CN207536109U - A kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization - Google Patents
A kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization Download PDFInfo
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- CN207536109U CN207536109U CN201721666477.9U CN201721666477U CN207536109U CN 207536109 U CN207536109 U CN 207536109U CN 201721666477 U CN201721666477 U CN 201721666477U CN 207536109 U CN207536109 U CN 207536109U
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Abstract
The utility model is related to a kind of Intelligent lifesaving devices of the underwater quick autonomous of stabilization, the Intelligent lifesaving device includes remote controler, picture catching assembly, intelligent control assembly, reception of wireless signals module, switch, battery, propeller assembly, lifebuoy main body；The intelligent control assembly includes image processing module, motion-control module, posture perception module.Its advantage is shown：A kind of Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model, has autonomous ability；Lifebuoy main body no matter positive and negative orientations, propeller assembly is always positioned at underwater, and propeller assembly keeps certain angle with the water surface；Can moment locating lifesaving circle and rescue target between relative position；Rescue target can be included in a virtual environment, and is tracked so as to set intelligent planning path in the orientation of virtual environment according to rescue target, can precisely move quickly into rescue target location.
Description
Technical field
The utility model is related to the Intelligent lifesaving device technical field of the underwater quick autonomous of stabilization waterborne, specifically
It says, is a kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization.
Background technology
With the increase of domestic economy, there has also been certain enhancing, more and more people to choose river for people's economic strength
It plays on the even yacht of side, seashore, therefore, drowned accident can occur often.Once it was found that someone, generally use lifesaving when drowning
Circle is rescued, however, there are following defect and deficiencies for lifebuoy of the prior art：
First, common lifebuoy is substantially made of foamed plastics or the smaller lightweight material of other proportions instantly, outside
Canvas, plastics etc. on bread mostly without the power plant promoted, rely solely on water surface buoyancy and provide thrust power, itself
The ability of autonomous is not had, when rescuing the occasion of target farther out in rescue personnel, it is difficult to accurately that lifebuoy is quick
It is shipped to drowned personnel at one's side, loses best rescue time.
Secondly, power plant is set on lifebuoy to provide autonomous ability although having in the prior art, as in
State patent document CN201621159040.1, disclose one kind can positioning power lifebuoy, but do not account in power plant
It is added to the problem of new caused by lifebuoy, after 1. power plants are added on lifebuoy, there is certain gravity, it is possible to
Power plant is caused to be located on the water surface, without in underwater so that power plant cannot generate thrust power；2. power plant
Startup be it is directive, in use, it is possible to lifebuoy main body it is face-up, it is also possible to be lifebuoy main body
Reverse side upward, and lifebuoy main body is different towards so that corresponding power plant and rescuing the startup direction between target and being
Different, i.e., lifebuoy main body is different towards causing propeller assembly different from water surface angle, so as to cause direction is started not
Together, accordingly, with respect to lifebuoy main body no matter positive and negative orientations, propeller assembly is always positioned at underwater, and propeller assembly and water
It is problem to be solved that face, which keeps certain angle,.
In addition, positioning method is also extremely important link between lifebuoy and rescue target, because in rescue operations, rescuing
Raw circle can be during the dynamic change, and the relative position between lifebuoy and rescue target constantly changes, how the moment
Relative position relation between locating lifesaving circle and rescue target, to ensure that lifebuoy was capable of fast accurate reaches rescue mesh
It is problem to be solved to mark position, in the prior art, has pertinent literature in order to solve this problem, the technical side of use
Case is：Drowned personnel is allowed to carry RF identification chip or intelligent-induction bracelet in advance, and are set accordingly in lifebuoy main body
Processor, positioning method is established by signal between the two come determine lifebuoy and rescue target between relative position close
System.However, the technical solution is easily interfered, error is big, and needs to realize and wear relevant sensing dress by induction of signal
It puts, cumbersome, utilization rate is low.
Furthermore there is no intelligent planning paths between lifebuoy of the prior art and rescue target, i.e., cannot will rescue
Target is included in a virtual environment, and according to rescue target in the orientation of virtual environment, so as to set intelligent planning path
It is tracked.And in the prior art, typically judge lifebuoy by human visual and rescue the relative position pass between target
It is and sets intelligent planning path.Cause error big, not precisely.
Chinese patent literature CN201620333736.5, the applying date 20160421, patent name is：A kind of Intelligent lifesaving
Circle, discloses a kind of Intelligent lifesaving circle, including circle body, iron net, micromachine and impeller A, micromachine and impeller C, solar energy
Charging and battery module, micromachine and impeller B, mercury direction switch, air pressure inspection and automatic inflating pump part, control master
Plate module, wireless remote controller module, camera and SD memory card modules, micromachine and impeller D and solar energy film template die
Block, circle body inside surrounding are respectively arranged with micromachine and impeller A, micromachine and impeller B, micromachine and impeller C
With micromachine and impeller D, night vision camera is disposed between the micromachine and impeller A and micromachine and impeller B
Head B, mercury direction switch, microwave detector B, air pressure inspection and automatic inflating pump part, control mainboard module, voice activated detector
A and infrared inductor A,
The Intelligent lifesaving circle of above patent document carries out intelligentized control method innovation to traditional lifebuoy, can be carried for drowning people
For safer rescue.But have an autonomous ability about one kind, lifebuoy main body no matter positive and negative orientations, propeller assembly
Be always positioned at underwater, and propeller assembly keeps certain angle with the water surface, can moment locating lifesaving circle and rescue target it
Between relative position；Rescue target can be included in a virtual environment, and according to rescue target in the side of virtual environment
Position, be tracked so as to set intelligent planning path, can precisely move quickly into rescue target location technical solution then without
It is corresponding open.
In conclusion one kind is needed to have autonomous ability；Lifebuoy main body no matter positive and negative orientations, propeller assembly begin
Final position is in underwater, and propeller assembly keeps certain angle with the water surface, can be between moment locating lifesaving circle and rescue target
Relative position；Rescue target can be included in a virtual environment, and according to rescue target in the orientation of virtual environment,
It is tracked so as to set intelligent planning path, can precisely move quickly into the underwater stable quick autonomous of rescue target location
Mobile Intelligent lifesaving device, and yet there are no report about this lifebuoy.
Invention content
The purpose of this utility model is for deficiency of the prior art, provides one kind and has autonomous ability；Lifesaving
Enclose main body no matter positive and negative orientations, propeller assembly is always positioned at underwater, and propeller assembly keeps certain angle, energy with the water surface
Relative position between enough moment locating lifesaving circles and rescue target；Rescue target can be included in a virtual environment,
And it is tracked, precisely can quickly move so as to set intelligent planning path in the orientation of virtual environment according to rescue target
To the Intelligent lifesaving device for stablizing quick autonomous under water of rescue target location.
Another purpose of the utility model is to provide a kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization
Control method.
To achieve the above object, the technical scheme adopted by the utility model is that：
A kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization, the Intelligent lifesaving device include remote controler,
Picture catching assembly, intelligent control assembly, reception of wireless signals module, switch, battery, propeller assembly, lifebuoy main body；Institute
The remote controler stated is equipped with remote controller body, remote controler antenna, remote controller displays screen, remote controler rocking bar, remote controler camera；
The picture catching assembly, intelligent control assembly, reception of wireless signals module, switch, battery, propeller assembly
It is arranged in lifebuoy main body；Two tail portions of the lifebuoy main body are equipped with battery and propeller assembly；Described
Picture catching assembly is arranged on the front end of lifebuoy main body, and it is intelligent control assembly that described image, which is captured below assembly,；It is described
Intelligent control assembly established and connect with switch, reception of wireless signals module and battery respectively by transmission line；The electricity
Pond is also established by transmission line and propeller assembly and connected；
The picture catching assembly shoots the dynamic video image of lifebuoy different moments for the moment；Described is wireless
Signal receiving module is used to the picture signal that remote controler is shot being transmitted in Intelligent lifesaving circle；The intelligent control assembly packet
Include image processing module, motion-control module, posture perception module；By distant between the intelligent control assembly and remote controler
It controls device antenna and establishes connection, target component is sent to the image processing module of intelligent control assembly by remote controler by antenna, is schemed
Picture catching can be got off and be sent on display screen as capturing assembly；The remote controler rocking bar by remote controler antenna with
Motion-control module in intelligent control assembly establishes connection；The posture perception module is for so that the perception of Intelligent lifesaving circle is worked as
Thus obverse and reverse under preceding state is simultaneously calibrated motion-control module；
The lifebuoy ontology is in a state of use according to propeller the operation is stable angle α tilt distributions.
As a kind of perferred technical scheme, the remote controler antenna is arranged on the one side of remote controller body；It is described
Remote controller displays screen be arranged on the front of remote controller body, the side mode of remote controller display screen is remote controler rocking bar；It is described
Remote control camera be arranged on the reverse side of remote controller body.
As a kind of perferred technical scheme, the camera on the remote controler carries out target parsing to rescue target,
Target component is passed through into wireless signal transmission to the nothing for the Intelligent lifesaving device for stablizing quick autonomous under water by remote controler again
In line signal receiving module, the image processing module in intelligent control assembly can carry out target homing, after target is searched
Target bearing will be calculated and target bearing is sent to motion-control module, motion-control module finally controls propeller total
Into so that the Intelligent lifesaving device for stablizing quick autonomous under water is automatically moved into rescue target.
As a kind of perferred technical scheme, propeller the operation is stable angle α is specially the center of gravity of lifebuoy main body
Horizontal line is rotated clockwise to the angle between the center side line of symmetry of lifebuoy main body, and propeller the operation is stable angle α
Below center of gravity horizontal line.
As a kind of perferred technical scheme, propeller the operation is stable angle α is 10-20 degree.
As a kind of perferred technical scheme, propeller the operation is stable angle α is 12 degree.
As a kind of perferred technical scheme, the lifebuoy main body semi-closed structure, the lifebuoy main body are overlooked
In the shape of a saddle or U-shaped under state, front end is big, and rear end is small, shape symmetrical above and below.
As a kind of perferred technical scheme, the lifebuoy main body is in water-drop-shaped under side-looking direction.
To realize above-mentioned second purpose, the technical solution adopted in the utility model is：
A kind of control method of the Intelligent lifesaving device of the quick autonomous of underwater stabilization, the control method include with
Lower step：
Step S1, remote controler shoot rescue target by camera；
Target component is passed through wireless signal transmission to the reception of wireless signals module of Intelligent lifesaving circle by step S2, remote controler
In；Wherein, target component may include the image information feature of the clothes color of rescuer；
Step S3, picture catching assembly moment shoot the dynamic video image of lifebuoy different moments, and video is transmitted
To the image processing module of intelligent control assembly, video can be sent at image by image processing module by picture catching assembly
Manage module and to target into line search；
Step S4 will calculate target bearing and by target bearing after image processing module searches rescue target
It is sent to the motion-control module of intelligent control assembly；
Step S5, motion-control module, so as to final propeller assembly, are made by the driving of motion control state modulator motor
It obtains Intelligent lifesaving circle and moves to rescue target proximity, rescue target only need to lie prone on lifebuoy or catch Intelligent lifesaving circle can obtain
It rescues.
As a kind of perferred technical scheme, the control method further includes step S51, and rescue personnel also utilizes remote controler
On remote controler rocking bar controlled and by remote controller displays screen to rescue target conditions observed more to be closed
Reason is sued and laboured.
The utility model advantage is：
1st, the Intelligent lifesaving device of a kind of underwater quick autonomous of stabilization of the utility model, has autonomous energy
Power；Lifebuoy main body no matter positive and negative orientations, propeller assembly is always positioned at underwater, and propeller assembly keeps certain with the water surface
Angle；Can moment locating lifesaving circle and rescue target between relative position；Can will rescue target be included in one it is virtual
In environment, and it is tracked so as to set intelligent planning path in the orientation of virtual environment according to rescue target, it can be precisely fast
Speed is moved to rescue target location；
2nd, there is the ability intelligently searched and rescued, either automatically or manually rescue target can be rescued, accelerate rescue speed,
It races against time for rescue target；
3rd, equipped with remote controler, remote controler includes remote control camera, remote controller displays screen, remote controler rocking bar, passes through remote controler
Display screen can observe lifebuoy with rescuing the virtual image information of target in real time, and rescue target can be obtained by camera
Characteristic image information by rocking bar, can control lifebuoy to move manually；
4th, picture catching assembly can carry one or more different images modules, as high-definition camera, infrared camera or its
Its vision module etc., multiple is that vision module mutual cooperation is conducive to target homing, to be used in different rescue occasions；
5th, it is hollow-core construction, inside can carry required component equipped with lifebuoy main body；
6th, lifebuoy main body is semi-closed structure, and vertical view is the shape of a saddle or U-shaped, is from the side class droplet-shaped, front end
Greatly, rear end is small, shape symmetrical above and below, does not have point of obverse and reverse to ensure lifebuoy in structure；
7th, propeller assembly is installed in lifebuoy main body so that the entire Intelligent lifesaving for stablizing quick autonomous under water
Device being capable of autonomous；
8th, two tail portions of lifebuoy main body are placed with battery and propeller assembly to ensure that the right and left balances, and pushes away
The installation site in lifebuoy main body into device assembly is distributed according to propeller the operation is stable angle α, which causes
Most of weight all concentrates on tail portion, and because lifebuoy main body is pre-large post-small and symmetrical above and below, thus no matter Intelligent lifesaving circle
Arbitrary face is on the water surface, and propeller assembly is during the motion always in the water surface hereinafter, so as to ensure propeller in motion process
Assembly output stablize, can quickly the startup direction of position thrusters assembly with rescue target direction it is consistent；
9th, picture catching assembly is by shooting the continuous video image of dynamic, in addition the image procossing mould of intelligent control assembly
Block can obtain the rescue clarification of objective information of remote controller, two kinds of combinations just can locating lifesaving circle and rescue target it
Between relative position；Motion-control module searches target location according to image processing module, calculates the orientation of target, the mesh
Marking orientation is established in the virtual virtual environment of image processing module, can be set intelligent planning path and is tracked, from
And it can precisely move quickly into rescue target location；
10th, stablizing the Intelligent lifesaving device of quick autonomous under water, there are two types of control models, and one kind is intelligent mode energy
It enough automatically captures rescue target and approaches, one kind is intelligence to be controlled to rescue manually by remote controler rocking bar and remote controler camera
Raw circle rescues rescue target, for being selected.
Description of the drawings
Attached drawing 1 is a kind of remote controler front of the Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model
Structure diagram.
Attached drawing 2 is a kind of remote controler reverse side of the Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model
Structure diagram.
Attached drawing 3 is the structure diagram for the Intelligent lifesaving device for stablizing quick autonomous under water.
Attached drawing 4 is to stablize the lateral location state of the Intelligent lifesaving device of quick autonomous in a state of use under water to show
It is intended to.
Attached drawing 5 is the structure diagram of lifebuoy main body.
Control method stream of the attached drawing 6 for a kind of Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model
Cheng Tu.
Specific embodiment
It elaborates below in conjunction with the accompanying drawings to specific embodiment provided by the utility model.
Reference numeral and component part involved in attached drawing is as follows：
1st, remote controler, 1-1, remote controler antenna, 1-2, remote controller displays screen, 1-3, remote controler rocking bar, 1-4, remote controler are taken the photograph
As head, 2-1, picture catching assembly, 2-2, intelligent control assembly, 2-3, reception of wireless signals module, 2-4, switch, 2-5, electricity
Pond, 2-6, propeller assembly, 2-7, lifebuoy main body.
Fig. 1-Fig. 3 is please referred to, Fig. 1 is a kind of Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model
1 positive structure schematic of remote controler.Fig. 2 is a kind of Intelligent lifesaving dress of underwater quick autonomous of stabilization of the utility model
1 reverse structure schematic of remote controler put.Fig. 3 is the structural representation for the Intelligent lifesaving device for stablizing quick autonomous under water
Figure.A kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization, the Intelligent lifesaving device include remote controler 1, image
It captures assembly 2-1, intelligent control assembly, reception of wireless signals module 2-3, switch 2-4, battery 2-5, propeller assembly 2-6, rescue
Raw circle main body 2-7；The remote controler 1 is equipped with 1 ontology of remote controler, remote controler antenna 1-1, remote controller displays screen 1-2, remote control
Device rocking bar 1-3, remote controler camera 1-4；The remote controler antenna 1-1 is arranged on the one side of 1 ontology of remote controler；Described
Remote controller displays screen 1-2 is arranged on the front of 1 ontology of remote controler, and the side mode of remote controller display screen is remote controler rocking bar 1-3；
The remote control camera is arranged on the reverse side of 1 ontology of remote controler.
The picture catching assembly 2-1, intelligent control assembly 2-2, reception of wireless signals module 2-3, switch 2-4, electricity
Pond 2-5, propeller assembly 2-6 are arranged on lifebuoy main body 2-7；Two tail portions installation of the lifebuoy main body 2-7
There are battery 2-5 and propeller assembly 2-6；The picture catching assembly 2-1 is arranged on the front end of lifebuoy main body 2-7, institute
It states below picture catching assembly 2-1 as intelligent control assembly 2-2；The intelligent control assembly 2-2 by transmission line respectively with
It switchs 2-4, reception of wireless signals module 2-3 and battery 2-5 and establishes connection；The battery 2-5 is also by transmission line with pushing away
It establishes and connects into device assembly 2-6；
The picture catching assembly 2-1 shoots the dynamic video image of lifebuoy different moments for the moment；Described
Reception of wireless signals module 2-3 is used to the picture signal that remote controler 1 is shot being transmitted in Intelligent lifesaving circle；The intelligence control
Assembly 2-2 processed includes image processing module, motion-control module, posture perception module；The intelligent control assembly 2-2 with it is distant
It is established and connected by remote controler antenna 1-1 between control device 1, the image processing module in intelligent control assembly 2-2 passes through remote controler
Image information is transmitted on remote controller displays screen 1-2 by antenna 1-1；The remote controler rocking bar 1-3 passes through remote controler antenna 1-1
It establishes and connects with the motion-control module in intelligent control assembly 2-2；The posture perception module is for so that Intelligent lifesaving circle
It perceives the obverse and reverse under current state and thus motion-control module is calibrated, even if making it in water with any face
Intelligent lifesaving circle will not all occur upward causes propeller control direction different due to difference is face-up；Under rescue state, remote control
Camera on device 1 carries out rescue target target parsing, then by remote controler 1 by target component by wireless signal transmission extremely
In reception of wireless signals module, the image processing module in intelligent control assembly 2-2 can carry out target homing, when searching target
Target bearing will be calculated later and target bearing is sent to motion-control module, and motion-control module finally controls propulsion
Device assembly 2-6 so that Intelligent lifesaving circle is automatically moved into rescue target.
Please refer to Fig. 4, Fig. 4 is to stablize the side position of the Intelligent lifesaving device of quick autonomous in a state of use under water
Put status diagram.The lifebuoy ontology is in a state of use according to propeller the operation is stable angle α tilt distributions；Described
Propeller the operation is stable angle α is specially that the center of gravity horizontal line of lifebuoy main body 2-7 is rotated clockwise to the side of lifebuoy main body 2-7
Angle between the centre symmetry line of face, and propeller the operation is stable angle α is located at below center of gravity horizontal line；The propeller work
Angle of stability α is 10-20 degree, and preferably propeller the operation is stable angle α is 12 degree.
Fig. 5 is please referred to, Fig. 5 is the structure diagram of lifebuoy main body 2-7.The semiclosed knots of lifebuoy main body 2-7
Structure, the lifebuoy main body 2-7 is in the shape of a saddle or U-shaped under vertical view state, and front end is big, and rear end is small, shape symmetrical above and below,
Fig. 6 is please referred to, Fig. 6 is a kind of control of the Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model
Method flow diagram processed.A kind of control method of the Intelligent lifesaving device of the quick autonomous of underwater stabilization, the control method
Include the following steps：
Step S1, remote controler 1 shoot rescue target by camera；
Target component is passed through the reception of wireless signals mould of wireless signal transmission to Intelligent lifesaving circle by step S2, remote controler 1
In block；Wherein, target component may include the image information feature of the clothes color of rescuer.
Step S3, the picture catching assembly 2-1 moment shoots the dynamic video image of lifebuoy different moments, and video is passed
It send to the image processing module of intelligent control assembly 2-2, image processing module can be transmitted video by picture catching assembly 2-1
To image processing module and to target into line search；
Step S4 will calculate target bearing and by target bearing after image processing module searches rescue target
It is sent to the motion-control module of intelligent control assembly 2-2；
Step S5, motion-control module are driven by motion control state modulator motor so as to final propeller assembly 2-6,
So that Intelligent lifesaving circle moves to rescue target proximity, Intelligent lifesaving circle only need to be lain prone on lifebuoy or catch to rescue target
It is rescued.
Step S51, rescue personnel can also be controlled and using the remote controler rocking bar 1-3 on remote controler 1 by distant
Control device display screen 1-2 is observed more reasonably to be sued and laboured to rescue target conditions.
It should be noted that：
The picture catching assembly 2-1 can carry one or more different images modules, and such as high-definition camera infrared is taken the photograph
As head or other vision modules etc., multiple is that vision module mutual cooperation is conducive to target homing, so as in different rescue occasions
It uses.
The lifebuoy main body 2-7 is hollow-core construction, and inside can carry required component；The lifebuoy main body 2-7 is used
Vertical view is the shape of a saddle or U-shaped, is from the side class droplet-shaped, and front end is big, and rear end is small, shape symmetrical above and below, to ensure to rescue
Raw circle does not have point of obverse and reverse in structure.
Propeller assembly 2-6 is installed on the lifebuoy main body 2-7 so that entirely stablize quick autonomous under water
Intelligent lifesaving device being capable of autonomous；
Two tail portions of the lifebuoy main body 2-7 are placed with battery 2-5 and propeller assembly 2-6 to ensure left and right two
Side balances, and the installation site on lifebuoy main body 2-7 of propeller assembly 2-6 is distributed according to propeller the operation is stable angle α
, which causes most of weight all to concentrate on tail portion, and because lifebuoy main body 2-7 is pre-large post-small and right up and down
Claim, therefore no matter Intelligent lifesaving circle arbitrary face is on the water surface, propeller assembly 2-6 during the motion always in the water surface hereinafter,
So as to ensure in motion process that propeller assembly 2-6 outputs are stablized, can quick position thrusters assembly 2-6 startup direction
It is consistent with rescue target direction.
Propeller the operation is stable angle α degree is 10-20 degree, under the angular range, can ensure that propeller assembly 2-6 without
By lifebuoy main body 2-7 no matter positive and negative orientations, propeller is always positioned at underwater；It is preferred that the angle of propeller the operation is stable angle α
Size is 12 degree, and the output of the propeller assembly 2-6 under the angle is stablized most preferably.
The picture catching assembly 2-1 moment shoots the dynamic video image of lifebuoy different moments, because of entire lifesaving
For circle when during autonomous, the relative position between lifebuoy and rescue target is dynamic change, which needs
It is positioned to make corresponding operation, and picture catching assembly 2-1 is by shooting the continuous video image of dynamic, in addition
The image processing module of intelligent control assembly 2-2 can obtain the rescue clarification of objective information of the transmission of remote controler 1, two kinds of combinations
Just can locating lifesaving circle and rescue target between relative position；I.e. picture catching assembly 2-1 is equivalent to the eyes of lifebuoy,
Inform the relative position of the opposite rescue target of lifebuoy by image information, and the figure that image processing module transmits remote controler 1
As information and picture catching assembly the 2-1 video information transmitted carry out processing search, with the dynamic of picture catching assembly 2-1 shootings
State image is reference, so as to search rescue target.
The intelligent control assembly 2-2 includes motion-control module, and motion-control module is searched according to image processing module
It seeks to target location, calculates the orientation of target, which established in the virtual virtual environment of image processing module
, i.e., target location and Intelligent lifesaving circle are in together in a virtual screen, and target location is in 1 o'clock of Intelligent lifesaving circle direction
When, inform that motion-control module is tracked toward 1 o'clock direction setting intelligent planning path, so as to precisely move quickly into
Rescue target location.
The operation principle of the Intelligent lifesaving circle is：Rescue personnel is passed target component by signal using remote controler 1
It transports in Intelligent lifesaving circle, captured video can be sent to image procossing by image processing module by picture catching assembly 2-1
Module and to target into line search, target bearing will be calculated after target is searched and target bearing is sent to movement
Control module, motion-control module finally control propeller assembly 2-6 so that and Intelligent lifesaving circle moves to rescue target proximity,
So that Intelligent lifesaving circle moves to rescue target proximity, Intelligent lifesaving circle only need to be lain prone on lifebuoy or catch to rescue target
It is rescued.
There are two types of control models for the Intelligent lifesaving device of the quick autonomous of underwater stabilization, and one kind is intelligent mode energy
It enough automatically captures rescue target and approaches, one kind is controlled manually by remote controler rocking bar 1-3 and remote controler camera 1-4
Intelligent lifesaving circle rescues rescue target.
A kind of Intelligent lifesaving device of underwater quick autonomous of stabilization of the utility model, has autonomous ability；
Lifebuoy main body 2-7 no matter positive and negative orientations, propeller assembly is always positioned at underwater, and propeller assembly keeps certain with the water surface
Angle；Can moment locating lifesaving circle and rescue target between relative position；Can will rescue target be included in one it is virtual
In environment, and it is tracked so as to set intelligent planning path in the orientation of virtual environment according to rescue target, it can be precisely fast
Speed is moved to rescue target location；With the ability intelligently searched and rescued, either automatically or manually rescue target can be rescued, added
Fast rescue speed, races against time for rescue target；Equipped with remote controler 1, remote controler 1 includes remote control camera, remote controller displays screen
1-2, remote controler rocking bar 1-3 can observe lifebuoy by remote controller displays screen 1-2 and believe with rescuing the virtual image of target in real time
Breath can obtain rescue clarification of objective image information by camera, by rocking bar, lifebuoy can be controlled to move manually；
Picture catching assembly 2-1 can carry one or more different images modules, such as high-definition camera, infrared camera or other visions
Module etc., multiple is that vision module mutual cooperation is conducive to target homing, to be used in different rescue occasions；Equipped with lifebuoy
Main body 2-7 is hollow-core construction, and inside can carry required component；Lifebuoy main body 2-7 is semi-closed structure, and vertical view is saddle
Shape is U-shaped, is from the side class droplet-shaped, and front end is big, and rear end is small, shape symmetrical above and below, to ensure lifebuoy in structure
There is no point of obverse and reverse；Propeller assembly 2-6 is installed so that entire Intelligent lifesaving circle can on lifebuoy main body 2-7
Autonomous；Two tail portions of lifebuoy main body 2-7 are placed with battery 2-5 and propeller assembly 2-6 to ensure the right and left
Balance, and the installation site on lifebuoy main body 2-7 of propeller assembly 2-6 is distributed according to propeller the operation is stable angle α,
The arrangement causes most of weight all to concentrate on tail portion, and because lifebuoy main body 2-7 is pre-large post-small and symmetrical above and below, because
No matter Intelligent lifesaving circle arbitrary face is on the water surface for this, and propeller assembly 2-6 is during the motion always in the water surface hereinafter, so as to protect
Propeller assembly 2-6 outputs in motion process are demonstrate,proved to stablize, it can the quickly startup direction of position thrusters assembly 2-6 and rescue
Target direction is consistent；Picture catching assembly 2-1 is by shooting the continuous video image of dynamic, intelligent control assembly 2-2 in addition
Image processing module can obtain the rescue clarification of objective information of the transmission of remote controler 1, and two kinds of combinations just being capable of locating lifesaving circle
With the relative position between rescue target；Motion-control module searches target location according to image processing module, calculates mesh
Target orientation, the target bearing are established in the virtual virtual environment of image processing module, can set intelligent planning road
Diameter is tracked, so as to precisely move quickly into rescue target location；There are two types of control model, Yi Zhongshi for Intelligent lifesaving circle
Intelligent mode can automatically capture rescue target and approach, and one kind is by remote controler rocking bar 1-3 and remote controler camera
1-4 controls Intelligent lifesaving circle to rescue rescue target manually, for being selected.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
Art personnel under the premise of the utility model method is not departed from, can also make several improvement and supplement, these are improved and supplement
Also it should be regarded as the scope of protection of the utility model.
Claims (8)
- A kind of 1. Intelligent lifesaving device of the quick autonomous of underwater stabilization, which is characterized in that the Intelligent lifesaving device packet Include remote controler, picture catching assembly, intelligent control assembly, reception of wireless signals module, switch, battery, propeller assembly, lifesaving Enclose main body；The remote controler is equipped with remote controller body, remote controler antenna, remote controller displays screen, remote controler rocking bar, remote controler Camera；The picture catching assembly, intelligent control assembly, reception of wireless signals module, switch, battery, propeller assembly are all provided with It puts in lifebuoy main body；Two tail portions of the lifebuoy main body are equipped with battery and propeller assembly；The image The front end that assembly is arranged on lifebuoy main body is captured, it is intelligent control assembly that described image, which is captured below assembly,；The intelligence Assembly can be controlled to establish with switch, reception of wireless signals module and battery respectively by transmission line to connect；The battery is also It is established and connected by transmission line and propeller assembly；The picture catching assembly shoots the dynamic video image of lifebuoy different moments for the moment；The wireless signal Receiving module is used to the picture signal that remote controler is shot being transmitted in Intelligent lifesaving circle；The intelligent control assembly includes figure As processing module, motion-control module, posture perception module；Pass through remote controler between the intelligent control assembly and remote controler Antenna establishes connection, and target component is sent to the image processing module of intelligent control assembly by remote controler by antenna, and image is caught Catching assembly can get off picture catching and be sent on display screen；The remote controler rocking bar passes through remote controler antenna and intelligence The motion-control module in assembly is controlled to establish connection；The posture perception module is for so that Intelligent lifesaving circle perceives current shape Thus obverse and reverse under state is simultaneously calibrated motion-control module；The lifebuoy ontology is in a state of use according to propeller the operation is stable angle α tilt distributions.
- 2. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 1, which is characterized in that described Remote controler antenna is arranged on the one side of remote controller body；The remote controller displays screen is arranged on the front of remote controller body, The side mode of remote controller display screen is remote controler rocking bar；The remote control camera is arranged on the reverse side of remote controller body.
- 3. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 1, which is characterized in that described Camera on remote controler carries out rescue target target parsing, then by remote controler by target component by wireless signal transmission extremely In the reception of wireless signals module for stablizing the Intelligent lifesaving device of quick autonomous under water, at the image in intelligent control assembly Reason module can carry out target homing, and target bearing will be calculated after target is searched and target bearing is sent to movement Control module, motion-control module finally control propeller assembly so that stablize the Intelligent lifesaving dress of quick autonomous under water It puts and is automatically moved into rescue target.
- 4. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 1, which is characterized in that described Propeller the operation is stable angle α is specially that the center of gravity horizontal line of lifebuoy main body is rotated clockwise to the center side of lifebuoy main body Angle between line of symmetry, and propeller the operation is stable angle α is located at below center of gravity horizontal line.
- 5. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 1, which is characterized in that described to push away It is 10-20 degree into device the operation is stable angle α.
- 6. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 5, which is characterized in that described to push away It it is 12 degree into device the operation is stable angle α.
- 7. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 1, which is characterized in that described Lifebuoy main body semi-closed structure, the lifebuoy main body is in the shape of a saddle or U-shaped under vertical view state, and front end is big, and rear end is small, up and down Symmetrical shape.
- 8. the Intelligent lifesaving device of the quick autonomous of underwater stabilization according to claim 1, which is characterized in that described to rescue Raw circle main body is in water-drop-shaped under side-looking direction.
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| CN201721666477.9U CN207536109U (en) | 2017-12-05 | 2017-12-05 | A kind of Intelligent lifesaving device of the quick autonomous of underwater stabilization |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826225A (en) * | 2017-12-05 | 2018-03-23 | 欧舶智能科技（上海）有限公司 | A kind of Intelligent lifesaving device and control method for stablizing quick autonomous under water |
| CN109436243A (en) * | 2018-11-08 | 2019-03-08 | 厦门均瑞科技有限公司 | Intelligent lifesaving device |
| CN109436241A (en) * | 2018-11-08 | 2019-03-08 | 厦门均瑞科技有限公司 | It is a kind of based on the lifesaving appliance saved oneself |
| CN109436242A (en) * | 2018-11-08 | 2019-03-08 | 厦门均瑞科技有限公司 | One kind of multiple control Intelligent lifesaving devices |
| CN111559477A (en) * | 2019-09-11 | 2020-08-21 | 周为仁 | Intelligent lifesaving bar (ring, plate and boat) for swimming with person |
| WO2021140364A1 (en) * | 2020-01-10 | 2021-07-15 | Noras Jorge Alberto Ferreira | Water rescue vehicle and rescue method |
-
2017
- 2017-12-05 CN CN201721666477.9U patent/CN207536109U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826225A (en) * | 2017-12-05 | 2018-03-23 | 欧舶智能科技（上海）有限公司 | A kind of Intelligent lifesaving device and control method for stablizing quick autonomous under water |
| CN109436243A (en) * | 2018-11-08 | 2019-03-08 | 厦门均瑞科技有限公司 | Intelligent lifesaving device |
| CN109436241A (en) * | 2018-11-08 | 2019-03-08 | 厦门均瑞科技有限公司 | It is a kind of based on the lifesaving appliance saved oneself |
| CN109436242A (en) * | 2018-11-08 | 2019-03-08 | 厦门均瑞科技有限公司 | One kind of multiple control Intelligent lifesaving devices |
| CN111559477A (en) * | 2019-09-11 | 2020-08-21 | 周为仁 | Intelligent lifesaving bar (ring, plate and boat) for swimming with person |
| WO2021140364A1 (en) * | 2020-01-10 | 2021-07-15 | Noras Jorge Alberto Ferreira | Water rescue vehicle and rescue method |
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Effective date of registration: 20190529 Address after: Room 101-156, No. 1158 Central Road, Songjiang District, Shanghai, 201612 Patentee after: Shanghai O Xun Rui Intelligent Technology Co., Ltd. Address before: Room 1622, 1256 and 1258 Wanrong Road, Jing'an District, Shanghai Patentee before: Euro Intelligent Technology (Shanghai) Co., Ltd. |