CN207826501U - Emergency guarantee life saving system - Google Patents

Abstract

The utility model discloses emergency guarantee life saving systems, including compression lifebuoy, transmitting station and carrier gas bullet, it compresses lifebuoy and is equipped with inflation box and control unit, transmitting station is communicated by the control unit of wireless transport module and compression lifebuoy and is connected, station keeping ship is equipped in the carrier gas bullet, station keeping ship is connect by gas tube with the gas storage storehouse of carrier gas bullet, and the carrier gas bullet is consistent with the length direction of transmitting tube to be placed in transmitting station.Non-aerating when the compression lifebuoy normal use of the utility model, swimmer directly wears compression lifebuoy and can normally swim；The quick emersion of the small club of float when drowned on compression lifebuoy, rescue signal is transferred to transmitting station and launches carrier gas bullet, station keeping ship therein quickly positions and captures float bead, it is at the first time that compression lifebuoy is inflated using the gas in carrier gas bullet, enable drowning person in floating on water, it avoids drowned, has striven for that time, drowning person have been greatly reduced the difficulty of rescue in floating on water for further rescue.

Description

Emergency guarantee life saving system

Technical field

The utility model is related to a kind of emergency guarantee life saving systems, belong to emergency life-saving apparatus for use.

Background technology

Swimming is one kind by the favorite outdoor activity project of broad masses of the people, but this motion itself contains huge wind Danger, according to the statistics of Sweden's lifesaving tissue, the annual drowning number in the whole world about 300,000 people.It commonly uses on the market at present Universal lifesaving appliance is substantially swim ring and foam life vest, and user generates floating by swim ring or foams after wearing Power swims in the water surface and prevents from drowning, however the too fat to move hypertrophy of these lifesaving appliances, uses clumsy inconvenience, greatly reduces swimming Enjoyment；However, if not dressing lifesaving appliance, once it is unexpected drowned, it in a short period of time will be very if cannot rescue It is drowned soon, especially in some environment than relatively hazardous waters, even if rescue personnel rushes at the first time, also due to difficulty of suing and labouring Spend it is larger delay best rescue opportunity, bring huge life and property loss.

Invention content

In view of the above-mentioned problems of the prior art, the purpose of this utility model is to provide a kind of simple in structure, user Just, it is enable to respond quickly and takes in time effective rescue measure, the rate of being drowned can be reduced, and do not interfere with swimmer's normal activity Emergency guarantee life saving system.

To achieve the above object, the technical solution adopted in the utility model is：A kind of emergency guarantee life saving system, including pressure Contracting lifebuoy, transmitting station and carrier gas bullet,

The compression lifebuoy is equipped with inflation box and control unit, inflates and is equipped with float bead in box, and the float is small Inflation jack is equipped in ball, inflation jack is connected to by filling channel with the stomata on compression lifebuoy surface, and the inflation box is set There is upper end cover, upper end cover one end and inflation box are hinged, and the other end is equipped with buckle with inflation box cooperation, and a push-pull electromagnet I is worn Buckle is crossed, upper end cover lid is closed on inflation box；The control unit includes controller I and the nothing that is connected respectively with controller I Line transmission module I, heartbeat sensor, controller I and wireless transport module I are placed in inflation box, and heartbeat sensor is located at inflation Outside box, and push-pull electromagnet I is electrically connected with controller I；

The transmitting station includes pedestal, and pedestal is equipped with turntable, controller II and the wireless biography being connected with controller II Defeated module I, the turntable drives rotation by the driving device of base lower surface, and turntable is equipped with transmitting tube, transmitting tube Middle part is hingedly fixed in by holder on turntable, and rear portion is fixed on a spinstand by height adjustment device, the height tune Regulating device includes hydraulic cylinder, and the hydraulic cylinder is fixed on a spinstand, and the piston rod end of hydraulic cylinder is hinged with sliding block, described Sliding block is fitted on the slideway of transmitting tube posterior face, and the transmitting tube rear end is equipped with boost motor, boost motor and controller II electrical connection；

Carrier gas bullet includes that station keeping ship accommodates storehouse, and station keeping ship accommodates storehouse side and is equipped with gas storage storehouse, and the other side is equipped with end cap, described End cap one end is hinged on the Hatch Opening that station keeping ship accommodates storehouse, and the end cap that the other end is fixed on Hatch Opening by push-pull electromagnet III buckles On；Station keeping ship accommodates and is equipped with station keeping ship in storehouse, and the gas storage storehouse is equipped with charging valve, and the charging valve includes being located at gas storage Valve body on silo wall and spool, the spool cooperation is placed in valve body, and the point diameter in spool towards gas storage storehouse is more than valve The diameter of core rear end, the spool back segment are arranged with compressed spring, and valve body, the other end are withstood in described compressed spring one end from inside Spool is withstood, the telescopic rod of a push-pull electromagnet IV passes through valve body and spool along the direction vertical with valve body and valve core axis, Valve body and spool are fixed together；The hull of the station keeping ship is equipped with mechanical arm, and the front end of the mechanical arm is equipped with machinery The middle part of hand, manipulator is equipped with inflation plug perpendicular to its surface, and the rear end for inflating plug is connected to charge valve by gas tube Door；The station keeping ship is equipped with automatic positioning gripping portion, and the automatic positioning gripping portion includes controller III, monocular camera shooting Machine, pressure sensor and motor servo driver, the monocular-camera is placed on station keeping ship, and passes sequentially through image pick-up card It is connected to controller III with image processing module, the output end of controller III and the input terminal of motor servo driver are connected, watched The output end for taking motor driver is connect with the input terminal of a servo motor I and a servo motor II respectively, servo motor I it is defeated Shaft is connect by retarder I with the propeller shaft of station keeping ship, and the output shaft of the servo motor II passes through retarder II and machine Tool arm acts axis connection, and the pressure sensor is located at manipulator surface, push-pull electromagnet III, push-pull electromagnet IV, pressure Force snesor and the water level sensor on carrier gas bullet surface are electrically connected with controller III respectively, the carrier gas bullet and transmitting length of tube Direction is unanimously placed in transmitting tube.

Preferably, the driving device includes the stepper motor mounted on base lower surface, the output of the stepper motor Axis passes perpendicularly through turntable and end sleeve is equipped with pinion gear, and the pinion gear is engaged with the large gear ring of set on a spinstand.

Further, further include oral cavity liquid level sensor, the oral cavity liquid level sensor is located at outside inflation box, and oral fluid Level sensor is electrically connected with controller I.

Preferably, the boost motor includes powder storehouse, and powder storehouse rear portion is equipped with push-pull electromagnet II, the plug-type electricity The telescopic rod of magnet II is withstood on powder storehouse, and push-pull electromagnet II is electrically connected with controller II.

Preferably, the upper end cover position hinged with inflation box is connect by pin, and pin is equipped with torque spring.

Preferably, it is equipped with anti-gas-leak bead in the stomata, inflates in jack and water-separating film is set.

It need not be inflated when the compression lifebuoy normal use of the utility model, swimmer directly wears compression lifebuoy just It can normally swim；When drowned, the quick emersion of the small club of float on lifebuoy is compressed, while rescue signal is transferred to transmitting Platform, station keeping ship is contained in the carrier gas bullet launched, and station keeping ship is quickly positioned and captured using internal automatic positioning crawl function Float bead, it is that compression lifebuoy is inflated to utilize the gas in carrier gas bullet at the first time, enables drowning person in floating on water, keeps away Exempt to drown, has striven for that time, drowning person have been greatly reduced the difficulty of rescue in floating on water for further rescue.This reality It can be able to be that drowning person fully strives for rescue time, ensure the security of the lives and property of swimmer with quick response with novel.

Description of the drawings

Fig. 1 is the schematic diagram of the utility model compression lifebuoy；

Fig. 2 is the H-H of the compression lifebuoy of Fig. 1 to sectional view；

Fig. 3 is the stereoscopic schematic diagram of the utility model transmitting station；

Fig. 4 is the vertical view of the utility model transmitting station；

Fig. 5 is the C-C of Fig. 4 to sectional view；

Fig. 6 is the dimensional structure diagram of the utility model carrier gas bullet；

Fig. 7 is the left view of the utility model carrier gas bullet

Fig. 8 is the sectional view along A-A of Fig. 7；

Fig. 9 is that the utility model station keeping ship dispenses the dimensional structure diagram after gas tube；

Figure 10 is the front view of the utility model station keeping ship；

Figure 11 is the schematic diagram that the utility model carrier gas bullet is installed in transmitting station；

Figure 12 is the B-B direction sectional view of Figure 11；

Figure 13 is the control principle drawing for compressing lifebuoy；

Figure 14 is the control principle drawing of transmitting station；

Figure 15 is the control principle drawing of station keeping ship；

Figure 16 is a kind of structural schematic diagram of the push-pull electromagnet used；

Figure 17 is the B-B direction sectional view of Figure 16；

In figure, 1. compression lifebuoys, 11. inflation boxes, 11a. upper end covers, 11b. buckles, 11c. push-pull electromagnets I, 11d. pins, 11e. torque springs, 12. float beads, 12a. inflate jack, 12b. filling channels, 12c. stomatas, 12d. leakproofs Gas bead,

2. transmitting station, 21. pedestals, 22. turntables, 23. transmitting tubes, 24. holders, 25. hydraulic cylinders, 25a. piston rods, 26. Sliding block, 27. stepper motors, 28a. pinion gears, 28b. large gear rings, 29. powder storehouses, 29a. push-pull electromagnets II,

3. carrier gas bullet, 31. station keeping ships accommodate storehouse, 32. gas storage storehouses, 33. end caps, 33a. push-pull electromagnets III, the ends 33b. Cover latch, 34a. valve bodies, 34b. spools, 34c. compressed springs, 35. push-pull electromagnets IV, 35a. telescopic rods,

4. station keeping ship, 41. mechanical arms, 42. manipulators, 43. inflation plugs, 44. gas tubes, 45. monocular-cameras,

51. pull rod, 52. tailstocks, 53. copper coils, 54. springs.

Specific implementation mode

The utility model is described in further detail with reference to embodiment.

It is a kind of emergency guarantee life saving system as shown in Fig. 1 to Figure 15, including compression lifebuoy 1, transmitting station 2 and carrier gas bullet 3,

In Fig. 1 and Fig. 2, the compression lifebuoy 1 is equipped with inflation box 11 and control unit, inflates and is equipped with float in box 11 Bead 12, inflation jack 12a is equipped in the float bead 12, and inflation jack 12a passes through filling channel 12b and compression lifebuoy The stomata 12c connections on 1 surface, the inflation box 11 are equipped with upper end cover 11a, and the one end upper end cover 11a and inflation box 11 are hinged, separately One end is equipped with buckle 11b, I 11c of a push-pull electromagnet with the inflation cooperation of box 11 and passes through buckle 11b, and upper end cover 11a lids are closed It inflates on box 11；The control unit includes controller I and the wireless transport module being connected respectively with controller I I, heartbeat sensing Device, controller I and wireless transport module I are placed in inflation box 11, and heartbeat sensor is located at outside inflation box 11, and plug-type electromagnetism Iron I is electrically connected with controller I；

Transmitting station 2 described in Fig. 3-Fig. 5 includes pedestal 21, pedestal 21 be equipped with turntable 22, controller II and with The connected wireless transport module I of controller II, the turntable 22 drives rotation by the driving device of 21 lower surface of pedestal, and revolves Turntable 22 is equipped with transmitting tube 23, and 23 middle part of transmitting tube is hingedly fixed in by holder 24 on turntable 22, and rear portion passes through height Regulating device is fixed on turntable 22, and the height adjustment device includes hydraulic cylinder 25, and the hydraulic cylinder 25 is fixed on rotation On platform 22, and the ends piston rod 25a of hydraulic cylinder 25 are hinged with sliding block 26, and the sliding block 26 is fitted to 23 rear portion of transmitting tube On the slideway on surface, 23 rear end of the transmitting tube is equipped with boost motor, and boost motor is electrically connected with controller II；

The carrier gas bullet 3 of Fig. 6 to Fig. 8 includes that station keeping ship accommodates storehouse 31, and station keeping ship accommodates 31 side of storehouse and is equipped with gas storage storehouse 32, separately Side is equipped with end cap 33, and 33 one end of the end cap is hinged on the Hatch Opening that station keeping ship accommodates storehouse 31, and the other end passes through plug-type electromagnetism III 33a of iron is fixed on the end cap buckle 33b of Hatch Opening；Station keeping ship accommodates and is equipped with station keeping ship 4 in storehouse 31, is set on the gas storage storehouse 32 There is a charging valve, the charging valve includes the valve body 34a being located on 32 bulkhead of gas storage storehouse and spool 34b, and the spool 34b matches It closes in merging valve body 34a, and spool 34b is more than the diameter of the rear ends spool 34b, the spool towards the point diameter in gas storage storehouse 32 34b back segments are arranged with compressed spring 34c, and the one end the compressed spring 34c is from valve body 34a is withstood in inside, the other end withstands spool The telescopic rod 35a of 34b, a push-pull electromagnet IV 35 pass through valve body along the direction vertical with valve body 34a and spool 34b axis 34a and spool 34b, valve body 34a and spool 34b are fixed together；The hull of the station keeping ship 4 is equipped with mechanical arm 41, institute The front end for stating mechanical arm 41 is equipped with manipulator 42, and the middle part of manipulator 42 is equipped with inflation plug 43 perpendicular to its surface, and inflation is inserted First 43 rear end is connected to charging valve by gas tube 44；As shown in Fig. 9 to Figure 10, station keeping ship 4 is equipped with automatic positioning and grabs It includes controller III, monocular-camera 45, pressure sensor and servo motor driving to take part, the automatic positioning gripping portion Device, the monocular-camera 45 are placed on station keeping ship 4, and pass sequentially through image pick-up card and image processing module is connected to control Device III, the output end of controller III and the input terminal of motor servo driver connect, the output end difference of motor servo driver It is connect with the input terminal of a servo motor I and a servo motor II, the output shaft of servo motor I passes through retarder I and station keeping ship 4 Propeller shaft connection, the rotation of servo motor I is transmitted on the propeller shaft of station keeping ship 4 by retarder I so as to band Dynamic station keeping ship 4 moves forward or back；The output shaft of the servo motor II acts axis connection by retarder II and mechanical arm 41, watches The rotation for taking motor II is transmitted on the action axis of mechanical arm 41 by retarder II so as to drive mechanical arm 41 to act, institute State pressure sensor and be located at 42 surface of manipulator, III 33a of push-pull electromagnet, push-pull electromagnet IV 35, pressure sensor with And the water level sensor on 3 surface of carrier gas bullet is electrically connected with controller III respectively, the carrier gas bullet 3 and 23 length direction one of transmitting tube Cause is placed in transmitting tube 23.

Preferably, the driving device includes the stepper motor 27 mounted on 21 lower surface of pedestal, the stepper motor 27 Output shaft pass perpendicularly through turntable 22 and end sleeve and be equipped with pinion gear 28a, the pinion gear 28a and be sleeved on turntable 22 Large gear ring 28b engagements.Driving Stepping Motor 27 can drive pinion gear 28a to rotate, and pinion gear 28a drives engage big Gear ring 28b rotations, adjust the direction of transmitting tube 23.

Further, further include oral cavity liquid level sensor, the oral cavity liquid level sensor is located at outside inflation box 11, and oral cavity Liquid level sensor is electrically connected with controller I.The liquid level in swimmer oral cavity can be detected by oral cavity liquid level sensor, and is reached In controller I；Drowned when happening, water can pour into the mouth and nose of swimmer, and when oral cavity, liquid level sensor detects that liquid level rises Than that when very fast, liquid level is relatively high, signal can be reached in controller I, it is different that controller I is detected simultaneously by swimmer's palmic rate Often, when oral cavity liquid level persistently increases, that is, indicate that drowning danger, I 11c of control push-pull electromagnet actions and buckle occur for swimmer 11b is detached, and the upper end cover 11a of inflation box 11 is opened under the action of torque spring 11e, and the float bead 12 inflated in box 11 floats Floating to the water surface.

Preferably, the boost motor includes powder storehouse 29, and 29 rear portion of powder storehouse is described equipped with II 29a of push-pull electromagnet The telescopic rod of II 29a of push-pull electromagnet is withstood on powder storehouse 29, and II 29a of push-pull electromagnet is electrically connected with controller II. Controller II controls push-pull electromagnet II 29a action, and telescopic rod can ignite powder storehouse 29 to the impact force of powder storehouse 29, draw The shock wave that combustion generates pushes carrier gas bullet 3 to launch from transmitting tube 23, falls on monitoring waters.

Preferably, position hinged with inflation box 11 the upper end cover 11a is connect by pin 11d, and is set on pin 11d There is torque spring 11e.The telescopic rod of III 33a of push-pull electromagnet detaches once retracting with end cap buckle 33b, torque spring 11e Upper end cover 11a can be made to raise, float bead 12 quickly emerges.

Further, anti-gas-leak bead 12d is equipped in the stomata 12c.Anti-gas-leak bead 12d can be to avoid gas from pressure It is overflowed in contracting lifebuoy 1；Water-separating film is set in inflation jack 12a, the manipulator 42 of mechanical arm front end catches float bead 12 Afterwards, the inflation plug 43 on manipulator 42 penetrates water-separating film insertion inflation jack 12a and can start to inflate.

Prevent the emergency survival method that swimmer is drowned from including the following steps：

Step 1：Swimmer wears compression lifebuoy 1 and swims, and heartbeat sensor and oral cavity liquid level sensor monitor trip in real time The palmic rate and oral cavity liquid level of swimmer simultaneously reach controller I, when heartbeat sensor detects palmic rate exception, oral cavity liquid level When increasing lasting 3s, that is, indicate that drowning danger occurs for swimmer, controller I controls I 11c of push-pull electromagnet actions and buckle 11b is detached, and the upper end cover 11a of inflation box 11 is opened under the action of torque spring 11e, and the float bead 12 inflated in box 11 floats Floating to the water surface, at the same time rescue signal is reached by wireless transport module I and is connect with 2 controller II of transmitting station by controller I Wireless transport module II；

Step 2：The position where monitoring waters pre-adjusts the direction and launch angle of transmitting tube 23 as needed, drives Dynamic stepper motor 27 drives pinion gear 28a rotations, and pinion gear 28a drives the large gear ring 28b rotations engaged, to change Transmitting tube 23 towards orientation；The piston rod 25a of hydraulic stem 25 is driven to stretch out, the length by changing piston rod 25a changes hair Penetrate the launch angle of pipe 23；After controller II receives rescue signal, the telescopic rod of II 29a of control push-pull electromagnet is quickly stretched Go out, strike powder storehouse 29, powder storehouse 29 is ignited by powerful pressure, and the shock wave of generation pushes carrier gas bullet 3 from transmitting tube 23 launch, and fall on monitoring waters；

Step 3：After carrier gas bullet 3 falls on the water surface, the water level sensor on 3 surface of carrier gas bullet is detected to be contacted with the water surface, will be believed Coupled controller III number is reached, the telescopic rod that controller III controls III 33a of push-pull electromagnet is retracted, carrier gas bullet 3 End cap 33 is opened, and station keeping ship 4 is skidded off from carrier gas bullet 3；

Step 4：It is floating that controller III controls 45 certain interval of time of the monocular-camera shooting one in image capture module The photo of sub- bead 12 completes the optical signal of float bead 12 to the conversion of analog signal, and the analog signal that will be converted to It is transferred in image pick-up card, after image pick-up card receives the analog signal of 12 image of float bead, the simulation of image is believed Number A/D conversions are carried out, generates the digital signal of 12 image of float bead；The digital signal for generating image enters image processing module Afterwards, image processing module carry out successively image denoising, pattern distortion processing and float bead geometric feature description and input control Device III processed, the geometric feature description of float bead 12 include the pixel ratio and float of the current shared whole image of float bead 12 The horizontal pixel point quantity of bead 12；

Step 5：It is preset in controller III for driving the servo motor I that station keeping ship 4 advances in float bead 12 The critical condition run when away from 4 hull different location of station keeping ship, critical condition are：With the shared picture in the picture of float bead 12 The contiguous pixels point quantity n ' that vegetarian refreshments quantity n is compared；When the float that controller III receives image processing module acquisition is small After 12 geometric properties signal of ball, by float bead 12 in the picture shared pixel quantity n and contiguous pixels point quantity n ' into Row compares, if n<N ' is then rotated forward by motor servo driver control servomotor I and station keeping ship is driven to advance；If n> N ' shows 4 hull of station keeping ship and 12 hypotelorism of float bead, anti-by motor servo driver control servomotor I at this time Turn that station keeping ship 4 is driven to retreat, so move forward and backward final guarantee the distance between station keeping ship 4 and float bead 12 are in manipulator 42 can capture in range；As first time n>When n ', starts the timer countdown 5s in controller III, controlled at the end of countdown III control servomotor I of device stalls, while control servomotor II drives mechanical arm 41 to act close and capture float bead 12；

Step 6：After the manipulator 42 of 41 front end of mechanical arm catches float bead 12, the inflation plug 43 on manipulator 42 Just the inflation jack 12a in float bead 12 is inserted into cooperation, and the pressure sensor on 42 surface of manipulator is detected and floated at this time Pressure signal is reached controller III by the pressure that sub- bead 12 contacts, and the stalling of III control servomotor II of controller controls simultaneously The telescopic rod of push-pull electromagnet IV 35 is retracted, and the spool 34b of gas outlet is stretched under the thrust of compressed spring 34c at this time In the gas storage storehouse 32 of carrier gas bullet 3, gap of the gas between valve body 34a and spool 34b in gas storage storehouse 32 is overflowed, through gas tube 44, inflation jack 12a enter filling channel 12b be compression lifebuoy 1 inflate, make swimmer always in floating on water, wait for into The rescue of one step.

The specific method of the geometric feature description of image denoising, pattern distortion processing and float bead 12 in above-mentioned steps five It is as follows：

One secondary digital picture can be expressed as the form f (x, y) of two-dimensional array, and x, y indicate the coordinate of pixel, f respectively (x, y) indicates the gray scale of image, is handled as follows successively：

(1) denoising is carried out to 12 image of float bead by the way of gaussian filtering；

Fs (x, y)=G (x, y) * f (x, y)

Fs (x, y) indicates the bead digital picture after gaussian filtering；

(2) Canny edge detection algorithms are used to carry out image segmentation；

Calculate the image gradient of float bead 12：

Gradient amplitude：

Gradient direction：

Wherein, g_x：Image gradient difference in the horizontal direction；g_y：Difference of the image gradient in vertical direction；

Non- maximum suppression is carried out to image, if the value of M (x, y) is less than one of any two neighborhood of pixel, gN (x, y)=0 (inhibition)；Otherwise, gN (x, y)=M (x, y) is enabled；GN (x, y) indicates to carry out the bead number after non-maximum suppression Image；

The final step of image segmentation is to carry out threshold process, sets 1 threshold value as T, makes the following judgment simultaneously assignment：

GNH (x, y)=gN (x, y) >=T

The pixel that gNH (x, y) is indicated is the pixel shared by float bead 12；

(3) geometric feature description of float bead is carried out；

One sub-picture is since the upper left corner, and along from left to right, sequence from top to bottom successively clicks through each pixel Row scanning is, it is specified that the upper left corner is coordinate origin (0,0), and the lower right corner is maximum coordinates (Xm, Ym), and scanning is to one without labeled Pixel value be 1 pixel (in a secondary gray level image, pixel value is 0 to indicate white, and pixel value is 1 to indicate grey), will This pixel is labeled as M1 and records pixel point coordinates (X1, Y1), then to eight pixel spot scans in the neighborhood of pixel points, such as Fruit has the point that labeled pixel value is 1 or not, continues labeled as M2 and records pixel point coordinates (X2, Y2), such recurrence Scan through the pixel in all neighborhoods, until the point that the pixel value that is not labeled is 1 is all labeled until Mn, then this A little points for being marked as M1Mn are exactly the pixel shared in whole image of float bead 12, and n is shared by bead Pixel quantity continues to scan on image, terminates until scanning to the lower right corner of image；The number of pixel indicates in these regions The scale shared in digital picture of float bead 12.

In the utility model, controller III is acted by control servomotor II come control machinery arm 41.It can be by pre- First experiment obtains the angular range that 41 each revolute of mechanical arm is rotated and deposits into controller III, practical in float bead 12 In crawl, the rotation data for 41 revolute pair of mechanical arm that controller III is obtained according to experiment is realized floating according to default crawl flow The crawl of sub- bead 12.

The determination of contiguous pixels point quantity n '：4 hull of station keeping ship is measured by the experiment carried out in advance to reach near bead When image in pixel number, this number is n '.By the picture of station keeping ship 4 in the picture in the number and canoe actual motion Vegetarian refreshments number compares, it can be determined that whether station keeping ship 4 has arrived near bead.

In the utility model：Each controller all can be used STM32F103C8T6 type integrated manipulators, and heartbeat sensor can be with Using SON7015 heart rate sensors, ZigBee wireless serial modules may be used in wireless transport module I and wireless transport module II CC2530；Water level sensor uses star instrument CYW11 throw-in type liquid transmitters, and pressure sensor is diffused silicon pressure transmitter, Monocular-camera is VS-902HC type industrial cameras, and image pick-up card model MV-800, image processing module is that 430 series are single Piece machine, motor servo driver are DCS810 DC servo motor drivers.

Plug-type DC electromagnet JF-0530B, concrete structure such as Figure 16 to figure may be used in above-mentioned each push-pull electromagnet Shown in 17：Push-pull electromagnet includes pull rod 51 and tailstock 52, and tailstock 52 is equipped with copper coil 53, pull rod 51 1 around inner surface End is placed in tailstock 52, and the other end stretches out tailstock 52, and is arranged with spring 54 in the circumferential direction of 52 part of the stretching tailstock of pull rod 51, 54 one end of spring is fixed on pull rod 51, and the other end withstands tailstock 52.Action process：When copper coil 53 is not charged, pull rod 51 exists It is stretched out under the supporting role of spring 54；When controller controls the energization of copper coil 53, the electromagnetic force that copper coil 53 generates can overcome bullet The active force of spring 54 makes the compression of spring 54, pull rod 51 retract.

Claims (6)

1. a kind of emergency guarantee life saving system, which is characterized in that including compressing lifebuoy (1), transmitting station (2) and carrier gas bullet (3),

The compression lifebuoy (1) is equipped with inflation box (11) and control unit, and float bead (12) is equipped in inflation box (11), Inflation jack (12a) is equipped in the float bead (12), inflation jack (12a) passes through filling channel (12b) and compression lifesaving Stomata (12c) connection on (1) surface is enclosed, the inflation box (11) is equipped with upper end cover (11a), upper end cover one end (11a) and inflation Box (11) is hinged, and the other end coordinates with inflation box (11) is equipped with buckle (11b), and a push-pull electromagnet I (11c) passes through buckle (11b) closes upper end cover (11a) lid on inflation box (11)；The control unit include controller I and respectively with controller I Connected wireless transport module I, heartbeat sensor, controller I and wireless transport module I are placed in inflation box (11), and heartbeat passes Sensor is located at inflation box (11) outside, and push-pull electromagnet I is electrically connected with controller I；

The transmitting station (2) includes pedestal (21), pedestal (21) be equipped with turntable (22), controller II and with II phase of controller Wireless transport module I even, the turntable (22) drive rotation, and turntable by the driving device of pedestal (21) lower surface (22) it is equipped with transmitting tube (23), is hingedly fixed on turntable (22) by holder (24) in the middle part of transmitting tube (23), rear portion is logical It crosses height adjustment device to be fixed on turntable (22), the height adjustment device includes hydraulic cylinder (25), the hydraulic cylinder (25) it is fixed on turntable (22), and end piston rod (25a) of hydraulic cylinder (25) is hinged with sliding block (26), the sliding block (26) it is fitted on the slideway of transmitting tube (23) posterior face, transmitting tube (23) rear end is equipped with boost motor, boost motor It is electrically connected with controller II；

Carrier gas bullet (3) includes that station keeping ship accommodates storehouse (31), and station keeping ship accommodates storehouse (31) side and is equipped with gas storage storehouse (32), and the other side is set There are end cap (33), described end cap (33) one end to be hinged on the Hatch Opening that station keeping ship accommodates storehouse (31), the other end passes through plug-type electromagnetism Iron III (33a) is fixed on the end cap buckle (33b) of Hatch Opening；Station keeping ship, which accommodates, is equipped with station keeping ship (4), the gas storage in storehouse (31) Storehouse (32) is equipped with charging valve, and the charging valve includes the valve body (34a) and spool being located on gas storage storehouse (32) bulkhead (34b), spool (34b) cooperation is placed in valve body (34a), and the point diameter of spool (34b) towards gas storage storehouse (32) is big Diameter in the rear end spool (34b), spool (34b) back segment are arranged with compressed spring (34c), the compressed spring (34c) Valve body (34a) is withstood in one end from inside, the other end withstands spool (34b), the telescopic rod (35a) of a push-pull electromagnet IV (35) Along the direction vertical with valve body (34a) and spool (34b) axis across valve body (34a) and spool (34b), by valve body (34a) and Spool (34b) is fixed together；The hull of the station keeping ship (4) is equipped with mechanical arm (41), the front end of the mechanical arm (41) Equipped with manipulator (42), the middle part of manipulator (42) is equipped with inflation plug (43) perpendicular to its surface, after inflating plug (43) End is connected to charging valve by gas tube (44)；The station keeping ship (4) is equipped with automatic positioning gripping portion, described automatic fixed Position gripping portion includes controller III, monocular-camera (45), pressure sensor and motor servo driver, the monocular camera shooting Machine (45) is placed on station keeping ship (4), and passes sequentially through image pick-up card and image processing module is connected to controller III, controller The input terminal of III output end and motor servo driver connects, the output end of motor servo driver respectively with a servo motor I connects with the input terminal of a servo motor II, the propeller shaft that the output shaft of servo motor I passes through retarder I and station keeping ship (4) The output shaft of connection, the servo motor II acts axis connection, the pressure sensor by retarder II and mechanical arm (41) It is located at manipulator surface, push-pull electromagnet III (33a), push-pull electromagnet IV (35), pressure sensor and carrier gas bullet (3) The water level sensor on surface is electrically connected with controller III respectively, and the carrier gas bullet (3) is consistent with transmitting tube (23) length direction to set In transmitting tube (23).

2. emergency guarantee life saving system according to claim 1, which is characterized in that the driving device includes being mounted on bottom The stepper motor (27) of seat (21) lower surface, the output shaft of the stepper motor (27) pass perpendicularly through turntable (22) and end sleeve Equipped with pinion gear (28a), the pinion gear (28a) is engaged with the large gear ring (28b) being sleeved on turntable (22).

3. emergency guarantee life saving system according to claim 1, which is characterized in that further include oral cavity liquid level sensor, institute It states oral cavity liquid level sensor and is located at inflation box (11) outside, and oral cavity liquid level sensor is electrically connected with controller I.

4. emergency guarantee life saving system according to claim 1, which is characterized in that the boost motor includes powder storehouse (29), powder storehouse (29) rear portion is equipped with push-pull electromagnet II (29a), the telescopic rod top of the push-pull electromagnet II (29a) On powder storehouse (29), and push-pull electromagnet II (29a) is electrically connected with controller II.

5. emergency guarantee life saving system according to claim 1, which is characterized in that the upper end cover (11a) and inflation box (11) hinged position is connected by pin (11d), and pin (11d) is equipped with torque spring (11e).

6. emergency guarantee life saving system according to claim 1, which is characterized in that be equipped with leakproof in the stomata (12c) Gas bead (12d), inflation jack (12a) is middle to be arranged water-separating film.