CN110333717A - Active self-adjusting remote control lifesaving robot and self-adjusting control method - Google Patents
Active self-adjusting remote control lifesaving robot and self-adjusting control method Download PDFInfo
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- CN110333717A CN110333717A CN201910563121.XA CN201910563121A CN110333717A CN 110333717 A CN110333717 A CN 110333717A CN 201910563121 A CN201910563121 A CN 201910563121A CN 110333717 A CN110333717 A CN 110333717A
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- China
- Prior art keywords
- remote control
- robot
- lifesaving robot
- lifesaving
- module
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- 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
Active self-adjusting remote control lifesaving robot and self-adjusting control method.A kind of active self-adjusting remote control lifesaving robot, including handheld terminal, remote control lifesaving robot；The location information and posture information of the remote control lifesaving robot acquisition drowning man, and location information and posture information are transmitted to handheld terminal；Rescue personnel issues control command to remote control lifesaving robot according to location information and posture information, the steering and angle of adjustment remote control lifesaving robot, drowning man is fixed in the lifebuoy of remote control lifesaving robot, returns to safety area under the drive of remote control lifesaving robot.It very easily climbs and is floated on lifebuoy the invention enables drowning man, safety area is returned under the drive of lifesaving robot, effectively avoid the uncertainty as caused by the factors such as bad weather, personnel's physical strength, increase the success rate of rescue work.
Description
Technical field:
The invention belongs to water surface rescue technique field, it is related to a kind of remote controlled powered lifesaving robot, more particularly to a kind of distant
Control the self-adjusting identifying system of lifesaving robot.
Background technique:
Current existing electronic rescue aid relies primarily on drowning man when rescue aid reaches near drowning man
Itself climb upper power brucker survival capsule.Since struggle physical demands is larger in water by drowning man, or due to nervous, complicated weather
The factors such as situation, cause drowning man can not be successfully obtain power brucker survival capsule and fall into life danger.Therefore, this remote control is rescued
Helping mode, there is certain randomnesss, are unfavorable for the development of rescue work.
Summary of the invention:
In view of the deficiencies of the prior art, the present invention uses a kind of active self-adjusting identification technology, is remotely controlled lifesaving robot
Can position according to drowning man and posture, adjust automatically orientation drowning man is fixed in its U-shaped circle, be drowning man
Lifesaving robot creates good conditions in climbing, to improve the success rate of rescue work.
For achieving the above object, the present invention specifically uses following technical scheme.
A kind of active self-adjusting remote control lifesaving robot, including handheld terminal, remote control lifesaving robot；Its feature exists
In:
The location information and posture information of the remote control lifesaving robot acquisition drowning man, and by location information and posture
Information is transmitted to handheld terminal；
Rescue personnel issues control command to remote control lifesaving robot according to location information and posture information, and adjustment remote control is rescued
The steering and angle of raw robot, drowning man are fixed in the lifebuoy of remote control lifesaving robot, in remote control lifesaving machine
Safety area is returned under the drive of people.
The present invention further comprises following preferred embodiment.
The remote control lifesaving robot is in U-typed structure, installs 1 or more in the U-shaped both wings of remote control lifesaving robot
Infrared camera, for acquiring the posture information of drowning man.
The remote control lifesaving robot interior be arranged image acquisition and processing module and robot transmit wirelessly/receive mould
Block, the posture information of drowning man is by being mounted on after the infrared camera acquisition of lifesaving robot both wings through image acquisition and processing mould
Block by robot wireless transmission/receiving module transmits handheld terminal after being compressed.
The remote control lifesaving robot interior is additionally provided with satellite positioning communication module and location information is uploaded to hand in real time
Hold terminal.
The handheld terminal includes satellite positioning information receiving module, display control module and terminal wireless reception/transmission
Module；Wherein, the terminal wireless reception/sending module receives the posture letter for the drowning man that remote control lifesaving machine human hair is sent
Breath, the satellite positioning information receiving module receive the remote control lifesaving equipment that remote control lifesaving machine artificial satellite star positioning and communicating module uploads
The location information of device people；Location information and posture information are shown on the display screen of handheld terminal after display control module is handled
Show, location information shows that posture information is shown with visual form with the dotted icon of dynamic.
Rescue personnel combines drowning man's location information and posture information, is operated manually on handheld terminal, will be distant
Control terminal wireless reception/sending module, robot wireless transmission/receiving module of the signal through handheld terminal are transmitted to the remote control
Lifesaving robot.
The remote control lifesaving robot further includes built-in master controller, and it is wireless that the master controller receives robot
The handheld terminal remote signal that transmission/reception module uploads, passes through the control to the motor speed for being mounted on lifesaving robot both wings
System remote control lifesaving robot, drowning man is fixed in its U-shaped circle, returns to safety area under the drive of lifesaving robot.
The motor is impeller motor, and the revolving speed by controlling both wings impeller motor can be realized remote control lifesaving robot
It turns to and advances.
The satellite positioning communication module of the remote control lifesaving robot interior is Beidou or GPS sending module；
The satellite positioning information receiving module is Beidou or GPS receiver module.
The present invention further discloses a kind of self-adjusting control based on aforementioned active self-adjusting remote control lifesaving robot
Method processed, which is characterized in that the described method comprises the following steps:
Step 1: rescue personnel issues control command, control remote control lifesaving equipment to remote control lifesaving robot by handheld terminal
Device people drives towards drowning man position；
Step 2: when being remotely controlled the set distance of lifesaving robot arrival drowning man, self-starting infrared camera, and will
The posture information of drowning man collected is uploaded to image acquisition and processing module, and described image acquisition processing module is compressed
Handheld terminal is transmitted by robot wireless transmission/receiving module afterwards；
Step 3: location information is uploaded to handheld terminal by remote control lifesaving machine artificial satellite star positioning and communicating module in real time；
Step 4: handheld terminal receives drowning man's appearance that remote control lifesaving machine human hair is sent by wireless receiving/sending module
State information receives the location information of remote control lifesaving robot by satellite positioning information receiving module；
Step 5: with dynamic dotted icon display position information on handheld terminal display screen, posture being shown with visual form
Information；Rescue personnel combines drowning man's location information and posture information to issue control command to remote control lifesaving robot；
Step 6: after remote control lifesaving robot receives control command, the motor that control is mounted on lifesaving robot both wings turns
Drowning man is fixed in its U-shaped circle, with controlling the steering of remote control lifesaving robot and forward speed in lifesaving robot by speed
Drive lower return safety area.
It is further preferred that in step 2, the set distance is 5 meters.
The invention has the following beneficial technical effects:
This programme use active self-adjusting identification technology, unlike traditional electronic lifebuoy passively depend on it is overboard
The subjective behavior of personnel carries out rescue work, but drowning man is fixed on by active according to the position and posture of drowning man
It in the U-shaped region of lifebuoy, floats on lifebuoy, can be effectively avoided due to severe day so that drowning man very easily climbs
Uncertainty caused by the factors such as gas, personnel's physical strength, increases the success rate of rescue work.And due to using under dedicated water
Infrared camera carries out the acquisition of vision signal, and lifesaving robot also can be carried out self-adjusting identification rescue work at night, increase
The time span of rescue work.
Detailed description of the invention:
Fig. 1 is that the active self-adjusting of the present invention is remotely controlled lifesaving robot self-adjusting identifying system structural block diagram；
Fig. 2 is remote control lifesaving robot appearance diagram；
Fig. 3 is the self-adjusting control method flow diagram that active self-adjusting is remotely controlled lifesaving robot.
Specific embodiment:
Further technical solution of the present invention is done with specific embodiment with reference to the accompanying drawings of the specification and is further situated between in detail
It continues.
Lifesaving robot self-adjusting identifying system structure is remotely controlled as shown in Fig. 1 for active self-adjusting disclosed by the invention
Block diagram, remote control lifesaving robot functionally mainly include electronic system, dynamical system and structural system.Wherein dynamical system master
It include impeller motor, rotating electric machine, master controller and hydraulic propeller, battery and its management system；Electronic system master
It include underwater infrared camera, image capture module, wireless receiving/sending module, satellite positioning communication module, flow biography
Sensor, positioning device, structure mainly include hull, rotation flap, supporting mechanism, transmission mechanism.Identifying system is under the jurisdiction of electronics
System.
The active self-adjusting of the present invention is remotely controlled lifesaving robot, including handheld terminal, remote control lifesaving robot.Such as attached drawing 2
Shown, the remote control lifesaving robot is in U-typed structure, installs 1 or more infrared in the U-shaped both wings of remote control lifesaving robot
Image acquisition and processing module, robot wireless transmission/receiving module is arranged in the remote control lifesaving robot interior in camera
(i.e. wireless sending module in Fig. 1), master controller, impeller motor, Beidou sending module.The handheld terminal includes defending
Star location information receiving module (i.e. Beidou receiving module in Fig. 1), display control module and terminal wireless reception/sending module
(wireless receiving module in Fig. 1).
The location information for being remotely controlled lifesaving robot is uploaded to hand by the Beidou sending module in remote control lifesaving robot in real time
The Beidou receiving module in terminal is held, display control module is forwarded to by Beidou receiving module, real-time display is remotely controlled lifesaving machine
The location information of people.Handheld terminal according to remote control lifesaving robot location information, by wireless receiving module to remote control lifesaving
Wireless sending module in robot issues control command, and received control command is forwarded to center control by wireless sending module
Device drives impeller motor by master controller, and remote control lifesaving robot drives towards drowning man region.
In the preferred embodiment of application, when being remotely controlled lifesaving robot apart from drowning man's set distance (preferably 5 meters),
Self-starting infrared camera shoots drowning man, and the posture information of drowning man is by being mounted on infrared the taking the photograph of lifesaving robot both wings
As transmitting handheld terminal by robot wireless transmission/receiving module after image acquisition and processing module is compressed after head acquisition.
Terminal wireless reception/sending module in the handheld terminal receives the posture letter for the drowning man that remote control lifesaving machine human hair is sent
Breath, posture information is in the display screen display of handheld terminal after display control module is handled, and location information is with dynamic scattergram
Mark display, posture information are shown with visual form.
Rescue personnel combines drowning man's location information and posture information, is operated manually on handheld terminal, will be distant
Control terminal wireless reception/sending module, robot wireless transmission/receiving module of the signal through handheld terminal are transmitted to the remote control
Lifesaving robot.Master controller receives the handheld terminal remote signal that robot wireless transmission/receiving module uploads, by right
It is mounted on the control remote control lifesaving robot of the motor speed of lifesaving robot both wings, drowning man is fixed in its U-shaped circle,
Safety area is returned under the drive of lifesaving robot.
Master controller is distributed in fore-body, after remote signal is decoded, is converted to the control letter of control impeller motor
Number, to realize the control of entire impeller motor revolving speed, realize the stepless time adjustment for the range that impeller motor allows in power.Hull
It include front and tail portion, two of them tail structure is symmetrical structure cavity, and two tail portions, there are two water inlet flow channels.Impeller
Generate thrust under the drive of impeller motor, according to active force and counteractive principle, hull under the promotion of reaction force to
Preceding movement, after remote signal is given to master controller, master controller can send control signal control motor to impeller motor
Rotation drives the propeller rotational in spray pump to generate thrust.Remote controler controls two impeller motors by master controller respectively
Revolving speed, when the revolving speed of two impeller motors is consistent, entire hull travels forward, when there are slips between two impeller motors
When, hull realizes left and right turning, furthermore may be implemented to adjust hull speed by adjusting the revolving speed of two motors of impeller.
As shown in Fig. 3, the invention also discloses a kind of self-adjusting controls of active self-adjusting remote control lifesaving robot
Method, comprising the following steps: step 1: lifesaving machine artificial satellite's star is in one's hands by location information real-time Transmission by positioning and communicating module
Terminal is held, rescue personnel issues control command to remote control lifesaving robot by handheld terminal, and control remote control lifesaving robot is sailed
To drowning man position；
Step 2: when being remotely controlled the set distance of lifesaving robot arrival drowning man, pressing " knowing certainly on handheld terminal
" button starting self-adjusting recognition mode is not rescued.Underwater infrared camera is opened in remote control, by drowning man's collected
Posture information is acquired, compresses by image acquisition and processing module, and collected analog video signal is converted into digital letter
After number, carries out compression processing and be converted into compressed bit stream, wireless receiving module is real-time transmitted to by wireless transmission/receiving module.
Step 3: lifesaving robot location information is uploaded to hand by remote control lifesaving machine artificial satellite star positioning and communicating module in real time
Hold terminal；
Step 4: handheld terminal receives drowning man's appearance that remote control lifesaving machine human hair is sent by wireless receiving/sending module
State information receives the location information of remote control lifesaving robot by satellite positioning information receiving module；
Step 5: location information and posture information after display control module is handled in the display screen display of handheld terminal,
With dynamic dotted icon display position information, posture information is shown with visual form；Rescue personnel believes in conjunction with drowning man position
Breath and posture information, are operated manually, terminal wireless reception/transmission by remote signal through handheld terminal on handheld terminal
Module, robot wireless transmission/receiving module are transmitted to the master controller of lifesaving robot built-in, to remote control lifesaving robot
Issue control command；
Step 6: after remote control lifesaving robot receives control command, the motor that control is mounted on lifesaving robot both wings turns
Drowning man is fixed in its U-shaped circle, with controlling the steering of remote control lifesaving robot and forward speed in lifesaving robot by speed
Drive lower return safety area.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (11)
1. a kind of active self-adjusting is remotely controlled lifesaving robot, including handheld terminal, remote control lifesaving robot；It is characterized by:
The location information and posture information of the remote control lifesaving robot acquisition drowning man, and by location information and posture information
It is transmitted to handheld terminal；
Rescue personnel issues control command, adjustment remote control lifesaving equipment to remote control lifesaving robot according to location information and posture information
Drowning man is fixed in the lifebuoy of remote control lifesaving robot by the steering and angle of device people, in remote control lifesaving robot
Drive lower return safety area.
2. active self-adjusting according to claim 1 is remotely controlled lifesaving robot, it is characterised in that:
The remote control lifesaving robot is in U-typed structure, installs 1 or more infrared in the U-shaped both wings of remote control lifesaving robot
Camera, for acquiring the posture information of drowning man.
3. active self-adjusting according to claim 2 is remotely controlled lifesaving robot, it is characterised in that:
Image acquisition and processing module and robot wireless transmission/receiving module are set in the remote control lifesaving robot interior, fallen
The posture information of water personnel by be mounted on lifesaving robot both wings infrared camera acquire and through image acquisition and processing module into
Handheld terminal is transmitted by robot wireless transmission/receiving module after row compression.
4. active self-adjusting according to claim 3 is remotely controlled lifesaving robot, it is characterised in that:
The remote control lifesaving robot interior is additionally provided with satellite positioning communication module and location information is uploaded to hand-held end in real time
End.
5. active self-adjusting according to claim 4 is remotely controlled lifesaving robot, it is characterised in that:
The handheld terminal includes satellite positioning information receiving module, display control module and terminal wireless reception/sending module；
Wherein, the terminal wireless reception/sending module receives the posture information for the drowning man that remote control lifesaving machine human hair is sent, described
Satellite positioning information receiving module receives the remote control lifesaving robot that remote control lifesaving machine artificial satellite star positioning and communicating module uploads
Location information；Location information and posture information are after display control module is handled in the display screen display of handheld terminal, position
Information shows that posture information is shown with visual form with the dotted icon of dynamic.
6. active self-adjusting according to claim 5 is remotely controlled lifesaving robot, it is characterised in that:
Rescue personnel combines drowning man's location information and posture information, is operated manually on handheld terminal, and remote control is believed
Number terminal wireless reception/sending module, robot wireless transmission/receiving module through handheld terminal are transmitted to the remote control lifesaving
Robot.
7. active self-adjusting according to claim 5 is remotely controlled lifesaving robot, it is characterised in that:
The satellite positioning communication module of the remote control lifesaving robot interior is Beidou or GPS sending module；
The satellite positioning information receiving module is Beidou or GPS receiver module.
8. active self-adjusting according to claim 6 or 7 is remotely controlled lifesaving robot, it is characterised in that:
The remote control lifesaving robot further includes built-in master controller, and the master controller receives robot and wirelessly sends out
Give/receiving module upload handheld terminal remote signal, pass through the control to the motor speed for being mounted on lifesaving robot both wings
It is remotely controlled lifesaving robot, drowning man is fixed in its U-shaped circle, returns to safety area under the drive of lifesaving robot.
9. active self-adjusting according to claim 8 is remotely controlled lifesaving robot, it is characterised in that:
The motor is impeller motor, and the revolving speed by controlling both wings impeller motor can be realized the steering of remote control lifesaving robot
And advance.
10. a kind of self-regulated based on the remote control of active self-adjusting described in any one of claim 1-9 claim lifesaving robot
Whole control method, which is characterized in that the described method comprises the following steps:
Step 1: rescue personnel issues control command, control remote control lifesaving robot to remote control lifesaving robot by handheld terminal
Drive towards drowning man position；
Step 2: when being remotely controlled the set distance of lifesaving robot arrival drowning man, self-starting infrared camera, and will be adopted
The posture information of the drowning man of collection is uploaded to image acquisition and processing module, described image acquisition processing module compressed after by
Robot wireless transmission/receiving module transmits handheld terminal；
Step 3: location information is uploaded to handheld terminal by remote control lifesaving machine artificial satellite star positioning and communicating module in real time；
Step 4: handheld terminal, which receives drowning man's posture that remote control lifesaving machine human hair is sent by wireless receiving/sending module, to be believed
Breath receives the location information of remote control lifesaving robot by satellite positioning information receiving module；
Step 5: with dynamic dotted icon display position information on handheld terminal display screen, posture letter being shown with visual form
Breath；Rescue personnel combines drowning man's location information and posture information to issue control command to remote control lifesaving robot；
Step 6: after remote control lifesaving robot receives control command, control be mounted on the motor speeds of lifesaving robot both wings with
Control remote control lifesaving robot turns to and forward speed, drowning man is fixed in its U-shaped circle, in the drive of lifesaving robot
Lower return safety area.
11. the self-adjusting control method of active self-adjusting remote control lifesaving robot according to claim 10, feature
It is:
In step 2, the set distance is 5 meters.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910563121.XA CN110333717A (en) | 2019-06-26 | 2019-06-26 | Active self-adjusting remote control lifesaving robot and self-adjusting control method |
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| CN110949640A (en) * | 2019-10-28 | 2020-04-03 | 西安华运天成通讯科技有限公司 | Satellite navigation-based maritime rescue method and system |
| CN113589342A (en) * | 2021-07-07 | 2021-11-02 | 北京冰鉴万联科技有限公司 | Command control system for emergency rescue formation at sea and rescue method thereof |
| CN114313265A (en) * | 2022-01-04 | 2022-04-12 | 中国科学技术大学 | Underwater lifesaving robot system |
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Application publication date: 20191015 |