CN117141682A - Unmanned submarine vehicle for offshore rescue - Google Patents

Abstract

The unmanned underwater vehicle for sea rescue comprises an underwater vehicle main body, wherein four corners of the underwater vehicle main body are respectively connected with a gesture adjusting propeller, the underwater vehicle main body is connected with an outer baffle, and the center of the inside of the underwater vehicle main body is connected with a soft robot device; the invention can actively rescue the wounded personnel at sea, and can be submerged under water for safe transportation, thereby ensuring the transportation safety and oxygen supply of the wounded personnel, and having the advantages of high rescue efficiency, convenient transportation, reliable safety and the like.

Description

Unmanned submarine vehicle for offshore rescue

Technical Field

The invention relates to the technical field of underwater robots, in particular to an unmanned submarine for offshore rescue.

Background

With the increasing development of marine transportation and marine resources, accidents in the sea are more and more, and due to the extremely severe marine environment and huge range, submarine rescue is difficult to complete by means of common equipment, so that people with difficulty are searched and rescuing through unmanned submarines. In recent years, with the rapid development of artificial intelligence and information technology, unmanned underwater vehicles have been greatly developed, and autonomous navigation capability has been remarkably improved, so that tasks such as environmental survey and emergency rescue can be completed.

The existing unmanned underwater vehicle is mainly divided into two types, namely an unmanned water rescue boat and an underwater rescue underwater vehicle. The water rescue unmanned boats such as power rescue equipment (Hu Yongzhi, liu Chenli, zhang Yunfei, etc.. Power rescue equipment [ P ]. Guangdong province: CN109250048A, 2019-01-22.) and Remot e Controlled Motorized Rescue Buoy (Anthony C.Mulligan, robert W.Lautrup.remote controlled motorized rescue buoy [ P ]. U.S. Pat. No. US8882555B2,2012-04-05.), the structural principles are: the main body is a floating body, and the tail part is provided with a propulsion power device; the working principle is as follows: the rescue boat is close to the personnel to be rescued through manual remote control, and the personnel to be rescued can actively assist in floating through the rescue boat. An underwater rescue submarine, such as a remote control type shallow water area search and rescue underwater robot for fire control (shallow water area search and rescue robot for fire control [ J ]. Fire control world (electronic edition), 2015 (03): 52.) developed by the Shanghai fire control institute of public security department in combination with China ship science research center, has the following structural principle: communication and power supply are carried out through a cable, and a camera, sonar, a single-degree-of-freedom manipulator and the like are arranged at the front part; the working principle is as follows: and combining a camera and a sonar, and manually and remotely controlling the submarine to search under the deep water.

The two schemes have the defect that the rescue workers cannot be adequately actively rescued. Considering that the personnel to be rescued are immersed in low-temperature seawater for a long time and often can be in a state of hypothermia, incapacitation, coma and the like, the rescue equipment needs to be capable of performing certain active rescue functions and emergency treatment functions, such as grabbing rescue or raising the body temperature and the like. Therefore, the rescue equipment lacks the capability of carrying out complete rescue tasks on the personnel to be rescued, which is a great defect for water rescue.

Disclosure of Invention

In order to overcome the defects, the invention aims to provide the unmanned submarine for sea rescue, and simultaneously realize the functions of automatic path searching, returning and active rescue for people falling into water.

In order to achieve the above purpose, the technical scheme provided by the invention is as follows:

the unmanned underwater vehicle for sea rescue comprises an underwater vehicle main body 20, wherein four corners of the underwater vehicle main body 20 are respectively connected with a posture adjusting propeller 10, an outer baffle 30 is connected to the underwater vehicle main body 20, and a soft robot device 40 is connected to the center inside the underwater vehicle main body 20.

The gesture-adjustable propeller 10 comprises a propeller and a coupler, wherein the coupler consists of a braking device 11 and bevel gears 12, wherein the two right-angle bevel gears 12 are responsible for driving between the propeller and a motor, and the braking device 11 is responsible for braking the bevel gears 12 so as to enable the position of the propeller to rotate.

The submarine vehicle main body 20 comprises a central hollow cabin 22, wherein the central hollow cabin 22 is used for loading a soft robot device 40 for grabbing a person to be rescued; the two sides of the central empty bin 22 are provided with peripheral empty bins 23, the outermost peripheral empty bins 23 are connected with the hemispherical cabins 24, the outermost peripheral empty bins 23 are provided with water outlets 21, the peripheral empty bins 23 are used as water storage bins, water is pumped into the water bins when the central empty bins are submerged, and water in the central empty bins is discharged when the central empty bins are floated. Wherein the drain opening 21 serves as a passage for removing seawater in the cabin when floating upward.

The outer baffle 30 is formed by matching a left baffle and a right baffle, the root parts of the left baffle and the right baffle are connected with the submarine main body 20 through a connecting pin 31, and the opening and the closing of the left baffle and the right baffle are controlled through multi-machine connection; the heads of the left baffle and the right baffle form a mortise and tenon structure through the grooves 32 and the protrusions 33, and waterproof adhesive tapes are added for sealing.

The soft robot device 40 comprises a soft robot 42 and inner side baffles 41 connected with the two sides of the soft robot 42, wherein the soft robot 42 can rescue a person to be rescued when in use and can be folded and stored when not in use; the soft robot 42 is connected with an oxygen bottle, and is used for driving the air pressure, supplying oxygen to the personnel, increasing the air pressure in the cabin and the like.

The invention has the beneficial effects that: because the invention adopts the soft robot device, the invention can actively grab and rescue the unconscious person to be rescued, and simultaneously has a manned space structure formed by the two outer side baffles and the submarine main body, so that the space for the person to be rescued grabbed by the soft robot device can be accommodated; in the space, oxygen supply and engine heat supply are carried out through a gas cylinder of the soft robot device, so that emergency treatment means such as body temperature recovery can be carried out on unconscious personnel to be rescued; in addition, because the designed unmanned rescue submarine mainly runs below the sea level, severe weather on the sea surface such as hurricane and the like has little influence on water flow at the position, thereby being beneficial to ensuring the safety of personnel to be rescued.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic view of the structure of the outer baffle plate when the outer baffle plate is folded.

FIG. 3 is a schematic diagram of the soft robotic device of the present invention during rescue deployment.

Fig. 4 is a schematic view of a propeller posture adjustment mechanism of the present invention.

FIG. 5 is a schematic view of the main body structure of the submarine according to the invention.

FIG. 6 is a schematic view of the structure of the outer baffle plate of the present invention.

FIG. 7 is a schematic diagram of a software robot apparatus according to the present invention.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the embodiments and the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1, 2 and 3, an unmanned underwater vehicle for sea rescue comprises an underwater vehicle main body 20, wherein four corners of the underwater vehicle main body 20 are respectively connected with a posture adjusting propeller 10, an outer baffle 30 is connected to the underwater vehicle main body 20, and a soft robot device 40 is connected to the inner center of the underwater vehicle main body 20.

The unmanned underwater vehicle in the embodiment can realize different actions on the propellers by adjusting the rotation angles of the four gesture adjustment propellers 10 so as to achieve the effect of a vector propeller, thereby enabling the unmanned underwater vehicle to flexibly move forward in all directions in the sea water; the outer baffle 30 and the submarine main body 20 can form a semi-cylindrical cavity for the rescuee to place in, so as to form a sealing structure, thereby being convenient for being submerged for safe transportation; the soft robot device 40 can be contracted by inflating and deflating, when the soft robot device is inflated, a person to be rescued drags the soft robot device into the rescue underwater vehicle, and after the soft robot device is deflated, the soft robot device can be folded and stored.

As shown in fig. 4, the posture-adjustable propeller 10 comprises a propeller and a coupling, wherein the coupling is composed of a braking device 11 and bevel gears 12, wherein two right angle bevel gears 12 are responsible for driving between the propeller and a motor, and the braking device 11 is responsible for braking the bevel gears 12 to rotate the position of the propeller.

When the propeller normally operates, the brake device 11 is in a relaxed state, and the power of the propeller is transmitted to the propeller through the two right angle bevel gears 12; when the propeller is required to be subjected to posture adjustment, one of the right angle bevel gears is locked by tightening the brake device 11 and is converted into a planetary gear, so that the propeller rotates.

As shown in fig. 5, the submarine vehicle body 20 includes a central hollow cabin 22, and the central hollow cabin 22 is used for loading a soft robot device 40 for grabbing a person to be rescued; two sides of the central empty bin 22 are respectively provided with two peripheral empty bins 23, the outermost peripheral empty bins 23 are connected with a hemispherical cabin 24, and devices such as an engine connected with a propeller are loaded in the hemispherical cabin 24; the water outlet 21 is arranged on the outermost peripheral empty chambers 23, the four peripheral empty chambers 23 are used as water storage chambers, water is pumped into the water chambers when the water storage chambers are submerged, and the water in the water storage chambers is discharged when the water storage chambers are floated; simultaneously, the attitude control of the unmanned underwater vehicle can be realized by independently adjusting the water quantity in each surrounding empty bin 23; the water outlet 21 is used for removing seawater in the manned cabin when the personnel to be rescued float up, so as to ensure normal breathing after the hand grip transfers the injured personnel to the manned cabin.

The length of the submarine main body 20 is 2.8-3.2 m, and the width and the height are 0.8-1.2 m.

As shown in fig. 6, the outer baffle 30 is formed by matching a left baffle and a right baffle, the root parts of the left baffle and the right baffle are connected with the submarine main body 20 through a connecting pin 31, and the left baffle and the right baffle are controlled to be opened and closed through multi-machine connection; the heads of the left baffle and the right baffle form a mortise and tenon structure through the concave part 32 and the convex part 33, and waterproof adhesive tapes are added for sealing. The continuous oxygen supply in the cabin keeps the internal and external pressure consistent, and the sealing performance of the device is enhanced.

As shown in fig. 7, the soft robot device 40 includes a soft robot 42 and inner side baffles 41 connected to both sides thereof, which are located in the hollow space 22; the soft robot 42 can rescue the person to be rescued when in use, and can be folded and stored when not in use; the soft robot 42 is connected with an oxygen bottle, and is used for driving the air pressure of the soft robot 42, supplying oxygen to a person, increasing the air pressure in the cabin and the like.

The soft robot 42 has two states, when the soft robot 42 is inflated, the inner baffle 41 is opened, the soft robot 42 extends out of the submarine, and a person to be rescued is embraced or gripped to be towed into the submarine; when the soft robot 42 is deflated, the inner baffle 41 will be folded to fold and store the soft robot 42, so as to reduce the occupied space; the soft robot 42 is connected with an oxygen bottle, and is used as the driving air pressure of the soft robot 42; meanwhile, the oxygen bottle can also be used for supplying oxygen to the person to be saved, increasing the air pressure in the cabin, balancing the internal and external pressure in the water and further preventing water seepage.

The rescue flow of the unmanned underwater vehicle for rescue is as follows: firstly, a positioning signal reaches a designated area, a wounded person is positioned and approaches by using machine vision, and the gesture and the gravity center are controlled to vertically float upwards after the wounded person approaches; next, the outer baffle 30 is opened, and the injured person is dragged into the cabin by the cabin interior soft robot 42; finally, the outer baffle 30 is closed, the seawater in the cabin is discharged, and the cabin is submerged to the characteristic depth and returns to the rescue ship.

Claims (7)

1. The utility model provides an unmanned submarine vehicle for sea rescue, includes submarine vehicle main part (20), its characterized in that: four corners of the submarine main body (20) are respectively connected with an attitude adjustment propeller (10), the submarine main body (20) is connected with an outer baffle plate (30), and a soft robot device (40) is connected inside the submarine main body (20).

2. The submarine according to claim 1, wherein: the gesture-adjustable propeller (10) comprises a propeller and a coupler, wherein the coupler consists of a braking device (11) and bevel gears (12), wherein the two right-angle bevel gears (12) are responsible for driving between the propeller and a motor, and the braking device (11) is responsible for braking the bevel gears (12) so as to enable the propeller to rotate.

3. The submarine according to claim 1, wherein: the submarine vehicle main body (20) comprises a central empty bin (22); the two sides of the central empty bin (22) are provided with surrounding empty bins (23), the outermost surrounding empty bins (23) are connected with the hemispherical cabin (24), the outermost surrounding empty bins (23) are provided with water outlets (21), the surrounding empty bins (23) are used as water storage bins, water is pumped into the water storage bins when the central empty bins are submerged, and water in the central empty bins is discharged when the central empty bins are floated.

4. The submarine according to claim 1, wherein: the length of the submarine main body (20) is 2.8-3.2 m, and the width and the height are 0.8-1.2 m.

5. The submarine according to claim 1, wherein: the outer baffle (30) is formed by matching a left baffle and a right baffle, the root parts of the left baffle and the right baffle are connected with the submarine main body (20) through connecting pins (31), and the left baffle and the right baffle are controlled to be opened and closed through multi-machine connection; the heads of the left baffle and the right baffle form a mortise and tenon structure through grooves (32) and protrusions (33), and waterproof adhesive tapes are added for sealing.

6. A submarine according to claim 3, wherein: the soft robot device (40) comprises a soft robot (42) and inner side baffles (41) connected with two sides of the soft robot, and the soft robot is positioned at the central empty bin (22); rescue is carried out on the personnel to be rescued when the soft robot is used, and folding and storage are carried out when the soft robot is not used; the soft robot (42) is connected with an oxygen bottle, and is used for driving air pressure of the soft robot (42), supplying oxygen to personnel and increasing air pressure in the cabin.

7. Rescue process for an offshore rescue unmanned submarine according to any one of claims 1 to 6, characterized in that: firstly, a positioning signal reaches a designated area, a wounded person is positioned and approaches by using machine vision, and the gesture and the gravity center are controlled to vertically float upwards after the wounded person approaches; secondly, opening an outer baffle (30), and dragging injured personnel into the cabin by using a cabin soft robot (42); and finally, closing the outer baffle (30), discharging the seawater in the cabin, and submerging to a characteristic depth to return to the rescue ship.