identify the position of a rescue target and plan a rescue route, a path judgment module for judging whether a current advancing route and the planned route have deviation, a PID adjustment module for changing the valve opening of the electric control valve, a data storage module for storing image, path and valve opening data, and a power supply module for supplying electric energy.
Preferably, the two propellers are arranged at the tail part of the air cushion and are lower than the waterline of the air cushion.
Preferably, the air cushion is provided with an exhaust pipeline, and the exhaust pipeline is provided with a first electromagnetic control valve for controlling the opening and closing of the pipeline; the air cylinder is connected with the inflation inlet of the air cushion through an air inlet pipeline, a second electromagnetic control valve for controlling the pipeline to open and close is arranged on the air inlet pipeline, and the first electromagnetic control valve and the second electromagnetic control valve are both connected with the control device.
Another object of the present invention is to provide a method for controlling the above water rescue device capable of automatically correcting a route, which comprises the following steps:
1) before launching water, opening a high-pressure electromagnetic valve to enable the high-pressure electromagnetic valve to be always kept in an open state, checking the pressure of a gas cylinder in the rescue device, and throwing the water rescue device into the water in an air cushion water contact mode after confirming that the use requirement is met;
2) acquiring a water surface image through a camera, identifying the position of a rescue target from the image, planning a rescue route, and then regulating the opening of an electric regulating valve through controlling a driving module of the electric regulating valve so as to change the movement speed and the steering angle of the whole device; when the deviation exists, the opening degree of electric control valve valves on two branches is changed through a PID (proportion integration differentiation) adjusting module, so that the advancing route is consistent with the planned route, and the water rescue device is close to the rescue target;
3) when the water rescue device is close to the position of a rescue target, the control device controls the first electromagnetic control valve to be opened for a period of time and then closed, so that the air cushion is deflated to be continuously close to the rescue target in a manner of suspending below the water surface, the second electromagnetic control valve is controlled to be opened until the rescue target is dragged, and the air cushion is inflated through the air bottle to drive the rescue target to float up to the water surface again;
4) the control device controls the propellers on two sides of the water rescue device to rotate in a differential mode, so that the device is integrally steered and then returns to the shore to finish rescue;
5) and checking the gas pressure in the gas cylinder, if the gas pressure is lower than the minimum threshold value, replacing the gas cylinder, and otherwise, directly closing the high-pressure electromagnetic valve to wait for the next rescue task.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the water life-saving equipment disclosed by the invention automatically plans the route, and does not need to receive radio signals in the whole process, so that the error of rescue work caused by poor signals is avoided, and the route is planned once, so that the time is saved;
(2) the rescue method has the advantages that rescue workers do not need to fall into water, long-distance rescue can be achieved, the switch is turned on before the rescue method is used more quickly and conveniently than the traditional rescue method, the gas cylinder is in a closed state in the rest time, the sensor can detect the gas pressure value in the cylinder, the replacement is convenient, and the rescue method can be used continuously;
(3) the device does not need rescue workers falling into water, can realize long-distance rescue, and is faster and more convenient than the traditional rescue method;
(4) the water rescue device capable of automatically correcting the route based on the method is pneumatic, is powered by energy released by compressed air, and is clean and pollution-free.
Drawings
In order that the disclosure of the invention may be more readily understood, reference is now made to the following detailed description of the invention taken in conjunction with the accompanying drawings and examples, in which:
FIG. 1 is a schematic plan view of an apparatus according to the present invention;
FIG. 2 is a schematic diagram of a power plant according to the present invention;
fig. 3 is a schematic structural diagram of a water rescue device capable of actively fishing personnel who take off and land water based on the invention.
In the figure: 1. a gas cylinder; 2. a high-pressure solenoid valve; 3. a high pressure relief valve; 4. a power supply device; 5. a sealing device; 6. an electric control valve; 7. a power plant; 8. a propeller; 9. a control device; 10. an air cushion; 11. a camera; 12. a second solenoid control valve; 71. an inertia wheel; 72. a crank; 73. a crankshaft; 74. a power take-off shaft; 75. a piston; 76. and a cylinder.
Detailed Description
The invention is further described below with reference to the accompanying drawings and specific examples.
As shown in fig. 1, the water rescue device capable of automatically correcting the route provided in one embodiment of the present invention has an elliptical double-layer structure, the lower layer is an air cushion 10 floating in water, and the upper layer is a waterproof sealing device 5. The air cushion 10 should be sufficiently buoyant in the inflated state to support other equipment above and the object to be rescued (typically a man overboard) from sinking. In view of the passenger requirements on the air cushion 10, the sealing device 5 should be as small as possible in height, partially embedded in the air cushion 10 to lower the center of gravity, and as flat as possible in its surface to reduce edges and corners.
A camera 11 is installed at the front end of the whole water rescue device and used for collecting images in front of the water rescue device in real time. The camera 11 may be a camera capable of rotating the angle of view, or an infrared camera may be used for night use, in consideration of the search requirement.
The sealing device 5 is used for protecting the components which are partially not contacted with water and preventing the components from being damaged by the water. The gas cylinder 1, the power supply device 4, the control device 9 and necessary piping elements (including the high-pressure solenoid valve 2, the high-pressure reducing valve 3, the electric control valve 6, etc.) are mainly provided in the sealing device 5. The gas cylinder 1 is sequentially connected with a high-pressure electromagnetic valve 2 and a high-pressure reducing valve 3 through a gas transmission pipeline, the high-pressure electromagnetic valve 2 is used as a master switch of the gas transmission pipeline, and the high-pressure reducing valve 3 has a pressure reducing effect on high-pressure gas. The high-pressure electromagnetic valve 2 and the high-pressure reducing valve 3 can be controlled by a power main switch of the whole device, and when the main switch is opened, the high-pressure electromagnetic valve 2 and the high-pressure reducing valve 3 are kept electrified and opened. The outlet pipeline of the high-pressure reducing valve 3 is divided into two branches, and an electric regulating valve 6 is respectively arranged on the two branches. The tail ends of the two branches are respectively connected into a power device 7, the air outlet flow of the two branches can be respectively controlled through the two electric regulating valves 6, and then the two power devices 7 are controlled to output different powers.
As shown in fig. 2, each power unit 7 includes an inertia wheel 71, a crank 72, a crankshaft 73, a power output shaft 74, a piston rod 75, and a cylinder 76. The cylinder 76 is cylindrical, the end of each branch is communicated with the air inlet of the cylinder 76, and the piston rod 75 is arranged in the cylinder 76 to form a reciprocating telescopic pneumatic telescopic structure which is pushed by the air output by each branch. One end of the cylinder 76 is hinged and fixed on the sealing device 5, and the output end of the piston rod 75 is connected with the crankshaft 73 through the crank 72, so as to drive the crankshaft 73 to rotate, one side of the crankshaft 73 is provided with the inertia wheel 71, and the other side is coaxially connected with the power output shaft 74 for transmission. The inertia wheel 71 has sufficient inertia moment to ensure that the power unit 7 can smoothly perform the intake-expansion-exhaust cycle. Two propellers 8 are respectively arranged at two sides of the tail part of an air cushion 10 of the water rescue device, and power output shafts 74 of the two power devices 7 are respectively connected with the propellers 8 at different sides. Two propellers 8 may be mounted on both sides of the rear of the air cushion 10, below the water line of the air cushion 10. When the two propellers 8 rotate at the same speed, the water rescue device advances forwards, and the water rescue device turns when rotating at a different speed. For example, when a left turn is required, the right valve opening is increased, and a larger flow of gas is released to accelerate the rotation speed of the right propeller 8, resulting in the left turn of the device under the action of a reaction force. Therefore, the movement and steering of the whole device can be changed by adjusting the opening degree of the two electric adjusting valves 6.
In the invention, the image of the rescue target is captured by the camera 11, and whether the rescue path deviates or not is automatically analyzed according to the real-time image of the camera 11 in the rescue process. The algorithm for identifying the rescue objective from the image, and the algorithm for planning the path, can be implemented by any feasible method in the prior art. Therefore, the camera 11 and the electric control valve 6 are connected to the control device 9, respectively, to constitute feedback control. The control device 9 is used for receiving the images collected by the camera 11, identifying the position of a rescue target, planning a rescue route, and changing the movement and the steering of the whole device by adjusting the opening of the two electric adjusting valves 6.
In addition, a power supply device 4 is also arranged in the whole water rescue device and used for supplying power to power consumption equipment in the water rescue device, such as a camera 11, a control device 9 and the like.
In the above water life-saving equipment, the high-pressure electromagnetic valve 2 adopts a pilot structure, is designed with the main valve core into a whole, is opened after receiving an instruction, and conveys the gas in the gas cylinder 1 outwards. The high-pressure reducing valve 3 is an opening-adjustable throttling element, and reduces the pressure of the compressed air to a suitable pressure and then feeds the compressed air into the cylinder 76. The cylinder 76 is connected with the high-pressure reducing valve 3 and is a single-piston rod tail shaft pin type cylinder, and the impact and vibration caused by the single-piston rod tail shaft pin type cylinder are small. The propeller 8 is a ducted propeller, which can protect the propeller from colliding with foreign matters and prevent people from being hurt by mistake. The air bottle 1 is filled with compressed air with the pressure of at least 15MPa, and can bear the load weight of 100 kg. Meanwhile, the gas cylinder 1 is provided with a gas pressure sensor for detecting the pressure of compressed gas in the cylinder, so that the residual gas amount in the gas cylinder 1 can be conveniently detected, and midway anchoring can be prevented.
The control device 9 in the device can be realized by adopting automatic control equipment such as a single chip microcomputer, a PLC and the like, and can realize corresponding functions. In an embodiment, the control device 9 uses a single chip as a core, and further includes a wireless communication module for receiving a remote terminal control signal, a valve position sensor for detecting valve positions of different valves, a video image acquisition module for receiving a video image acquired by the camera 11, an image preprocessing module for preprocessing the acquired video image to identify a position of a rescue target and plan a rescue route, a path judgment module for judging whether a current forward route and the planned route have a deviation, a PID adjustment module for changing a valve opening of the electric control valve 6, a data storage module for storing data of the image, the path and the valve opening, and a power supply module for supplying power. From this, control personnel and can carry out long-range manual control, supplementary rescue process's going on smoothly to the device through wireless communication module on the bank. And the PID adjusting module is matched with the valve position sensor, so that the opening degree of the electric adjusting valve 6 can be accurately adjusted, and the movement and the steering of the whole device can be accurately controlled.
When the water rescue device is used, navigation can be carried out by depending on the camera of the water rescue device, radio signals do not need to be received in the whole process, and the error of rescue work caused by poor signals is avoided. When the rescue target is close to the rescue target, the propeller 8 can be stopped to rotate, so that the rescue target can actively climb the air cushion 10 and then return to the shore to finish the rescue work.
However, when the device is used for rescuing people falling into water, the situation that the people falling into water lose consciousness or are incapable of actively climbing up the air cushion 10 may exist. Thus, in another embodiment, a water rescue device is provided that is capable of actively scooping up and off water personnel. On the basis of the device shown in fig. 1, the water rescue device is further provided with an exhaust pipeline on the air cushion 10, and the exhaust pipeline is provided with a first electromagnetic control valve for controlling the pipeline to open and close. The gas bottle 1 is connected with the charging port of the air cushion 10 through an air inlet pipeline, and a second electromagnetic control valve 12 for controlling the pipeline to open and close is arranged on the air inlet pipeline. And the first electromagnetic control valve and the second electromagnetic control valve are both connected with the control device 9, and are both in a normally closed state under the condition that the control signals are not received. When the first electromagnetic control valve is opened, the air cushion 10 leaks air and sinks integrally, after a person falling into the water is dragged, the second electromagnetic control valve 12 can be opened to inflate the air by using the air bottle 1, and the air cushion 10 floats integrally to finish the active fishing work of the person falling into the water.
The control method based on the water rescue device comprises the following specific steps:
1) before launching, a main switch of the whole device is opened, a high-pressure electromagnetic valve 2 and a high-pressure reducing valve 3 are electrified to be kept in an open state all the time, the pressure of a gas cylinder 1 in the rescue device is checked, and the water rescue device is thrown into water in a way that an air cushion 10 touches water after the use requirement (more than or equal to 15MPa) is confirmed;
2) in an initial state, a shoreside control worker can manually control the position of the shoreside control worker facing a person falling into water, a water surface image is collected through the camera 11, the position of a rescue target is identified from the image, a rescue route is planned, and then the opening of the electric control valve 6 is adjusted by controlling a driving module of the electric control valve 6, so that the movement speed and the steering angle of the whole device are changed; when the water rescue device moves forward, the position of the rescue target is continuously detected in real time, whether the current advancing route and the planned route have deviation or not is judged, and when the deviation exists and the route needs to be corrected, the opening degree of the electric control valves 6 on the two branch circuits is changed through the PID adjusting module, the moving direction is adjusted, the advancing route is consistent with the planned route, and the water rescue device gradually approaches the rescue target.
3) When the water rescue device is close to the position of the rescue target, the control device 9 can control the first electromagnetic control valve to be opened for a period of time and then closed, so that the air cushion 10 is deflated to be continuously close to the rescue target in a manner of suspending below the water surface. The process can be automatically carried out, or manually controlled by shore operators in an auxiliary manner, and the opening time of the specific first electromagnetic control valve can be adjusted according to the actual situation, so that the air cushion 10 can stably suspend. When the air cushion 10 is positioned below the rescue target, the rescue target can be dragged only by floating, at the moment, the second electromagnetic control valve can be controlled to be opened, and the air cushion 10 is inflated through the air bottle 1 to drive the rescue target to float up to the water surface again.
4) And then the propellers 8 on the two sides of the water rescue device are controlled to rotate at a differential speed through the control device 9, so that the device turns integrally, the device returns to the shore again according to the originally planned path after turning to the direction of the rescue worker, and the person falling into the water is lifted down from the device to complete the rescue.
5) After the rescue is completed, the gas pressure in the gas cylinder 1 needs to be checked, if the gas pressure is lower than the minimum threshold value, the gas cylinder 1 needs to be replaced, and otherwise, a main switch of the pneumatic water rescue device is directly turned off. And closing the high-pressure electromagnetic valve 2 and waiting for the next rescue task.
The above embodiments are merely specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Other attempts to implement different methods will be apparent to those skilled in the art based on the present disclosure. But variations or substitutions introduced by the present invention without inventive efforts are covered within the protection scope of the present invention.
Claims (8)
1. A control method of a water rescue device capable of automatically correcting a route is characterized in that the device is of a double-layer structure, the lower layer is an air cushion (10) playing a role of floating in water, and the upper layer is a waterproof sealing device (5);
the water rescue device is internally provided with a camera (11) for acquiring images in front of the water rescue device in real time;
the sealing device (5) is internally provided with a gas cylinder (1), a power supply device (4) and a control device (9); the gas cylinder (1) is sequentially connected with a high-pressure electromagnetic valve (2) and a high-pressure reducing valve (3) through a gas transmission pipeline, an outlet pipeline of the high-pressure reducing valve (3) is divided into two branches, electric regulating valves (6) are respectively arranged on the two branches, and the tail ends of the two branches are respectively connected into a power device (7); each power device (7) comprises an inertia wheel (71), a crank (72), a crankshaft (73), a power output shaft (74), a piston rod (75) and a cylinder (76); the tail end of each branch is communicated with an air inlet of the air cylinder (76), and the piston rod (75) is arranged in the air cylinder (76) to form a reciprocating telescopic pneumatic telescopic structure; the output end of the piston rod (75) is connected with a crankshaft (73) through a crank (72) so as to drive the crankshaft (73) to rotate, one side of the crankshaft (73) is provided with an inertia wheel (71), and the other side of the crankshaft (73) is coaxially connected with a power output shaft (74) for transmission; two sides of the water rescue device are respectively provided with a propeller (8) below the water surface, and power output shafts (74) of the two power devices (7) are respectively connected with the propellers (8) at different sides;
the camera (11) and the electric regulating valves (6) are respectively connected with the control device (9), the control device (9) is used for receiving images collected by the camera (11), identifying the position of a rescue target and planning a rescue route, and the movement and the steering of the whole device are changed by regulating the opening degree of the two electric regulating valves (6); the power supply device (4) is used for supplying power to power consumption equipment in the water rescue device;
an exhaust pipeline is arranged on the air cushion (10), and a first electromagnetic control valve for controlling the pipeline to open and close is arranged on the exhaust pipeline; the gas cylinder (1) is connected with an inflation inlet of the air cushion (10) through an air inlet pipeline, a second electromagnetic control valve for controlling the pipeline to open and close is arranged on the air inlet pipeline, and the first electromagnetic control valve and the second electromagnetic control valve are both connected with the control device (9);
the method is characterized in that: the control method comprises the following steps:
1) before launching water, opening the high-pressure electromagnetic valve (2) to keep the high-pressure electromagnetic valve in an open state all the time, checking the pressure of a gas cylinder (1) in the rescue device, and throwing the water rescue device into the water in a way that an air cushion (10) touches the water after confirming that the use requirement is met;
2) the method comprises the steps that a camera (11) is used for collecting a water surface image, the position of a rescue target is identified from the image, a rescue route is planned, and then the opening of a valve of an electric control valve (6) is adjusted by controlling a driving module of the electric control valve (6), so that the movement speed and the steering angle of the whole device are changed; when the water rescue device moves, the position of a rescue target is continuously detected in real time, whether a current advancing route and a planned route have deviation or not is judged, and when the deviation exists and the route needs to be corrected, the opening degree of valves of electric control valves (6) on two branches is changed through a PID (proportion integration differentiation) adjusting module, so that the advancing route is consistent with the planned route, and the water rescue device is close to the rescue target;
3) when the water rescue device is close to the position of a rescue target, the control device (9) controls the first electromagnetic control valve to be opened for a period of time and then closed, so that the air cushion (10) is deflated to be continuously close to the rescue target in a manner of suspending below the water surface, the second electromagnetic control valve is controlled to be opened until the rescue target is dragged, and the air cushion (10) is inflated through the air bottle (1) to drive the rescue target to float up to the water surface again;
4) the control device (9) controls propellers (8) on two sides of the water rescue device to rotate in a differential speed mode, so that the device is integrally steered and then returns to the shore to complete rescue;
5) checking the gas pressure in the gas cylinder (1), if the gas pressure is lower than the minimum threshold value, replacing the gas cylinder (1), and otherwise, directly closing the high-pressure electromagnetic valve (2) to wait for the next rescue task.
2. The control method according to claim 1, characterized in that: the high-pressure electromagnetic valve (2) adopts a pilot structure and is designed into a whole with the main valve core.
3. The control method according to claim 1, characterized in that: the high-pressure reducing valve (3) is a throttling element with adjustable opening.
4. The control method according to claim 1, characterized in that: the air cylinder (76) is a single-piston-rod tail shaft pin type air cylinder.
5. The control method according to claim 1, characterized in that: the propeller (8) is a ducted propeller.
6. The control method according to claim 1, characterized in that: the gas cylinder (1) is filled with compressed air with the pressure of at least 15 MPa; the gas cylinder (1) is provided with a gas pressure sensor for detecting the pressure of compressed gas in the cylinder.
7. The control method according to claim 1, characterized in that: the control device (9) takes a single chip microcomputer as a core, and further comprises a wireless communication module for receiving a remote terminal control signal, a valve position sensor for detecting valve positions of different valves, a video image acquisition module for receiving a video image acquired by a camera (11), an image preprocessing module for preprocessing the acquired video image to identify the position of a rescue target and plan a rescue route, a path judgment module for judging whether a current forward route and the planned route have deviation, a PID (proportion integration differentiation) regulation module for changing the valve opening of the electric control valve (6), a data storage module for storing image, path and valve opening data and a power supply module for supplying electric energy.
8. The control method according to claim 1, characterized in that: the two propellers (8) are arranged at the tail part of the air cushion (10) and are lower than the waterline of the air cushion (10).
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| CN107351993A (en) * | 2017-07-16 | 2017-11-17 | 汤庆佳 | A kind of water rescue device and its method based on unmanned boat |
| 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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