CN113859483A

CN113859483A - Intelligent motion compensation salvage rescue device under severe sea conditions and using method

Info

Publication number: CN113859483A
Application number: CN202111120356.5A
Authority: CN
Inventors: 叶仁传; 王祺; 张志浩; 杨文龙; 刘虎; 敖立君
Original assignee: Jiangsu University of Science and Technology
Current assignee: Jiangsu University of Science and Technology
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2021-12-31

Abstract

The invention discloses an intelligent motion compensation salvage rescue device under severe sea conditions and a using method thereof.A controller of the salvage rescue device is connected with an image acquisition device and a driving device, the driving device is connected with a salvage rescue vehicle, an unmanned aerial vehicle system, a side pushing device and an underwater propeller, and the image acquisition device is used for identifying images, so that the intelligent identification, intelligent salvage and intelligent rescue integrated full-intelligent salvage rescue activity can be realized, the salvage rescue device is suitable for unmanned rescue operation under dangerous sea conditions, and the applicability is strong; aiming at various rescue environments, a set of complete rescue system structure is provided, and the system is simple and easy to operate and has good economical efficiency; the problems of low intelligent degree, high cost, low safety, serious manpower consumption and the like of the traditional salvage rescue ship are solved, the salvage rescue ship is suitable for salvage rescue activities in open water areas, the rescue efficiency is high, the safety is reliable, and the salvage rescue ship has a wide application prospect.

Description

Intelligent motion compensation salvage rescue device under severe sea conditions and using method

Technical Field

The invention relates to a marine salvage rescue device, in particular to an intelligent motion compensation salvage rescue device under severe sea conditions and a using method thereof.

Background

With the development of ship design and manufacture technology and artificial intelligence, the utilization and development of marine equipment by human beings is increased, the marine activity is increased, but the safety accidents are increased, and most marine accidents are caused by severe sea conditions. At present, domestic marine rescue modes mainly comprise: helicopter rescue, rescue boat rescue and the like, but the device is only suitable for no-wave or low-sea conditions, the rescue activities under severe sea conditions still have great danger, and the problems of low rescue efficiency, high cost, low intelligent degree, few rescue equipment, high danger coefficient and the like exist.

Therefore, aiming at rescue and salvage activities under severe sea conditions, an intelligent motion compensation salvage rescue device suitable for severe sea conditions needs to be designed as soon as possible.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide an intelligent motion compensation salvage rescue device under severe sea conditions and a using method thereof, which can solve the problems of high rescue activity danger, low rescue efficiency, high cost, low intelligent degree, less rescue equipment and the like in the traditional severe sea conditions and realize various rescue activities under severe sea conditions.

The technical scheme is as follows: the invention relates to an intelligent motion compensation salvage rescue device under severe sea conditions, which comprises a ship body, a side pushing device, an intelligent life buoy, a six-degree-of-freedom motion compensation platform, a salvage rescue vehicle, an intelligent life ladder, an unmanned aerial vehicle system, a winch device, an underwater propeller, a driving device, an image acquisition device and a controller, wherein the image acquisition device is used for detecting the environment of a water area in real time and judging a rescue position and comprises an image acquisition device II positioned in the unmanned aerial vehicle system and an image acquisition device I positioned in the salvage rescue vehicle; the controller is electrically connected with the image acquisition device and the driving device; the driving device is electrically connected with the salvage rescue vehicle, the unmanned aerial vehicle system, the side pushing device, the underwater propeller and the winch device; the side thrust device is convenient for ship operation in severe environment and is positioned at the underwater part of the ship bow; the six-degree-of-freedom motion compensation platform is used for ensuring that rescue and salvage activities are safely carried out under severe sea conditions, and comprises two motion compensation platforms, wherein the two motion compensation platforms are arranged on a deck in the middle of a catamaran in front and back, the front one is used as a platform for salvaging a rescue vehicle, and the back one is used as a platform for an unmanned aerial vehicle system; the winch device is used for dragging large-scale instruments such as a drowning car or a sunken ship and the like and is positioned at the rear part of a deck of the ship body; the motor is rotatably connected with the two propellers through a connecting rod, the connecting rod rotates underwater, and the motor is matched with the side pushing device to control navigation and steering of the ship body, is used for driving and steering the ship body, and is positioned at a stern part below the ship body.

Preferably, the ship body is of a double-body type and is provided with a fixed handrail for rescuing the person falling into the water, the fixed handrail is made of a waterproof and corrosion-resistant material, the surface of the fixed handrail is rough, the fixed handrail surrounds the outer side of the ship body for a circle and is arranged above the waterline of the ship body; inclined struts are arranged on two sides below the inner side of the ship body so as to increase the rigidity and stability of the ship body; two intelligent life saving ladders and four intelligent life rings are symmetrically arranged on two sides of the ship body, so that the ship is suitable for self rescue of a large number of people falling into water, and the rescue efficiency is improved.

Preferably, the side thrusting devices are positioned at the underwater part of the bow in the ship body, are symmetrically arranged at two sides of the ship body and comprise a motor, a vertical transmission device and a first propeller, the motor is connected with the vertical transmission device to provide power, and the vertical transmission device is connected with the first propeller to provide power for the first propeller; the plane of the pulp surface of the first propeller is parallel to the side surface of the ship body.

Preferably, the intelligent life buoy comprises a life buoy, a safety buckle, a hook, an automatic rope retracting device, a nylon rope and a fastening screw, wherein the hook is fixed on the side of the ship body and is hung with the life buoy; the nylon rope penetrates through the safety buckle to connect the life buoy with the automatic rope collecting device, and the automatic rope collecting device is fixed on a deck of the ship body through fastening screws.

Preferably, the unmanned aerial vehicle system is arranged on a six-degree-of-freedom motion compensation platform positioned on the rear side of the middle of a ship deck, and comprises an unmanned aerial vehicle, a second image acquisition device, a second infrared heat sensor, a voice recognition device and a wireless charging platform, wherein the second image acquisition device, the second infrared heat sensor and the voice recognition device are arranged on the unmanned aerial vehicle body, the wireless charging platform is arranged on the six-degree-of-freedom motion compensation platform, the wireless charging device for automatic charging of the unmanned aerial vehicle is arranged in the wireless charging platform, and the unmanned aerial vehicle stops on the wireless charging platform for charging when not in work

Preferably, the intelligent lifesaving ladder comprises a belt wheel I, a belt wheel II, a fixed pulley I, a fixed pulley II, a fixed rod I, a fixed rod II, a fixed rod III, a belt, a fixed handrail I, a stair and a fixed handrail II; the first belt wheel is a driving wheel and is fixed on a deck of the ship body by a second fixing rod; the belt wheel II is fixed below a shipboard waterline of the ship body by a fixing rod I; the first fixed pulley and the second fixed pulley are fixed on the deck through an inner shaft by a third fixed rod; the belt sequentially passes through the belt wheel I, the fixed pulley I, the belt wheel II and the fixed pulley to form a closed loop, the closed loop formed by the belt is vertically arranged on the shipboard side of the ship body and rotates clockwise along with the fixed pulley I, and a plurality of fixed handrails I are uniformly distributed on the outer surface of the belt; the first fixed handrail is made of a material with relatively high flexibility, such as a nylon rope; the highest point of the stairs is flush with the highest point of the intelligent escape ladder on the deck.

Preferably, the six-degree-of-freedom motion compensation platform comprises six upper hooke hinges, six lower hooke hinges, six servo electric cylinders, an upper platform, a lower platform, an alarm lamp, an attitude sensor and a motion sensor, wherein the upper hooke hinges are uniformly arranged at the bottom of the upper platform, the lower hooke hinges are uniformly arranged at the top of the lower platform, and the upper hooke hinges and the lower hooke hinges are correspondingly connected one by one through the servo electric cylinders; the warning lamp, the attitude sensor and the motion sensor are all arranged on the lower platform.

Preferably, the salvage rescue vehicle is arranged on a six-degree-of-freedom motion compensation platform at the front end of the middle part of the ship body and comprises a movable base, a movable arm cylinder, a bucket rod cylinder, a hollow bucket, a bucket cylinder, a first image acquisition device and a first infrared heat sensor; the movable arm cylinder, the bucket rod cylinder and the bucket cylinder are respectively connected with the movable arm, the bucket rod and the hollowed-out bucket, the image acquisition device is located on the movable arm, and the infrared heat sensor is located on the movable base; the movable base is arranged on the six-degree-of-freedom motion compensation platform.

Preferably, the winch device is arranged at the rearmost part of the upper deck of the ship body and comprises a movable winch, a steel cable and a guide rail, and the movable winch is arranged on the guide rail and horizontally moves along the guide rail; the steel cable is arranged on the movable winch, and the top end of the steel cable is provided with a hook; the movable winch is also provided with a direct current brushless motor and a brake device which are used for reducing vibration and improving fishing efficiency.

The use method of the intelligent motion compensation salvage rescue device under the severe sea conditions is characterized by comprising the following steps of: the method specifically comprises the following steps:

s1: after the image acquisition device identifies the environment of the water area, automatically planning an optimal driving path and transmitting all signals to the controller;

s2: the controller sends a signal to the driving device, the driving device drives the underwater propeller and the side pushing device to jointly control the course and the steering of the ship body, and the ship preferably drives to a large number of crowd water-falling points;

s3: after the ship body reaches the water falling point, the driving device drives the salvage rescue vehicle, the unmanned aerial vehicle system, the side pushing device, the underwater propeller and the winch device to carry out rescue activities near the ship body;

s4: for people falling into water near the ship body, the intelligent lifesaving ladder starts to work, the belt runs, the people falling into water grab the first fixed handrail on the belt surface by two hands, then steps on the first fixed handrail below by feet to fix the body and keep balance, the intelligent lifesaving ladder automatically pulls the people falling into water into the air, and then the people falling into water walk to the deck through stairs;

s5: the drowning person at a far position is accurately positioned at the rescue position by the unmanned aerial vehicle system through the image acquisition device II, the infrared heat sensor II and the voice recognition device, then the intelligent life buoy is thrown at a fixed point through the unmanned aerial vehicle, after the unmanned aerial vehicle recognizes the drowning person and grasps the life buoy, the automatic rope collector starts to collect the rope, meanwhile, the drowning person is pulled to the vicinity of the ship body, and finally self rescue is realized through the intelligent life ladder;

s6: for drowning people who lose consciousness or cannot realize self rescue due to wakened young children, rescue activities are carried out by the salvage rescue vehicle 5, the relative stability of the rescue environment of the salvage rescue vehicle is ensured by the six-degree-of-freedom motion compensation platform, the drowning people are accurately positioned by the infrared heat sensor on the bucket rod, and then the drowning people are salvaged to the deck by the hollowed bucket;

s7: for the objects falling into the water, the small objects are salvaged by a salvage car, and the large objects are salvaged by a winch device.

Has the advantages that:

(1) the invention provides a motion compensation salvage rescue vehicle, which is suitable for salvage rescue activities under severe sea conditions and can salvage rescue activities for 360 degrees around a ship body according to actual sea conditions;

(2) the invention provides an intelligent escape ladder structure, which is suitable for self rescue of a large number of people falling into water, and has the advantages of simple structure, good economical efficiency and strong applicability;

(3) according to the invention, through the image acquisition device, the intelligent salvage and rescue activities integrating intelligent identification, intelligent salvage and intelligent rescue can be realized, the method is suitable for unmanned rescue operation under dangerous sea conditions, and the applicability is strong;

(4) the invention solves the problem of rescue under severe sea conditions which is difficult to solve by the traditional salvage rescue ship, and has high rescue efficiency and reliable safety;

(5) the invention provides a life buoy rescue system which has the functions of fixed-point throwing, accurate rescue and automatic recovery, and is simple in structure, easy to operate and good in economical efficiency;

(6) the invention provides a set of complete rescue system, which is suitable for various rescue environments such as daytime, night, rescue of a large number of people, near-point rescue, far-point rescue and the like, and is suitable for various rescue objects such as people who can realize self rescue, people who lose consciousness, old people and children with poor self rescue ability, various articles needing to be salvaged or private property;

(7) the invention solves the problems of low intelligent degree, high cost, low safety, serious manpower consumption and the like of the traditional salvage rescue ship, is suitable for salvage rescue activities in open water areas, and has wide application prospect.

Drawings

FIG. 1 is a front view of the overall construction of the present invention;

FIG. 2 is a side view of the overall structure of the present invention;

FIG. 3 is a top plan view of the overall structure of the present invention;

FIG. 4 is an isometric view of the overall structure of the present invention;

FIG. 5 is a front view of the structure of the six-degree-of-freedom motion compensation device;

FIG. 6 is an isometric view of a six degree-of-freedom motion compensation apparatus;

fig. 7 is a front view of the structure of the intelligent lifesaving ladder;

fig. 8 is a structural side view of an intelligent life ladder;

fig. 9 is a structural top view of the intelligent lifesaving ladder;

fig. 10 is an isometric view of the structure of an intelligent emergency ladder;

fig. 11 is a front view of the structure of the intelligent lifebuoy;

fig. 12 is a structural side view of an intelligent lifebuoy;

fig. 13 is an isometric view of the structure of an intelligent lifebuoy;

fig. 14 is a front view of the structure of the drone system;

fig. 15 is a structural isometric view of the drone system.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

Fig. 1 to 15 show a schematic structural diagram of an intelligent motion compensation salvage rescue device suitable for severe sea conditions and a schematic structural diagram of each module, wherein the overall appearance of the device is a catamaran.

In this embodiment, the rescue device comprises a ship body 1, a side pushing device 2, an intelligent life buoy 3, a six-degree-of-freedom motion compensation platform 4, a salvage rescue vehicle 5, an intelligent life ladder 6, an unmanned aerial vehicle system 7, a winch device 8, an underwater propeller 9, a driving device, an image acquisition device and a controller, wherein the image acquisition device is used for detecting the water area environment in real time and judging the rescue position and comprises an image acquisition device II 702 positioned in the unmanned aerial vehicle system 7 and an image acquisition device I508 positioned in the salvage rescue vehicle 5; the controller is electrically connected with the image acquisition device and the driving device; the driving device is electrically connected with the salvage rescue vehicle 5, the unmanned aerial vehicle system 7, the side pushing device 2, the underwater propeller 9 and the winch device 8; the side thrust device 2 is convenient for ship operation in severe environment and is positioned at the underwater part of the ship bow; the six-degree-of-freedom motion compensation platform 4 is used for ensuring that rescue and salvage activities are safely carried out under severe sea conditions, and is divided into two platforms, wherein the two platforms are arranged on a deck in the middle of a catamaran in front and back, the front platform is used as a platform for salvage and rescue vehicles 5, and the back platform is used as a platform for an unmanned aerial vehicle system 7; the winch device 8 is used for dragging large-scale instruments such as a drowning car or a sunken ship and the like and is positioned at the rear part of a deck of the ship body 1; and the underwater propeller 9 is used for driving and steering the ship body 1 and is positioned at the stern part below the ship body 1.

In the embodiment, the ship body 1 is of a double-body type and is provided with a fixed handrail 101 for rescuing a person falling into water, the fixed handrail 101 is made of a waterproof and corrosion-resistant material, has a rough surface, surrounds one circle of the outer side of the ship body 1 and is arranged above a waterline of the ship body 1; inclined struts 102 are arranged on two sides below the inner side of the ship body 1 so as to increase the rigidity and stability of the ship body 1; two intelligent life saving ladders 6 and four intelligent life rings 3 are symmetrically arranged on two sides of the ship body 1, so that the intelligent life saving ladders are suitable for self rescue of a large number of people falling into water, and the rescue efficiency is improved.

In the embodiment, the side thrusting devices 2 are positioned at the underwater part of the bow in the ship body 1, are symmetrically arranged at two sides of the ship body 1, and comprise a motor, a vertical transmission device 201 and a first propeller 202, wherein the motor is connected with the vertical transmission device 201 to provide power, and the vertical transmission device 201 is connected with the first propeller 202 to provide power for the first propeller 202; the plane of the paddle surface of the first propeller 202 is parallel to the side surface of the ship body 1.

In this embodiment, the underwater thruster 9 is composed of a connecting rod 901, a second propeller 902 and a motor, wherein the motor is rotatably connected with the second propeller 902 through the connecting rod 901, the connecting rod 901 rotates underwater, the direction of the second propeller 902 is adjusted, and the side thruster 2 is matched to control the navigation and steering of the hull 1.

In the embodiment, the intelligent life buoy 3 comprises a life buoy 301, a safety buckle 302, a hook 303, an automatic rope collector 304, a nylon rope 305 and a fastening screw 306, wherein the hook 303 is fixed on the side of the ship body 1, and the life buoy 301 is hung; the nylon rope 305 passes through the safety buckle 302 to connect the life buoy 301 with the automatic rope collecting device 304, the automatic rope collecting device 304 is fixed on the deck of the ship body 1 through sixteen fastening screws 306, when in use, for a person falling into water at a distance, the unmanned aerial vehicle 701 carries and throws the life buoy 301 by grabbing and releasing the safety buckle 302, after the person falling into water grabs the life buoy 301, the automatic rope collecting device 304 automatically collects the rope, pulls the person falling into water to the vicinity of the ship body 1, and then realizes self rescue through the intelligent life ladder 6.

In this embodiment, the unmanned aerial vehicle system 7 is arranged on a six-degree-of-freedom motion compensation platform 4 located at the rear side of the middle of a deck of a ship body 1, and comprises an unmanned aerial vehicle 701, a second image acquisition device 702, a second infrared heat sensor 703, a voice recognition device 705 and a wireless charging platform 704, wherein the second image acquisition device 702, the second infrared heat sensor 703 and the voice recognition device 705 are arranged on a body of the unmanned aerial vehicle 701, the wireless charging platform 704 is arranged on the six-degree-of-freedom motion compensation platform 4, the wireless charging device for automatically charging the unmanned aerial vehicle 701 is arranged in the wireless charging platform 704, the unmanned aerial vehicle 701 stops on the wireless charging platform 704 for charging when not operating, when in use, the second image acquisition device 702 performs information acquisition, the second infrared heat sensor 703 and the voice recognition device 705 accurately position the rescue position, and for a person falling into water at a distance, the unmanned aerial vehicle 701 can throw the life buoy 301 at a fixed point, when the winch arrangement 8 is used to salvage large instruments, the unmanned aerial vehicle system 7 may also assist in placing the salvage hooks.

In this embodiment, the intelligent lifesaving ladder 6 comprises a first belt pulley 601, a second belt pulley 602, a first fixed pulley 603, a second fixed pulley 604, a first fixed rod 605, a second fixed rod 606, a third fixed rod 607, a belt 608, a first fixed handrail 609, a stair 610 and a second fixed handrail 611; the belt wheel I601 is a driving wheel and is fixed on a deck of the ship body 1 through a fixing rod II 606; the second belt wheel 602 is fixed below the shipboard waterline of the ship body 1 by a first fixing rod 605; the fixed pulley I603 and the fixed pulley II 604 are fixed on a deck of the ship body 1 through a fixing rod III 607 through an internal shaft; the belt 608 sequentially passes through the belt wheel I601, the fixed pulley I603, the belt wheel II 602 and the fixed pulley II 604 to form a closed loop, the closed loop formed by the belt 608 is vertically arranged on the shipboard side of the ship body 1 and driven by the belt wheel I601 to rotate clockwise, and a plurality of fixed handrails I609 are uniformly distributed on the outer surface of the belt 608; the first fixed handrail 609 is made of a material with relatively high flexibility, such as a nylon rope; the highest point of the stair 610 is flush with the highest point of the intelligent lifesaving ladder 6 on the deck, when the intelligent lifesaving ladder is used, a person falling into the water can directly be pulled up to the ship board of the rescuing device by the intelligent lifesaving ladder 6 only by grabbing the first fixed handrail 609 on the belt 608 with both hands and stepping into the second fixed handrail 609 with the feet to fix the body to keep balance, and then the person can go to the deck through the stair 610 to finally realize self rescue.

In this embodiment, the six-degree-of-freedom motion compensation platform 4 includes six upper hooke hinges 401, six lower hooke hinges 402, six servo electric cylinders 405, an upper platform 403, a lower platform 404, an alarm lamp 408, an attitude sensor 406 and a motion sensor 407, wherein the upper hooke hinges 401 are uniformly arranged at the bottom of the upper platform 403, the lower hooke hinges 402 are uniformly arranged at the top of the lower platform 404, and the upper hooke hinges 401 and the lower hooke hinges 402 are connected in one-to-one correspondence through the servo electric cylinders 405; the alarm lamp 408, the attitude sensor 406 and the motion sensor 407 are all arranged on the lower platform 404, under severe sea conditions, the six servo electric cylinders 405 are matched with the sensors, and the relative stability of the upper plane is always kept through a control system, so that the stable and orderly proceeding of salvage and rescue activities is facilitated.

In the embodiment, the salvage rescue vehicle 5 is arranged on the six-degree-of-freedom motion compensation platform 4 at the front end of the middle part of the ship body 1 and comprises a movable base 501, a movable arm 502, a movable arm cylinder 503, an arm 504, an arm cylinder 505, a hollowed-out bucket 506, a bucket cylinder 507, a first image acquisition device 508 and a first infrared heat sensor 509; the movable arm cylinder 503, the arm cylinder 505 and the bucket cylinder 507 are respectively connected with the movable arm 502, the arm 504 and the hollowed-out bucket 506, the first image acquisition device 508 is positioned on the movable arm 502, and the first infrared heat sensor 509 is positioned on the movable base 501; the movable base 501 is arranged on the six-degree-of-freedom motion compensation platform 4; when the rescue system is used, the six-degree-of-freedom motion compensation platform 4 ensures that a salvage rescue environment is relatively stable, the image acquisition device I508 acquires information of the environment, an approximate rescue position is determined, the infrared heat sensor I509 is used for accurately positioning the rescue position, the movable arm cylinder 503, the bucket rod cylinder 505 and the bucket cylinder 507 are respectively and intelligently controlled by the controller through the movable arm 502, the bucket rod 504 and the hollow bucket 506, finally the hollow bucket 506 is used for salvaging a rescue object, and the infrared heat sensor I509 can also be used for checking whether salvage rescue activities are successful.

In this embodiment, the winch device 8 is disposed at the rearmost position of the deck on the hull 1, and includes a movable winch 801, a steel cable, and a guide rail 802, wherein the movable winch 801 is disposed on the guide rail 802 and moves horizontally along the guide rail 802; the steel cable is arranged on the movable winch 801, the top end of the steel cable is provided with a hook, and when the unmanned aerial vehicle 701 is used, the hook is carried by the steel cable and is hung at the most appropriate position for dragging large-scale equipment such as a drowning car or a sunken ship; meanwhile, the movable winch 801 is also provided with a direct current brushless motor and a brake device which are used for reducing vibration and improving fishing efficiency.

In this embodiment, the method for using the device includes the following steps:

s1: after the image acquisition device I508 identifies the environment of the water area, an optimal driving path is automatically planned, and all signals are transmitted to the controller;

s2: the controller sends a signal to the driving device, the driving device drives the underwater propeller 9 and the side pushing device 2 to jointly control the course and the steering of the ship body 1, and the ship body preferentially drives to a large number of crowd water-falling points;

s3: after the ship body 1 reaches a water falling point, the driving device drives the salvage rescue vehicle 5, the unmanned aerial vehicle system 7, the side pushing device 2, the underwater propeller 9 and the winch device 8 to perform rescue activities near the ship body 1;

s4: for a man falling into water near the ship body 1, the intelligent lifesaving ladder 6 starts to work, the belt 608 runs, the man falling into water grasps the fixed handrails 609 on the surface of the belt 608 by two hands and steps into the two fixed handrails 609 under the belt 608 by feet to fix the body to keep balance, the intelligent lifesaving ladder 6 automatically pulls the man falling into water into the air, and then the man falling into water goes to the deck through the stairs 610;

s5: the drowning person at a far position from the drowning point is accurately positioned at the rescue position by the unmanned aerial vehicle system 7 through the second image acquisition device 702, the second infrared heat sensor 703 and the voice recognition device 705, then the intelligent life buoy 3 is thrown at a fixed point through the unmanned aerial vehicle 701, after the drowning person is recognized by the unmanned aerial vehicle 701 and grabs the life buoy 301, the automatic rope collector 304 starts to collect the rope, meanwhile, the drowning person is pulled to be close to the ship body 1, and finally self rescue is realized through the intelligent life ladder 6;

s6: for drowning people who lose consciousness or cannot realize self rescue due to wakened young children, rescue activities are carried out by the salvage rescue vehicle 5, the relative stability of the rescue environment of the salvage rescue vehicle 5 is ensured by the six-degree-of-freedom motion compensation platform 4, the drowning people are accurately positioned by the infrared heat sensor I509 on the bucket rod 504, and then the drowning people are salvaged to the upper deck by the hollowed bucket 506;

s7: for the objects falling into the water, the small objects are salvaged by the salvage car 5, and the large objects are salvaged by the winch device 8.

The controller is connected with the image acquisition device and the driving device, the driving device is connected with the salvage rescue vehicle, the unmanned aerial vehicle system, the side pushing device and the underwater propeller, and the image acquisition device can realize intelligent identification, intelligent salvage and intelligent rescue integrated full-intelligent salvage rescue activities, is suitable for unmanned rescue operation under dangerous sea conditions, and has strong applicability; aiming at various rescue environments, a set of complete rescue system is provided, and the system is simple and easy to operate and has good economical efficiency; the problems of low intelligent degree, high cost, low safety, serious manpower consumption and the like of the traditional salvage rescue ship are solved, the salvage rescue ship is suitable for salvage rescue activities in open water areas, the rescue efficiency is high, the safety is reliable, and the salvage rescue ship has a wide application prospect.

Claims

1. The utility model provides a rescue device is salvaged in abominable sea condition intelligence motion compensation which characterized in that: the intelligent life buoy rescue system comprises a ship body, a side pushing device, an intelligent life buoy, a six-degree-of-freedom motion compensation platform, a salvage rescue vehicle, an intelligent life ladder, an unmanned aerial vehicle system, a winch device, an underwater propeller, a driving device, an image acquisition device and a controller, wherein the image acquisition device is used for detecting the water area environment in real time and judging a rescue position and comprises an image acquisition device II positioned in the unmanned aerial vehicle system and an image acquisition device I positioned in the salvage rescue vehicle; the controller is electrically connected with the image acquisition device and the driving device; the driving device is electrically connected with the salvage rescue vehicle, the unmanned aerial vehicle system, the side pushing device, the underwater propeller and the winch device; the side thrust device is convenient for ship operation in severe environment and is positioned at the underwater part of the ship bow; the six-degree-of-freedom motion compensation platform is used for ensuring that rescue and salvage activities are safely carried out under severe sea conditions, and comprises two motion compensation platforms, wherein the two motion compensation platforms are arranged on a deck in the middle of a catamaran in front and back, the front one is used as a platform for salvaging a rescue vehicle, and the back one is used as a platform for an unmanned aerial vehicle system; the winch device is used for dragging large-scale instruments such as a drowning car or a sunken ship and the like and is positioned at the rear part of a deck of the ship body; the underwater propeller consists of a connecting rod, a second propeller and a motor, wherein the motor is rotatably connected with the second propeller through the connecting rod, the connecting rod rotates underwater, and the connecting rod is matched with a side pushing device to control the navigation and steering of the ship body and is used for driving and steering the ship body and is positioned at the stern part below the ship body.

2. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the ship body is of a double-body type and is provided with a fixed handrail for rescuing the person falling into the water, the fixed handrail is made of waterproof and corrosion-resistant materials, the surface of the fixed handrail is rough, the fixed handrail surrounds the outer side of the ship body by a circle and is arranged above a waterline of the ship body; inclined struts are arranged on two sides below the inner side of the ship body so as to increase the rigidity and stability of the ship body; two intelligent life saving ladders and four intelligent life rings are symmetrically arranged on two sides of the ship body, so that the ship is suitable for self rescue of a large number of people falling into water, and the rescue efficiency is improved.

3. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the side thrust devices are positioned at the underwater part of the bow in the ship body, are symmetrically arranged on two sides of the ship body and comprise motors, vertical transmission devices and first propellers, the motors are connected with the vertical transmission devices to provide power, and the vertical transmission devices are connected with the first propellers to provide power for the first propellers; the plane of the pulp surface of the first propeller is parallel to the side surface of the ship body.

4. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the intelligent life buoy comprises a life buoy, a safety buckle, a hook, an automatic rope retracting device, a nylon rope and a fastening screw, wherein the hook is fixed on the side of the ship body and is hung with the life buoy; the nylon rope penetrates through the safety buckle to connect the life buoy with the automatic rope collecting device, and the automatic rope collecting device is fixed on a deck of the ship body through fastening screws.

5. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the unmanned aerial vehicle system is arranged on a six-degree-of-freedom motion compensation platform located on the rear side of the middle of a ship deck and comprises an unmanned aerial vehicle, a second image acquisition device, a second infrared heat sensor, a voice recognition device and a wireless charging platform, wherein the second image acquisition device, the second infrared heat sensor and the voice recognition device are arranged on the unmanned aerial vehicle body, the wireless charging platform is arranged on the six-degree-of-freedom motion compensation platform, a wireless charging device for automatic charging of the unmanned aerial vehicle is arranged in the wireless charging platform, and the unmanned aerial vehicle stops on the wireless charging platform to be charged when not in work.

6. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the intelligent lifesaving ladder comprises a belt wheel I, a belt wheel II, a fixed pulley I, a fixed pulley II, a fixed rod I, a fixed rod II, a fixed rod III, a belt, a fixed handrail I, a stair and a fixed handrail II; the first belt wheel is a driving wheel and is fixed on a deck of the ship body by a second fixing rod; the belt wheel II is fixed below a shipboard waterline of the ship body by a fixing rod I; the first fixed pulley and the second fixed pulley are fixed on the deck through an inner shaft by a third fixed rod; the belt sequentially passes through the belt wheel I, the fixed pulley I, the belt wheel II and the fixed pulley to form a closed loop, the closed loop formed by the belt is vertically arranged on the shipboard side of the ship body and rotates clockwise along with the fixed pulley I, and a plurality of fixed handrails I are uniformly distributed on the outer surface of the belt; the first fixed handrail is made of a material with relatively high flexibility, such as a nylon rope; the highest point of the stairs is flush with the highest point of the intelligent escape ladder on the deck.

7. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the six-degree-of-freedom motion compensation platform comprises six upper hooke hinges, six lower hooke hinges, six servo electric cylinders, an upper platform, a lower platform, an alarm lamp, a posture sensor and a motion sensor, wherein the upper hooke hinges are uniformly arranged at the bottom of the upper platform, the lower hooke hinges are uniformly arranged at the top of the lower platform, and the upper hooke hinges and the lower hooke hinges are correspondingly connected one by one through the servo electric cylinders; the warning lamp, the attitude sensor and the motion sensor are all arranged on the lower platform.

8. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the salvage rescue vehicle is arranged on a six-degree-of-freedom motion compensation platform at the front end of the middle part of the ship body and comprises a movable base, a movable arm cylinder, a bucket rod cylinder, a hollow bucket, a bucket cylinder, a first image acquisition device and a first infrared heat sensor; the movable arm cylinder, the bucket rod cylinder and the bucket cylinder are respectively connected with the movable arm, the bucket rod and the hollowed-out bucket, the image acquisition device is located on the movable arm, and the infrared heat sensor is located on the movable base; the movable base is arranged on the six-degree-of-freedom motion compensation platform.

9. The intelligent motion compensation salvage rescue device under severe sea conditions of claim 1, characterized in that: the winch device is arranged at the rearmost part of the upper deck of the ship body and comprises a movable winch, a steel cable and a guide rail, and the movable winch is arranged on the guide rail and moves horizontally along the guide rail; the steel cable is arranged on the movable winch, and the top end of the steel cable is provided with a hook; the movable winch is also provided with a direct current brushless motor and a brake device which are used for reducing vibration and improving fishing efficiency.

10. The use method of the intelligent motion compensation salvage rescue device under the severe sea conditions is characterized by comprising the following steps of: the method specifically comprises the following steps: