CN113093755A - Marine automatic driving, person searching and escaping boat - Google Patents
Marine automatic driving, person searching and escaping boat Download PDFInfo
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- CN113093755A CN113093755A CN202110367537.1A CN202110367537A CN113093755A CN 113093755 A CN113093755 A CN 113093755A CN 202110367537 A CN202110367537 A CN 202110367537A CN 113093755 A CN113093755 A CN 113093755A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 25
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 5
- 239000013505 freshwater Substances 0.000 claims abstract description 5
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 5
- 239000001301 oxygen Substances 0.000 claims abstract description 5
- 239000013535 sea water Substances 0.000 claims description 42
- 238000004891 communication Methods 0.000 claims description 13
- 239000002775 capsule Substances 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 10
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052782 aluminium Inorganic materials 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- 229910052751 metal Inorganic materials 0.000 claims description 4
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- 238000006479 redox reaction Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
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Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Emergency Lowering Means (AREA)
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Abstract
The invention discloses an ocean autopilot people-seeking escaping boat which comprises a closed boat body, wherein the closed boat body is internally provided with: the life support system comprises a compressed food storage box, a fresh water storage box, an oxygen supply device and a medical first-aid box, wherein the compressed food storage box, the fresh water storage box, the oxygen supply device and the medical first-aid box are arranged in a first-aid cabin. The invention has the beneficial effects that: the escape boat automatically searches for the person falling into water and assists the person falling into water to climb the boat, is provided with a power system and a life support system, has long endurance time, is provided with a help-seeking device, ensures that the person falling into water is rescued, and improves the survival probability of the person falling into water.
Description
Technical Field
The invention belongs to the technical field of rescue and escape at sea, and particularly relates to an ocean automatic driving and people finding escaping boat applied to single escape.
Background
At present, when a marine accident occurs, people on a ship organizing escape are evacuated from the ship at last, the best escape time is often missed, even the people cannot escape from the ship in time under an emergency condition, and the people fall into a predicament or lose lives, in addition, the underwater situation is unknown at the place where the people fall into the water, the rescue ship cannot approach the place in time, so that the rescue measures for the people falling into the water cannot be implemented in time, the danger degree of the people falling into the water is further increased, and even the lives are lost.
The invention Chinese patent CN201320197364.4 discloses a portable and impact-resistant marine lifeboat, which is characterized by comprising a boat shell, a water pressing cabin partition plate, a boat deck, a front windshield, a rear windshield, a middle push-pull windshield and a movable plate, wherein the water pressing cabin partition plate is arranged in the boat shell, the boat deck is arranged above the water pressing cabin partition plate, the front windshield is arranged in a groove at the head of the boat shell, the rear windshield is arranged in a groove at the tail of the boat shell, rails are arranged on two side frames at the rear part of the boat shell, and the middle push-pull windshield is arranged on the rails, so that the middle push-pull windshield can move on the rails, and people can conveniently get in and out of the boat.
The disadvantage of this patent is that the lifeboat is unpowered, requires manual actuation, and at the same time, has no rescue and boarding aids, tending to pull the hull over when a man falling into the lifeboat enters.
The Chinese invention patent CN201910023606.X discloses a maritime rescue unmanned boat, which comprises a main boat body, wherein a control box is arranged on the main boat body, and the tail part of the main boat body is provided with a water jet propeller; the salvaging frame comprises a salvaging frame, two connecting brackets are arranged between the salvaging frame and the deck in parallel, one end of each connecting bracket is rotatably connected with the deck of the main boat body, and the other end of each connecting bracket is fixedly connected with the salvaging frame; a rotary upright post is arranged on the salvage frame between the two connecting supports, and a salvage manipulator is rotatably connected to the rotary upright post; the salvage frame is provided with a ballast water tank, and the bottom of the salvage frame is provided with an inflatable cushion.
In summary, the existing automatic rescue and escape boat does not have the function of automatically searching for rescuers and cannot help people falling into water remotely.
Therefore, there is an urgent need for a marine automatic-driving, person-seeking, and escaping boat to automatically search for a person falling into water, and to escape the person falling into water and search for a nearby rescue ship for help.
Disclosure of Invention
The objects to be achieved by the present invention are: the automatic search of the person falling into the water is realized, the person falling into the water is carried to escape, and a nearby rescue ship is searched for help.
In order to achieve the above object, the present invention provides a marine autopilot escape boat.
The invention adopts the following specific technical scheme:
the utility model provides a marine autopilot seeks people and gets rid of poverty boat, includes the closed hull, installs in the closed hull: life support system, power system, rescue system and control system, the life support system includes compressed food storage tank, fresh water storage tank, oxygen feeding device and medical first-aid kit even in first-aid compartment, wherein:
the closed ship body comprises two buoyancy supports and an escape cabin movably connected to the buoyancy supports, the buoyancy supports are respectively provided with an independent power system, each power system comprises a seawater battery, a motor, a speed reducer and a propeller, the seawater battery is connected with the motors, the motors are connected with the speed reducers and the propellers, and the electric energy of the seawater batteries is used for driving the speed reducers to drive the propellers to rotate;
the rescue system comprises two signal projectile transmitters, two signal lamps and two satellite telephones, wherein the signal projectile transmitters are respectively fixed at the tail parts of the buoyancy supports, the signal lamps are fixed at the tops of the escape cabins, and the satellite telephones are arranged in the escape cabins;
the control system comprises a remote control starting device, a cruise positioning device, an automatic driving system and a remote controller worn on the wrist of a user, wherein the remote control starting device is arranged in the escape cabin, the remote controller controls the remote control starting device to start the escape boat, and the boat navigates to a rescue place under the navigation of the cruise positioning device.
By adopting the design, the escape compartment is arranged on the two buoyancy supports, the stability of the escape compartment on the sea surface is improved through the support of the two supports, the side turning of the ship body is prevented when the storm is too large, and meanwhile, as the escape compartment is arranged on the two buoyancy support supports, the escape compartment cannot turn on the side under the support of the buoyancy supports when a person falling into water climbs into the escape compartment from sleeping;
the bottom of the buoyancy support is respectively provided with an independent power system, the power system comprises a seawater battery, a motor, a speed reducer and a propeller, the speed reducer is driven by electric energy of the seawater battery to drive the propeller to rotate, and the seawater battery spontaneously converts chemical energy into electric energy by using oxidation-reduction reaction of metal in seawater and moves along with the ship body, so that lasting and stable power is provided for the ship body to sail;
in addition, the bottom of the buoyancy support is respectively provided with an independent power system, when one power system breaks down, the other power system can work normally, and the reliability and the cruising ability of the power systems are improved;
because the power systems are arranged on two sides of the escape boat, when one power system breaks down, the other power system provides power independently, so that the driving force of the whole escape boat deviates from the center line of the body of the escape boat, and the escape boat deviates from a course within a certain range at the moment, therefore, the invention provides a solution, namely: the rotating device is arranged in the fixing device of each propeller, the direction of the propeller is changed through automatic control of a control system or manual control of an operator, and the resultant force of the thrust of the propeller and the lateral resistance received by the escape ladder hull is kept coincident with the central line of the escape boat hull, so that the situation that the escape boat deviates from a flight line in a certain range can be avoided.
As a further improvement of the invention, the buoyancy support is in a shuttle shape, a plurality of seawater flow channels isolated from the inside of the buoyancy support are arranged at the bottom of the buoyancy support, an electrode module of a seawater battery is arranged in each flow channel, and metal for providing electric energy for the escape boat through oxidation-reduction reaction in the sea is arranged in each battery module.
By adopting the design, based on the design of the Chinese invention patent CN201010257475.0, the movable marine seawater battery must have the electrochemical reaction mechanism of the common seawater battery, and must also have some special requirements which can be adapted to the navigation of the ship, so that the marine seawater battery has better reliability and economy, and the special requirements comprise:
1. the battery case body must be firm, and the structure must be exquisite, has certain anti-collision ability and corrosion resistance.
2. The seawater battery is hung at the lower end of the bottom of the ship board, is integrated with the ship body and keeps full contact with seawater.
3. The internal circuit of the battery has higher moisture-proof and moisture-proof capacity, and the external circuit of the battery can be prevented from short circuit due to moisture.
4. An insulating layer (except electrolyte solution) with certain thickness is required to be arranged between the electrode plate and the battery metal shell at intervals, so that a current loop is not generated between the electrode plate and the battery shell.
5. The battery must take into account the resistance to movement in the sea and should be contoured to minimize the resistance to movement.
6. The main body of the battery shell is required to be a delicate cage-shaped frame body so as to ensure that seawater used as an electrolyte solution can smoothly flow between the electrode plates of the battery.
7. The shape of the electrode sheet is required to be manufactured according to the shape of the inner space of the shell main body, and the formed electrode sheet array is required to be matched with the shape of the inner space of the shell.
The buoyancy support is in a shuttle shape, a plurality of seawater flow channels isolated from the inside of the buoyancy support are arranged at the bottom of the buoyancy support, an electrode module of a seawater battery is arranged in each flow channel, the seawater battery is combined with the buoyancy support to form a seawater battery shell with buoyancy outside meeting the special requirements that the seawater battery must meet ship navigation, the battery module is arranged at the bottom of the buoyancy support to ensure that the battery is always immersed in seawater, meanwhile, the upper half part of the buoyancy support adopts a ship body design to ensure that the buoyancy support has enough buoyancy, and the flow channels can ensure that seawater can enter the battery and perform electrochemical reaction with the electrode plates.
As a further improvement of the invention, the electrode module comprises two positive electrode plates made of copper, two negative electrode plates made of aluminum and a connecting wire device, wherein the positive electrode plates and the negative electrode plates are alternately distributed at a fixed distance, the connecting wire device comprises a current lead, a waterproof pad and an electrode fixing frame, the electrode fixing frame is fixed at the upper part of the flow channel, the current lead is connected to the positive electrode plates and the negative electrode plates, the waterproof pad is arranged between the electrode fixing frame and the flow channel, and the current lead is sealed in the buoyancy support.
Each flow channel is internally fixed with two positive electrode plates made of copper and two negative electrode plates made of aluminum, the positive electrode plates and the negative electrode plates are alternately distributed and inserted into an inner cage frame with a specific shape at a certain distance, the inner cage frame is arranged inside the buoyancy support, the inner cage frame is wrapped inside the buoyancy support by the shell of the buoyancy support to form electrode components of the positive and negative poles of the seawater battery, the shell of the buoyancy support is bent into a plurality of seawater flow channels below the buoyancy support, the electrode plate penetrates through the shell of the buoyancy support and is exposed in the seawater flow channels, the electrode plate is fixed on the electrode fixing frame at the inner part, the electrode fixing frame is arranged on the inner cage frame, the waterproof pad is arranged between the electrode fixing frame and the flow channels, the electrode plate penetrates through a cavity of the shell of the buoyancy support and is sealed, and the current lead connects the electrode with a subsequent processing device to form a complete battery for supplying power to the outside.
The inner cage frame used for inserting the electrode component is designed to have a structural shape with specific requirements; the specific requirements are as follows:
1. the shape of the battery shell is matched with the shape of the inner wall of the battery shell, so that the battery shell can be seamlessly embedded into the battery shell;
2. the internal structure not only needs to be capable of tightly fixing the electrode plates, but also needs to reserve a space for flowing seawater, so that the seawater can smoothly flow between the electrode plates;
3. the frame body is an insulator, so that a certain distance can be kept between the battery shell and the electrode plate to avoid generating a current loop;
as a further improvement of the invention, two opposite inner sides of the two buoyancy supports are symmetrically provided with
Two pairs of elastic supporting devices, which are connected with the escape compartment.
By adopting the design, the buoyancy support and the escape compartment are connected through the elastic supporting device, the escape compartment is ensured to be positioned between the two buoyancy supports, and meanwhile, the elastic function of the elastic supporting device provides a damping effect for the escape compartment on the bumpy sea surface, so that the ship riding environment in the escape process is more comfortable, and the anxiety of the escaper is relieved.
Preferably, the elastic supporting device is a telescopic rod hinged on the inner side of the buoyancy support and hinged with the escape compartment.
As a further improvement of the invention, a U-shaped boarding handrail frame is arranged below the escape compartment and used for assisting a person falling into water to climb into the compartment, and the center of the body of the person is positioned near the supporting center of the ship body when the person enters the escape compartment by adopting the design, so that the stability of the ship body is maintained to the greatest extent, and the escape compartment is prevented from side turning when the person enters the escape compartment.
As a further improvement of the invention, the control system comprises a stereoscopic vision sensing device comprising two pairs of visual cameras, the distance of the target object being extracted using triangulation of each pair of visual cameras, wherein:
the position sensor is used for acquiring the current geographical position information of the cruise positioning device by receiving signals sent by the remote controller;
the distance sensor is used for acquiring the distance between the cruise positioning device and a target object by receiving a signal sent by the remote controller;
the controller is in communication connection with the stereoscopic vision sensing device, the position sensor and the distance sensor, and is used for calculating and determining the geographic position of the target object and the relative position information of the escape boat and the target object according to the current geographic position information of the cruise positioning device, the distance between the cruise positioning device and the target object and the distance between the target object and the target object measured by the stereoscopic vision sensing device, planning a cruise route and guiding the automatic driving system to navigate to a rescue place;
the cruise positioning device further comprises a communication unit which is in communication connection with the controller and used for transmitting the cruise positioning data to an external device.
Through the design, the distance sensor senses a signal sent by the controller worn on the wrist of the escaper, the azimuth coordinate of the escaper is measured, the automatic driving system automatically drives the escape boat to the position of the escaper according to the azimuth coordinate, meanwhile, the two pairs of vision cameras can sense the environmental conditions in front and behind the escape boat and play a role in correcting the driving of the automatic driving system, and whether the approaching target is the escaper matched with the target is verified.
As a further improvement of the invention, the remote controller continuously sends out signals in the form of ultra-short waves, radio waves with the frequency from 30 MHz to 300 MHz are transmitted and inserted with wide frequency band, and short-distance transmission depends on the radiation characteristic of electromagnetism and is suitable for short-distance wireless communication.
Preferably, the stereoscopic sensing apparatus comprises an image comparison system for comparing the object with images in its database to verify that the approaching object is a matching escaper.
The invention has the positive effects that:
1. the escape boat automatically searches for the person falling into water and assists the person falling into water to board the boat, is provided with a self-contained power system and a life support system, has long endurance time, is provided with a help-seeking device, ensures the person falling into water to be rescued, improves the survival probability of the person falling into water,
2. the visual camera can sense the environmental conditions in front of and behind the escape boat, so that the driving of the automatic driving system is corrected, and whether the approaching target is matched with the target is verified.
Drawings
FIG. 1 is a schematic structural view of an automatic marine driving, person-seeking and escaping boat of the present invention;
FIG. 2 is a schematic view of a suspended structure of the marine autopilot trapped-seeking boat of the present invention;
FIG. 3 is a right side view of the marine autopilot escape capsule of the present invention shown in FIG. 1;
FIG. 4 is a schematic diagram of the mechanism of the buoyancy support in the marine autopilot trapped-seeking boat of the present invention shown in FIG. 2;
FIG. 5 is an enlarged view of the buoyancy support at A in the marine autopilot trapped-finding boat of the present invention shown in FIG. 4;
FIG. 6 is a schematic three-dimensional outline of a marine autopilot escape boat of the present invention;
FIG. 7 is a schematic three-dimensional outline of the escape capsule of the marine autopilot escape capsule of FIG. 6 when the escape capsule is extended to the maximum;
FIG. 8 is a schematic view of the telescopic structure of the escape capsule of the marine autopilot rescue boat of FIG. 6;
fig. 9 is a schematic diagram of the positioning utilized by the vision camera of the marine autopilot trapped-seeking boat of the present invention.
Illustration of the drawings: 1-buoyancy support, 2-rear telescopic rod, 3-U-shaped boarding handrail frame, 4-escape cabin, 5-front telescopic rod, 6-positive electrode plate, 7-negative electrode plate, 8-camera, 9-center console, 10-main console satellite phone, 11-escape cabin front window, 12-signal lamp, 13-boat operating rod, 14-boat cabin door WeChat phone, 15-escape cabin slipway, 16-signal bullet emitter, 17-life support system, 18-telescopic air spring, 19-escape cabin front cabin, 20-escape cabin rear cabin telescopic rod and 21-escape cabin rear cabin.
Detailed Description
The invention is described in detail below with reference to the following figures and specific embodiments:
the specific embodiment is as follows:
in the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
The first embodiment is as follows:
the utility model provides a marine autopilot seeks people and gets rid of poverty boat, includes two buoyancy support 1 of enclosed type hull and connects the cabin 4 of fleing on buoyancy support 1 through preceding telescopic link 5 and back telescopic link 2, and the enclosed type hull is installed:
a life support system 17 which is a storage box arranged under the seat of the escape compartment 4 and comprises life necessities such as a compressed food storage box, a fresh water storage box, an oxygen supply device, a medical first-aid kit and the like stored in the storage box and simple self-rescue equipment drugs,
the power system comprises a seawater battery, a motor, a speed reducer and a propeller, wherein the seawater battery is connected with the motor, the motor is connected with the speed reducer and the propeller, and the electric energy of the seawater battery is used for driving the speed reducer to drive the propeller to rotate; the motor drives the speed reducer to drive the propeller to rotate, and the mechanical structure is a mechanical structure described by the neighbor technicians, and the common knowledge is not repeated, the power adopted by the invention is from a seawater battery, the seawater battery supplies power to the motor, and based on the design of Chinese invention patent CN201010257475.0, the electrode module adopts the form of the electrode module in the embodiment of the invention: comprises a positive electrode plate 6, a negative electrode plate 7 and a connecting wire,
wherein, the positive electrode plate 6 part comprises five parts of a copper electrode plate A, a copper electrode plate B, a copper electrode plate C, a copper electrode plate D and a copper electrode plate E, the negative electrode plate 7 comprises five parts of an aluminum electrode plate A, an aluminum electrode plate B, an aluminum electrode plate C, an aluminum electrode plate D and an aluminum electrode plate E, the connecting wire part comprises five parts of a current outgoing line, a lead fixing screw, a lead waterproof gasket, an electrode fixing frame and an electrode firm screw, the buoyancy bracket 1 is fixed in the invention according to the installation position relation of the first embodiment of the Chinese patent CN201010257475.0, the bottom of the buoyancy bracket is provided with a plurality of seawater flow channels isolated from the inside of the buoyancy bracket, the flow channels are internally provided with electrode modules of a seawater battery, the seawater battery shell with buoyancy is combined with the buoyancy bracket, the battery modules are arranged at the bottom of the buoyancy bracket to ensure that the battery is always immersed in seawater, meanwhile, the upper half part of the buoyancy support adopts a ship body design, so that the buoyancy support is ensured to have enough buoyancy, and the flow channel can ensure that seawater can smoothly enter the battery and can generate electrochemical reaction with the electrode plate.
The rescue system comprises two signal projectile transmitters 16 which are respectively arranged at the tail parts of the buoyancy supports and are used for transmitting distress signals to passing ships; the emergency escape system comprises two signal lamps 12 and two satellite telephones, wherein the signal lamps are arranged at the top of the escape cabin, the two signal lamps are arranged in the same lampshade, when one signal lamp breaks down, the other signal lamps can continue to work, the probability of being discovered by passing ships at night is improved, and the two satellite telephones are two satellite telephones, one of the satellite telephones is a center console satellite telephone 10 fixed on a center console 9, and the other satellite telephone is a boat cabin door satellite telephone 14 fixed at the cabin door of the escape cabin.
The control system includes: including setting up the remote control starting drive in center console 9, the positioner that cruises, the autopilot system with wear the remote controller in user's wrist, the remote controller control remote control starting drive starts the boat of fleing, and under the positioner navigation that cruises, the control of autopilot system boat action bars controls the boat and sails to the rescue place, wherein the positioner that cruises still includes:
the stereoscopic vision sensing device comprises two pairs of visual cameras 8, wherein the front end of a buoyancy support of a boat is respectively provided with one visual camera 8, the rear end of the buoyancy support of the boat is also respectively provided with one visual camera 8, and the distance between the two visual cameras 8 is extracted through triangulation, the principle is shown in figure 7, a base line (B) and a focal plane (F) of the two sensors are known, for all triangulation methods, parallax is a key parameter, the distance of an object to be extracted through triangulation of each pair of visual cameras is calculated by processing (correcting and matching algorithms) images of the two sensors and extracting corresponding relations, and the maximum detectable depth range is in direct proportion to the base line (B) and the sensor resolution. The final depth resolution is limited primarily by matching and calibration errors;
the position sensor acquires the current geographic position information of the cruise positioning device by receiving a signal sent by the remote controller;
the distance sensor is used for acquiring the distance between the cruise positioning device and a target object by receiving a signal sent by the remote controller;
the controller is in communication connection with the stereoscopic vision sensing device, the position sensor and the distance sensor, and is used for calculating and determining the geographic position of the target object and the relative position information of the boat and the target object according to the current geographic position information of the cruise positioning device, the distance between the cruise positioning device and the target object and the distance between the target object and the target object measured by the stereoscopic vision sensing device, planning a cruise route and guiding the automatic driving system to sail to a rescue place;
the cruise positioning device further comprises a communication unit, wherein the communication unit is in communication connection with the controller and is used for transmitting the cruise positioning data to external equipment and communicating with a remote controller worn on the wrist of a user in an ultrashort wave mode, radio waves with the frequency from 30 megahertz to 300 MHz are transmitted and inserted in a wide frequency band, short-distance transmission depends on the radiation characteristic of electromagnetism, and the cruise positioning device is suitable for short-distance wireless communication.
The second embodiment is as follows:
on the basis of the first embodiment, the escape compartment is arranged on the escape compartment sliding table 15 and is driven by an escape compartment rear compartment telescopic rod 20, the escape compartment rear compartment telescopic rod 20 can be an oil cylinder or an air cylinder, but a double-acting cylinder body structure can also adopt spring resetting, the structures are well known by those skilled in the art, the resetting structure is not described herein, the escape compartment is divided into an escape compartment front compartment 19 and an escape compartment rear compartment 21, and the escape compartment front compartment 19 and the escape compartment rear compartment 21 are connected through a telescopic air spring 18.
The third concrete embodiment:
on the basis of the first embodiment, the telescopic rod is hinged with the escape compartment and the buoyancy support, the telescopic rod adopts a shock absorber structure of a motorcycle, and the escape compartment increases the moving space in the shock absorption degree of freedom in a hinged mode, so that the movement inertia of the escape compartment is kept, and a comfortable environment is provided for an operator.
The foregoing has outlined broadly some of the aspects and features of the various embodiments, which should be construed to be merely illustrative of various potential applications. Other beneficial results can be obtained by applying the disclosed information in a different manner or by combining various aspects of the disclosed embodiments. Other aspects and a more complete understanding may be obtained by reference to the detailed description of the exemplary embodiments taken in conjunction with the accompanying drawings, based on the scope defined by the claims.
In addition, the invention also discloses the following technical scheme:
the first scheme is as follows:
the stereoscopic sensing apparatus includes an image comparison system for comparing the object with images in its database.
Scheme II:
and a U-shaped boarding handrail frame is arranged below the escape compartment and used for assisting a person falling into water to climb into the compartment.
The above examples illustrate the present invention in detail. It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions, deletions, and substitutions which may be made by those skilled in the art within the spirit of the present invention are also within the scope of the present invention.
Claims (9)
1. The utility model provides a marine autopilot seeks people and gets rid of poverty boat, includes the closed hull, installs in the closed hull:
life support system, driving system, rescue system and control system, life support system is including setting up compressed food storage box, fresh water storage box, oxygen feeding device and the medical first-aid kit in first-aid compartment, its characterized in that:
the closed ship body comprises two buoyancy supports and an escape cabin movably connected to the buoyancy supports, the buoyancy supports are respectively provided with an independent power system, each power system comprises a seawater battery, a motor, a speed reducer and a propeller, the seawater battery is connected with the motors, the motors are connected with the speed reducers and the propellers, and the speed reducers are driven to drive the propellers to rotate by electric energy of the seawater batteries;
the rescue system comprises two signal projectile transmitters, two signal lamps and two satellite telephones, wherein the signal projectile transmitters are respectively fixed at the tail parts of the buoyancy supports, the signal lamps are fixed at the tops of the escape cabins, and the satellite telephones are arranged in the escape cabins;
the control system comprises a remote control starting device, a cruise positioning device, an automatic driving system and a remote controller, wherein the remote control starting device, the cruise positioning device, the automatic driving system and the remote controller are arranged in the escape cabin, the remote controller controls the remote control starting device to start the escape boat, and the escape boat navigates to a rescue place under the navigation of the cruise positioning device.
2. The marine automatic driving and people finding escaping boat as claimed in claim 1, wherein the buoyancy support is shuttle-shaped, the bottom of the buoyancy support is provided with a plurality of seawater flow channels isolated from the inside of the buoyancy support, the flow channels are internally provided with an electrode module of a seawater battery, and the battery module is internally provided with metal for providing electric energy for the escaping boat through oxidation-reduction reaction in the sea.
3. The marine autopilot escape boat of claim 2 wherein the electrode module comprises two positive electrode plates made of copper, two negative electrode plates made of aluminum, and a connecting wire means, the positive and negative electrode plates being alternately spaced apart, the connecting wire means comprising a current lead, a waterproof pad and an electrode holder, the electrode holder being secured to the upper portion of the flow channel, the current lead being connected to the positive and negative electrode plates, the waterproof pad being disposed between the electrode holder and the flow channel to seal the current lead within the buoyant support.
4. The marine automatic driving and people finding escaping yacht as claimed in claim 3, wherein two pairs of elastic support devices are symmetrically arranged on the opposite inner sides of the two buoyancy supports, and the support devices are connected with the escape capsule.
5. The marine autopilot escape capsule boat as claimed in claim 4, characterized in that the elastic support means is a telescopic rod hinged inside the buoyant support and hinged with the escape compartment.
6. The marine autopilot escape capsule boat as claimed in claim 5, characterized in that a U-shaped boarding handrail frame is arranged below the escape capsule for assisting a person falling into water to climb into a cabin.
7. The marine autopilot escape capsule of any one of claims 1 to 5 wherein the control system comprises:
the stereoscopic vision sensing device comprises two pairs of visual cameras, and the distance of the target object is extracted by utilizing the triangulation of each pair of visual cameras;
the position sensor is used for acquiring the current geographical position information of the cruise positioning device by receiving signals sent by the remote controller;
the distance sensor is used for acquiring the distance between the cruise positioning device and a target object by receiving a signal sent by the remote controller;
the controller is in communication connection with the stereoscopic vision sensing device, the position sensor and the distance sensor, and is used for calculating and determining the geographic position of the target object and the relative position information of the escape boat and the target object according to the current geographic position information of the cruise positioning device, the distance between the cruise positioning device and the target object and the distance between the target object and the target object measured by the stereoscopic vision sensing device, planning a cruise route and guiding the automatic driving system to navigate to a rescue place;
the cruise positioning device further comprises a communication unit, wherein the communication unit is in communication connection with the controller and is used for transmitting the cruise positioning data to an external device.
8. The marine autopilot escape capsule of claim 7 wherein said remote control continuously signals outwardly in the form of ultrashort waves.
9. The marine autopilot escape capsule of claim 8 wherein the stereoscopic vision sensing means comprises an image comparison system for comparing the target with the images in its database.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115158607A (en) * | 2022-07-08 | 2022-10-11 | 东莞市擎安救援装备有限公司 | Novel rescue boat |
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| CN113093755B (en) | 2023-08-11 |
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