CN208731194U - A kind of water surface deliverance apparatus - Google Patents

Abstract

A kind of water surface deliverance apparatus includes shell, driving steering module, inflator module, posture and hydraulic pressure detection module, main system module, backrest, power module, position of centre of gravity adjustment module, counterweight adjustment module；The inflator module can provide additional buoyancy；The posture and hydraulic pressure detection module can monitor rescuer's posture and state；The counterweight adjustment module includes water tank, water injection pump, water injection control valve, gas vent, water injection hole；The water tank is symmetrically fixedly arranged on the two sides inside lumen；The water injection hole, water injection pump, water injection control valve, water injection mouth are sequentially connected by pipeline；Porting is connected with the gas vent；The porting is selectively connected to the gas vent or with the storage cylinder by the realization of intake and exhaust switching control valve.The counterweight adjustment module is realized together with position of centre of gravity adjustment module, inflator module and adjusts buoyancy, gravity and position of centre of gravity on a large scale, remains rescuer and most preferably enters water posture.

Description

A kind of water surface deliverance apparatus

Technical field

The utility model relates to a kind of a kind of rescues of the portable water surface of water surface deliverance apparatus more particularly to Labor-saving safety to fill It sets.

Background technique

According to the incomplete estimation of the Ministry of Public Health, China, the whole nation is died of drowned there are about 60,000 people every year, is equivalent to daily more than 150 people Drowning.It is counted according to another the World Health Organization (World Health Organization), China's number of being drowned accounts for about Western Pacific, World Health Organization region The 80% of number of being always drowned.As it can be seen that drowning seriously threatens the security of the lives and property of our people.

It is worth noting that, being drowned in data above-mentioned, the drowning person for betiding field waters is dead dead with rescuer Number accountings are suitable, this illustrates field waters to sue and labour, and difficulty is big, and risk of suing and labouring is higher, the reason is that: due on the one hand suing and labouring Person is eager to rescue people, causes physical strength in the short time to overrun and the breakthrough symptoms such as collapse, cramp or stupor occur, loses rescuer Acinesia cakinesis power and water of choking is dead；On the other hand, life instinct and Psychological phobia when being drowned due to drowning man, drowning person is energetically It pulls and pulls rescuer, rescuer is caused to sink to being drowned together together with drowning man, or that water of choking after unilateral side wide-angle is toppled occurs is dead It dies；But more the underlying cause is, field waters is open, and regimen is complicated, lacks the water surface rescue for adapting to the feature on water at present Device reaches emergency place (saving physical strength), and can ensure rescuer itself in which can assist rescue personnel's high-effective and labour-saving The safe and reliable work of suing and labouring of lower expansion in advance of safety.

Know that presently, there are the small-sized unpowered lifesaving appliances of typical case such as lifebuoy, life jacket by market product investigation, but In the presence of rescue timeliness low (such as drowning person need to voluntarily swim back safety place), narrow application range (when such as drowning person loses consciousness without Method is effectively rescued, rescuer apart from drowning person farther out when can not effectively rescue, can not effectively be rescued when water flow is more rapid) etc. lack It falls into.The large size water rescue device such as existing rescue assault boat, skin raft ship, then have that price is more expensive, Portable belt, mobility is not poor (as drowning person lose consciousness or wound by immersed body it is stranded etc. if can not effectively rescue) etc. limitations.Pass through patent document tune It grinding it is recognized that while patent field is there are unmanned long-distance remote control formula water rescue device, the apparatus structure is complicated, and it is with high costs, And because depending on sensor detection accuracy, image recognition precision and operator's technical ability unduly, excessively emphasize it is unattended under more function Can be integrated, cause the device reliability, flexibility and practicability lower.For example, a kind of portable water surface of Chinese patent is quick (application number: 201620350458) just belonging to a kind of unmanned formula water rescue device to brucker survival capsule, including floating body, hugs formula clamping dress It sets, propulsion device, control device, touch switch and rope of pulling back, the device are applied by the way of the rope towing drowning person that pulls back It rescues, however when drowning person is wound by underwater obstacle (fishing net as usual etc.), which then has reliability, flexibility and practical Property equal lower limitations (secondary injury can be caused to drowning person instead as pulled by force)；A kind of water life-saving dress of Chinese patent It sets and (application number: 2016111427442) also belongs to a kind of unmanned formula water rescue device, including main body, propulsion device, sensing Device, attitude-control device, wireless remote control communication device, when encountering middle-size and small-size floater (as by the water after big flood Domain), since the remote unmanned manipulation of the device is difficult, someone's formula is far below in terms of reliability, flexibility and practicability Water surface auxiliary rescue device.

Part someone's formula water surface auxiliary rescue device is driven using modes such as propeller, high-velocity flows.To make these dresses Setting the posture that is beneficial to push ahead after being lauched, (such as device reaches horizontal by certain angle, and in its natural state Left-right balance, or propeller or high-pressure water nozzle are totally submerged in water), it is opposite generally to shift to an earlier date reasonable Arrangement components Position, and additional floating block and clump weight.However, the addition of floating block and clump weight, can consume driving power；Further, since Device counterweight (or natural buoyancy) has been fixed before factory, can not be during suing and labouring according to rescuer's weight bearing situation (such as volume Rescue lifesaving appliance is carried outside, or lifts the drowning person for losing travelling ability) and rescuer's oneself state (under whether there is Indulge in the trend died) automatically adjust counterweight (or natural buoyancy), so that rescuer's inherently safe cannot ensure, and drive Resistance can not be reduced rationally.It is of course possible to which it is contemplated that water pump can be used to storage cavity in someone's formula water surface auxiliary rescue device Interior water injection achievees the purpose that adjust counterweight in real time, however described storage cavity volume itself is larger, on the one hand will lead to it Resistance is larger when advancing in water, consumes energy more；On the other hand, when rescuer is totally submerged in water (as meet be short of physical strength, Constraint etc. is pulled by drowning man), because the port of connection storage cavity may also can be submerged into water, lead to not arrange in time It is waterborne floating.The vertical height that can of course be exposed the surface using air inlet-outlet pipe is increased, but undoubtedly too long air inlet-outlet pipe will increase The risk pulled apart is pulled by drowning man.

From the point of view of to sum up, either unmanned formula water rescue device or someone's formula water surface auxiliary rescue device can not roots Counterweight (or natural buoyancy) is automatically regulated in real time according to weight bearing situation when rescue and oneself state, reaches the mesh safely and fast rescued , therefore a kind of water surface deliverance apparatus of utility model, especially a kind of low in cost, easy to operate, easy to carry, response is fastly Fast, flexible laborsaving, safe and reliable someone's formula water surface auxiliary rescue device, is this field designer pass urgently to be solved at present Key technology problem.

Summary of the invention

In order to overcome the above-mentioned deficiency of the prior art, the utility model provides a kind of water surface deliverance apparatus, including shell, Drive steering module, inflator module, posture and hydraulic pressure detection module, main system module, backrest, power module, position of centre of gravity tune Save module, counterweight adjustment module, it is characterised in that:

The shell includes procapsid and back casing, in which:

The procapsid and back casing are fastened by the way that buckle is close；Sealing rubber ring is encased inside between the mating surface of the buckle； The shell has bullet-shaped sweeping appearance；

The partition that the enclosure interior space is arranged in length and breadth is divided into ante-chamber, back cavity and lumen, in which: in the ante-chamber Substance filled with low-density；It is symmetrically opened on two outer surface of procapsid and at position corresponding with the lumen If air bag storage tank；

The inflator module includes storage cylinder, air bag, baroceptor, solenoid directional control valve, check valve, for according to The instruction of main system module feedback controls the solenoid directional control valve, to given air bag inflation/deflation and pressure maintaining, to provide and apply in real time The buoyancy that the person of rescuing itself weight bearing situation and oneself state match, in which: the storage cylinder fills compressed gas, is the inflation Module provides high-pressure air source；One air bag is respectively set in the air bag storage tank；The storage cylinder, baroceptor, list It is sequentially connected with to valve, solenoid directional control valve, air bag by tracheae；The solenoid directional control valve is used to open and close the filling channel of the air bag Be vented outwards channel so that the air bag reaches different expanded states under different working condition；

Preferably, the present apparatus uses two-bit triplet solenoid directional control valve and three-position four-way electromagnetic directional valve；Before described The air bag of shell arranged on left and right sides is connected with one end of respectively corresponding air bag connection tracheae respectively；The air bag connection The housing wall that the other end of tracheae hermetically passes through the procapsid extends to the lumen, and via the left and right side air bag Respective corresponding baroceptor II, then be connected respectively with the working hole of the three-position four-way electromagnetic directional valve；Described three The pressure port of position four-way electromagnetic reversing valve is connected with the working hole of the two-bit triplet solenoid directional control valve；The 3-position 4-way electricity The pressure relief opening of magnetic reversal valve is communicated with ambient atmosphere；The storage cylinder, baroceptor I, check valve, two-bit triplet electromagnetic switch The pressure port of valve is sequentially connected with by tracheae；The two-bit triplet solenoid directional control valve pressure relief opening is communicated with ambient atmosphere；Described two Position three-way solenoid valve, three-position four-way electromagnetic directional valve, baroceptor I, baroceptor II and the main system module Electrical connection.

Preferably, the air bag is in complete compressive state in the initial state；The air bag is in the extremely left and right shape that topples In asymmetric swelling state under state, the air bag is in symmetrical swelling state under vertical sinking state, is provided additionally for rescuer Buoyancy；The air bag is in partial inflation state under normal advanced state when suing and labouring, to balance rescuer itself weight bearing, so that Rescuer is pushed ahead with most preferably entering water posture；The air bag will continue to after suing and labouring under normal advanced state (relative to suing and labouring Shi Zhengchang advanced state) it is filled with certain gas, but still in state is not completely filled with, to balance rescuer itself weight bearing and drown Person's weight bearing, while reducing resistance when promoting in water；The air bag is in complete compressive state under disembarkation state after suing and labouring.

The air bag is covered by storage tank cover board in the initial state；The storage tank cover board is actively articulated on procapsid； It is in closed state that the storage tank cover board is when in a compressed state in the air bag；

The power module includes battery pack, control circuit, is used for the driving steering module, inflator module, posture It powers with hydraulic pressure detection module, main system module, position of centre of gravity adjustment module, counterweight adjustment module；

The backrest includes harness, backboard, in which: the backboard and the shell are affixed；The harness and the backboard It is affixed；The harness is carried for rescuer's carried by shoulders；

The driving steering module includes propulsion electric machine, propeller, rudder piece, steering motor, for according to the main system Positive and negative rotation direction and the revolving speed of instruction control the rudder piece rotational angle and the propeller of module feedback, to respond rescuer Attitudes vibration is finally reached the purpose for automatically controlling rescuer's fltting speed and direction, in which: the propulsion electric machine is placed in described In back cavity, output shaft is closed and actively passes through the shell wall of the back cavity, affixed with the propeller；The propeller is used for The present apparatus is pushed to advance in water；Protective cover is provided with outside the propeller；The protective cover is fixed on the back casing；

The steering motor is placed in the protective cover upper rear；The rudder piece is set in the protective cover and is located at The dead astern of the propeller；The steering motor is connected by power by retarder and the rudder piece, for driving the rudder piece It swings, to change direction of advance.

The posture and hydraulic pressure detection module include attitude transducer, the liquid for being set to the front housing external surface upper half The pressure sensor I and hydrostatic sensor II being symmetrically disposed at left and right sides of rear shell external surface lower half, for real-time Monitor the variation in water pressure situation of rescuer's attitude parameter in water and its variation tendency, rescuer's hydraulic pressure measuring point；

Preferably, when rescuer bear the present apparatus enter after water in most preferably enter water posture when, the hydrostatic sensor I's Hydraulic pressure measuring point was in the horizontal plane of the rescuer wing of nose, to detect the variation in water pressure of rescuer head near zone；And institute The hydraulic pressure measuring point for stating hydrostatic sensor II was in the horizontal plane of rescuer's chest, entered a water potruncus left side for detecting rescuer The variation in water pressure and pressure difference of right two side areas.

The main system module include CPU, electric machine speed regulation module, data selector, decoding circuit, relay control patrol It collects, semiconductor switch control logic, signal source, monitor, control other components such as hybrid juction, it is initial for system mode Change, state self-test judges with alarm, data collection and analysis, state logic, the underwater propulsion speed based on rescuer's attitude parameter Gas exhaust inspecting, the inside zero based on rescuer's posture and state are filled with direction controlling, the air bag based on rescuer's posture and state Component position of centre of gravity is adjusted, is adjusted based on the counterweight size and its position of centre of gravity of rescuer's posture and state；The main system mould Block and the driving steering module, inflator module, posture and hydraulic pressure detection module, position of centre of gravity adjustment module, counterweight adjust mould Block is electrically connected.

The position of centre of gravity adjustment module, for automatically adjusting the power module relative to the opposite of the enclosure interior Position.

Preferably, the position of centre of gravity adjustment module uses screw-type cross slid platform mechanism；The screw-type cross is sliding Platform mechanism is formed from X to screw-type slide unit regulating mechanism and Y-direction screw-type slide unit regulating mechanism stack combinations, in which: the X to With Y to screw-type slide unit regulating mechanism respectively include a set of adjusting motor, guide rail, nut, screw rod, sliding block；Guide rail described in Y-direction Body is fixed on the interior lining panel of the shell；The X to two nuts in Y-direction screw-type slide unit regulating mechanism respectively with it is described Battery pack and X are affixed to the guide rail；X into screw-type slide unit regulating mechanism and Y-direction screw-type slide unit regulating mechanism two Sliding block is fixedly arranged on the battery pack and X on the guide rail respectively；The X is to screw-type slide unit regulating mechanism and Y-direction screw rod Two adjusting motors in formula slide unit regulating mechanism are fixed in X on guide rail described in the guide rail and Y-direction respectively；The tune Section motor drives the screw rod respectively, so that being installed in the sliding block of the battery pack and X on the guide rail is respectively relative to X To guide rail straight reciprocating described in the guide rail and Y-direction.

The counterweight adjustment module includes water tank, water injection pump, water injection control valve, gas vent, water injection hole, In: the water tank is symmetrically fixedly arranged on the left and right sides inside the lumen, for storing aqueous, adjusts counterweight size；Institute It states water tank and offers porting and water injection mouth；The water injection hole is opened in the back casing lower surface and close to institute It states at protective cover；The gas vent is set at the top of the procapsid, is communicated with ambient atmosphere；The water injection control valve is used for Open and close the fluid course of the water tank water injection；The water injection hole, water injection pump, water injection control valve, water injection mouth are logical Pipeline is crossed to be sequentially connected；The porting is connected with the gas vent；

Preferably, the porting by intake and exhaust switching control valve realize selectively with the gas vent or with The storage cylinder is connected；It is connected between the exhaust passage constituted and adds with the gas vent in the intake and exhaust switching control valve Check valve.

Preferably, the intake and exhaust switching control valve, which is connected between the inlet channel constituted with the storage cylinder, adds section Air valve.

Go out preferably, pumping collateral branch on the fluid course between the water injection control valve in the water injection by safety The safety return circuit that valve is constituted.

Preferably, collateral branch goes out by overflow valve on fluid course between the water injection control valve and the water tank The aerial drainage circuit of composition；Discharge orifice, and the aerial drainage are added in the back casing lower surface and at the water injection hole Hole is connected with the overflow port of the overflow valve.

Preferably, after rescuer carries the water surface deliverance apparatus by normal mode carried by shoulders and enters water, in nature Under stable state, in water posture is most preferably entered, i.e. rescuer reaches left-right balance, at the same rescuer's neck with upper bit in nature It exposes the surface under state, and plane where the backboard is horizontal by 35~45 ° of angles.

Preferably, being lauched alarm module includes condenser type trigger and BEI-DOU position system；The condenser type trigger It is arranged near the propeller, meets the short telegraphic keying function that water then starts BEI-DOU position system, is sent to local medical department Medical aid request and offer location information.

Preferably, being connect using quick coupling with tracheae in the gas outlet of the storage cylinder.

Preferably, being provided with boss on the procapsid；The procapsid is connect with the backboard by the boss； Weight loss groove is provided on the backboard；Handle is provided with immediately ahead of the backboard；The boss offers flowing hole.

The utility model advantage is to provide a kind of easy to operate, portable, response quickly, labour-saving water surface deliverance apparatus, To greatly improve the safety and efficiency of rescue.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram of the utility model water surface deliverance apparatus specific embodiment one.

Fig. 2 is the main view of Fig. 1.

Fig. 3 is the face the B-B cross-sectional view (the non-cutting of storage cylinder) of Fig. 2.

Fig. 4 is the face the E-E cross-sectional view of Fig. 2.

Fig. 5 is that Fig. 1 removes the three dimensional structure diagram after protective cover.

Fig. 6 is center of gravity position adjustment block three dimensional structure diagram.

Fig. 7 is gas-liquid control principle drawing in Fig. 1.

Fig. 8 is normally pushing ahead when rescuer bears the utility model water surface deliverance apparatus as shown in Figure 1 in water State effect picture.

Fig. 9 is left bank state effect when rescuer bears the utility model water surface deliverance apparatus as shown in Figure 1 in water Fruit figure.

Figure 10 is right bank state effect when rescuer bears the utility model water surface deliverance apparatus as shown in Figure 1 in water Fruit figure.

Figure 11 is center of gravity position adjustment block three-dimensional structure schematic diagram of another direction.

Figure 12 is that shape is covered in extreme "Left"-deviationist when rescuer bears the utility model water surface deliverance apparatus as shown in Figure 1 in water State effect picture

Figure 13 is that extreme Right deviation when rescuer bears the utility model water surface deliverance apparatus as shown in Figure 1 in water covers shape State effect picture

In figure: 1-1 procapsid；1-2 hydrostatic sensor I；1-3 hinges；1-4 back casing；1-5 protective cover；1-6 back Frame；1-6-1 harness；1-6-2 backboard；1-6-2-1 weight loss groove；1-6-2-2 handle；1-7 boss；1-7-1 flowing hole；1-8 is hydraulic Sensor II；2-1 posture and hydraulic pressure detection module；2-2 main system module；2-3 storage tank cover board；2-4 storage cylinder；2-5 air bag connects Trachea；2-6 water tank；3-1 foam block；3-2 air bag；3-3 sealing rubber ring；3-4 buckle；3-5 battery pack；3-6 promotes electricity Machine；3-7 propeller；3-8 rudder piece；3-9 shell ante-chamber；3-10 shell lumen；3-11 shell back cavity；3-12 air bag storage tank；3-13 Interior lining panel；4-1 steering motor；4-2 driving gear；4-3 driven gear；5-1 adjusts motor；5-2-1X direction guiding rail body；5-2-2Y Direction guiding rail body；5-3 nut；5-4 sliding block；5-5 screw rod, 6-1 water injection hole；6-2 gas vent.

Specific embodiment

In order to better describe the technical solution of the utility model and advantage, now in conjunction with attached drawing, the utility model is implemented Technical solution progress in example describes clear and completely.

If Fig. 1 to Figure 13 is the utility model specific embodiment one.

As shown in Figures 1 to 6, a kind of water surface deliverance apparatus include shell, driving steering module, inflator module, posture with Hydraulic pressure detection module (2-1), backrest (1-6), power module, position of centre of gravity adjustment module, is matched and is resetted at main system module (2-2) Save module, in which:

Shell mainly includes procapsid (1-1) and back casing (1-4)；In order to improve the assembling capacity of device, procapsid (1- 1) and back casing (1-4) is by buckle (3-4) close structure fitting, and covers at the gap of the faying face periphery of buckle (3-4) Enter the sealing rubber ring (3-3) for waterproof；In order to reduce the resistance that the present apparatus is run in water, the shell has sub warhead Shape sweeping appearance；In order to increase present apparatus entirety air-tightness, the safety of built-in electrical component, the enclosure interior space are improved The partition arranged in length and breadth is divided into three relatively independent cavities, i.e. ante-chamber (3-9), back cavity (3-11) and lumen (3-10)； So, even if any cavity seeps water, the electrical component in other cavities still ensures that safety；In order to adjust the present apparatus Natural buoyancy, so that rescuer, which bears after the present apparatus enters water, to be floated naturally with a suitable posture, filling in ante-chamber (3-9) There is the substance of extra-low density, selects foam block in this example；

Gas is symmetrically opened up on two outer surfaces of the left and right procapsid (1-1) and at position corresponding with lumen (3-10) Capsule storage tank (3-12)；

As shown in fig. 7, inflator module includes storage cylinder (2-4), air bag (3-2), baroceptor, solenoid directional control valve, list To valve, for controlling the solenoid directional control valve according to the instruction of the main system module feedback, so that given air bag is inflated, is put Gas, pressure maintaining, to provide the buoyancy to match with rescuer itself weight bearing situation and oneself state in real time, in which: storage cylinder (2-4) Using steel cylinder, inside filling (being generally full of) compressed gas, such as compressed air provides high-pressure air source for inflator module；In gas One air bag (3-2) is respectively set in capsule storage tank (3-12), uses rubber pneumatic bag in this example；Storage cylinder (2-4), baroceptor I, check valve, solenoid directional control valve, air bag (3-2) are sequentially connected with by tracheae；It, can be in order to monitor the air pressure of air bag (3-2) A baroceptor II is respectively added between solenoid directional control valve and air bag (3-2)；The solenoid directional control valve is for opening and closing air bag The filling channel of (3-2) and channel is vented outwards, the different expanded states of air bag is realized under following working condition:

1, air bag (3-2) is in the initial state (present apparatus is inactive) complete compressive state, to reduce present apparatus volume, It is easy to carry；

2, air bag (3-2) inflation under following three kinds of state of emergency, provides additional buoyancy for rescuer:

1. state is covered in extreme "Left"-deviationist.When suing and labouring, under by the unilateral effect of drag force downwards of drowning person, rescuer is in such as Figure 12 institute When showing that state is covered in extreme "Left"-deviationist, in order to avoid rescuer leads to water of choking due in left nare immersion water, two sides air bag (3-2) is fast Fast inflation, but left side air bag (3-2) swelling volume is larger with respect to (right side air bag), to be lifted with prestissimo from left side Rise rescuer, and make rescuer restore as early as possible left-right balance most preferably enter water posture；

2. extreme Right deviation covers state.When suing and labouring, under by the unilateral effect of drag force downwards of drowning person, rescuer is in such as Figure 13 institute When showing that extreme Right deviation covers state, similarly, the expansion of two sides air bag (3-2) fast aeration, but right side air bag (3-2) swelling volume phase To larger, so as to prestissimo from being lifted right side rescuer, and rescuer is made to restore most preferably entering for left-right balance as early as possible Water posture；

3. vertical submerged state.After rescuer rushes towards to drowned region, rescuer generally embraces drowning person from back.So And due to the life instinct and Psychological phobia when drowning man is drowned, it often can all pull energetically and pull rescuer, in addition rescuer It may also happen that the breakthrough symptoms such as be perfectly exhausted, twitch, going into a coma, therefore rescuer is most probably caused to be in vertical submerged state；

When suing and labouring, under by the drag force effect of drowning person vertically downward, rescuer's vertical sinking rapidly, and have drowned trend When, two sides air bag (3-2) fast aeration expansion simultaneously, swelling volume is in the same size, so that rescuer head is on prestissimo Emerge, and make rescuer restore as early as possible left-right balance most preferably enter water posture；

3, when suing and labouring under normal advanced state while not lifting drowning person (rescuer does not run into dangerous situation, and state is steady, and), left and right Two air bags (3-2) may be in partial inflation state, to balance rescuer itself weight bearing (in view of rescuer's self weight, auxiliary appliance Weight) so that rescuer is pushed ahead with most preferably entering water posture, to reduce resistance when promoting in water as far as possible；

4, (when rescuer does not run into dangerous situation, state is steady, and drowning person is rescued and is in tranquil under normal advanced state after suing and labouring Under state) left and right two air bags (3-2) may will continue to be filled with certain gas (relative to advanced state normal when suing and labouring), but still locate In not being completely filled with state, with balance rescuer itself weight bearing (in view of rescuer self weight, the auxiliary appliance weight that carries) and Drowning person's weight bearing (in view of drowning person's self weight, the additional weight of drowning person), so that rescuer is most preferably to enter water posture to being pushed forward Into to reduce resistance when promoting in water as far as possible；

5, it debarks after suing and labouring, air bag (3-2) is the same with original state, is in complete compressive state.

In this example, the air circuit connection principle and implementation detail of the inflator module are more specifically described as follows: using such as Two-bit triplet solenoid directional control valve (default is in left position state) shown in Fig. 7 and three-position four-way electromagnetic directional valve are (at default conditions Yu Zhongwei)；The one of tracheae (2-5) is connected with respectively corresponding air bag respectively positioned at the air bag (3-2) of procapsid arranged on left and right sides End is connected；The housing wall that the other end of air bag connection tracheae (2-5) hermetically passes through procapsid (1-1) prolongs to lumen (3-10) Stretch, and via left and right air bag (3-2) respectively corresponding baroceptor II, then respectively with three-position four-way electromagnetic directional valve Two A mouthfuls of working holes are connected with B mouthfuls；The work of P mouthfuls of the air inlet of three-position four-way electromagnetic directional valve and two-bit triplet solenoid directional control valve Make A mouthfuls of mouth to be connected；S mouthfuls of exhaust outlet of three-position four-way electromagnetic directional valve are communicated with ambient atmosphere；Storage cylinder (2-4), air pressure transmission Sensor I, check valve, P mouthfuls of two-bit triplet solenoid directional control valve air inlet are sequentially connected with by tracheae；Two-bit triplet solenoid directional control valve row S mouthfuls of port communicate with ambient atmosphere；The two-bit triplet solenoid directional control valve, three-position four-way electromagnetic directional valve, baroceptor I, Baroceptor II is electrically connected with main system module (2-2)；

Storage tank cover board (2-3) is covered on air bag storage tank (3-12), storage tank cover board (2-3) is by hinges (1-3) with before Shell (1-1) rotation connection；Under the action of elastic element, storage tank cover board (2-3) is when in a compressed state in air bag (3-2) to be in Closed state；

Power module includes battery pack (3-5), control circuit, is used for driving steering module, inflator module, posture and water Press detection module (2-1), main system module (2-2), counterweight adjustment module, the power supply of position of centre of gravity adjustment module；In this example, battery Group uses lithium battery；

Backrest (1-6) includes harness (1-6-1), backboard (1-6-2), in which: backboard (1-6-2) and shell are affixed；Harness (1-6-1) and backboard (1-6-2) is affixed；Harness (1-6-1) is carried for rescuer's carried by shoulders；In this example, more specifically, Boss (1-7) is provided on procapsid (1-1)；Backboard (1-6-2) is fixedly connected by screw with boss (1-7)；It is carrying on the back simultaneously Multiple tracks weight loss groove (1-6-2-1) is offered on plate (1-6-2) to reduce present apparatus weight；Simultaneously for the ease of lifting device, Handle (1-6-2-2) is provided with immediately ahead of backboard (1-6-2)；Finally, in order to which water surface resistance is effectively reduced, procapsid (1-1) Multiple flowing holes (1-7-1) is offered on boss (1-7) in the case where not influencing screw attachment performance

Driving steering module includes propulsion electric machine (3-6), propeller (3-7), rudder piece (3-8), steering motor (4-1), is used According to instruction control flaps piece (3-8) rotational angle of the main system module feedback and the positive and negative rotation direction of propeller (3-7) And revolving speed is finally reached the purpose for automatically controlling rescuer's fltting speed and direction to respond rescuer's attitudes vibration, in which: The output shaft of propulsion electric machine (3-6) is closed and actively passes through the shell wall of back cavity, affixed with propeller (3-7)；Propulsion electric machine (3- 6) for driving propeller (3-7) high speed rotation, so that the present apparatus obtains forward thrust；In this example, in order to ensure propulsion electric machine The airtightness of the output shaft of (3-6) can open up a through-hole in the tail portion back casing (1-4)；Stainless steel shaft is set in the through-hole It holds；The output shaft of propulsion electric machine (3-6) passes through the stainless steel bearing inner ring, and in the through-hole and propulsion electric machine (3-6) Rotary dynamic sealing is set between output shaft, and exposes hull outside point with output shaft on the stainless steel bearing and smears waterproof Rouge；

It is provided with protective cover (1-5) outside propeller (3-7), protective cover (1-5) is fixed on back casing (1-4)；Turn to electricity Machine (4-1) is placed in protective cover (1-5) upper rear；Rudder piece (3-8) is set in protective cover (1-5) and is located at propeller (3- 7) dead astern；Steering motor (4-1) is connected by power by retarder with rudder piece (3-8), for driving the left and right rudder piece (3-8) It swings, so that the present apparatus converts direction of advance；In this example, the retarder be a pair of of external toothing driving gear (4-2) and from Moving gear (4-3)；

According to principle of hydrodynamics initial estimate it is found that when rescuer carries the water surface by normal mode carried by shoulders After deliverance apparatus enters water, (external force agravic, except buoyancy, is encountered dangerous situation, and rescuer under natural stability state Limbs are unfolded naturally), if rescuer reaches left-right balance, while rescuer's neck exposes water with upper bit in its natural state Face, and backboard (1-6-2) where plane horizontal by 35~45 ° of angles when, rescuer be in one most preferably enter water posture. At this point, the present apparatus, only in 40~50% volume immersion water, propelling resistance is minimum, fltting speed highest, energy consumption is minimum.In order to make It obtains rescuer and can remain and most preferably enter water posture, be that following technological means can be taken to be realized completely:

1, reference standard is given, the initial buoyancy and position of centre of gravity of the present apparatus are designed.It is assumed that standard rescuer is a body A height of 170CM and with standard figure adult Asian male, according to the body density of the male rescuer, weight, buoyancy, The general range standard of position of centre of gravity rationally adjusts the initial buoyancy of the present apparatus itself (size for designing the foam block)；Meanwhile Using following technological means, can make has the rescuer of identical figure after bearing the present apparatus and entering water with standard rescuer, Obtain optimal position of centre of gravity:

1. making rational planning for, it is all with higher weight and compared with the opposite position between the components of low-density in the present apparatus to arrange Set relationship.Specifically, having highdensity battery pack (3-5) to be placed in back cavity (3-11) and close to propulsion electric machine (3- in this example 6)；As previously mentioned, the propulsion electric machine (3-6) with higher density is placed in back cavity (3-11)；In addition to propulsion electric machine (3-6) Steering module (there is higher density) is driven to be located at present apparatus tail portion；Substance with extra-low density is filled in ante-chamber (3-9)； Except (such as storage cylinder (2-4), solenoid directional control valve have lower close the extratracheal components of air bag (3-2) and part in inflator module Degree) it is all set in lumen (3-10) lower layer；Electric elements main system module (2-2), posture and hydraulic pressure with very low-density are examined It surveys module (2-1) and is placed in lumen (3-10).Such arrangement, so that the light cabrage of the present apparatus itself head；When standard is sued and laboured After person's carried by shoulders carrying present apparatus enters water, overall center of gravity (rescuer and the present apparatus are together) is located at rescuer in the initial state Waist abdomen rear portion；

2. plate Integrated design and subregion are placed, in order to assemble and disassemble and adjust mass balance.In this example, specifically Ground, lumen (3-10) are divided into lumen upper layer, lumen middle layer and lumen lower layer by partition again；Posture and hydraulic pressure detection module (2- 1) circuit part is integrated on circuit board II；Main system module (2-2) is integrated on circuit board I；The circuit board II, circuit Plate I is fixed in lumen upper layer, lumen middle layer respectively by card slot；Inflator module further includes inflator module support plate；It is described to fill Except the extratracheal components of air bag (3-2) and part are mounted in the inflator module support plate in gas module；The inflation Module support deck is fixedly arranged in the lumen lower layer.

3. all components outer dimensions are rationally designed, so as to the requirement for being arranged symmetrically its only possible satisfaction.The shell Body, driving steering module, backrest, power module are all made of symmetrical structure；The shell, driving steering module, inflator module, appearance State and hydraulic pressure detection module (circuit board II), main system module (circuit board I), backrest, power module are about propeller (3-7) Axis or so almost symmetry arrangement.It needs to illustrate, although circuit board I, circuit board II and inflator module are asymmetric Be approximately block-like object, but consider lighter weight, can be approximately considered, by circuit board I, circuit board II and inflator module The geometrically symmetric median plane of support plate reaches coplanar with propeller (3-7) axis, that is, can guarantee that standard rescuer carried by shoulders is taken Basic left-right balance is kept in the initial state after entering water with the present apparatus.

2, inflator module and position of centre of gravity adjustment module are comprehensively utilized, posture is adjustable when realizing present apparatus work.Consider To rescuer in actual use and reference standard (such as weight, figure and body density), there is some difference, and rescuer is left Great small possible different (auxiliary rescue outfit (such as life lines that such as rescuer may need single hand grip additional of right side actual negative Deng), and the drowning person for the consciousness of losing may be lifted) and the state of emergency under various external force factors will affect destruction most preferably enter Water posture (such as drowning person pulls so that rescuer or so cannot balance), therefore the present apparatus is also used in addition to using inflator module Position of centre of gravity adjustment module enters to be able to maintain that after water and most preferably enter water appearance to guarantee that any rescuer's carried by shoulders carries the present apparatus Gesture.(predominantly power module, inflator module etc. are heavier for automatically adjusting present apparatus internal component for position of centre of gravity adjustment module Components) relative position relative to the enclosure interior, to obtain optimal position of centre of gravity (when work).Specifically Ground is used as position of centre of gravity adjustment module using screw-type cross slid platform mechanism in this example, and the mechanism is from X to the adjusting of screw-type slide unit Mechanism and Y-direction screw-type slide unit regulating mechanism stack combinations form, in which: X is to screw-type slide unit regulating mechanism and Y-direction screw-type Slide unit regulating mechanism respectively includes a set of adjusting motor (5-1), guide rail (offering T shape sliding slot in this example on guide rail), nut (5-3), screw rod (5-5), sliding block (5-4) (sliding block (5-4) is the T-shaped slider matched with the T shape sliding slot in this example).In order to Rational Simplification structure only adjusts plan-position of the maximum battery pack of specific gravity (3-5) relative to enclosure interior in this example；Such as Fig. 6 With shown in Figure 11, Y direction guiding rail body (5-2-2) is fixed on the interior lining panel (3-13) of shell；X is to screw-type slide unit regulating mechanism It is solid with battery pack (3-5) and X direction guiding rail body (5-2-1) respectively with two nuts (5-3) in Y-direction screw-type slide unit regulating mechanism It connects；Two sliding blocks of the X into screw-type slide unit regulating mechanism and Y-direction screw-type slide unit regulating mechanism are fixedly arranged on battery pack (3- respectively 5) and on X direction guiding rail body (5-2-1)；Two adjustings of the X into screw-type slide unit regulating mechanism and Y-direction screw-type slide unit regulating mechanism Motor (5-1) is fixed on X direction guiding rail body (5-2-1) and Y-direction guide rail body (5-2-2) respectively；Adjust motor (5-1) respectively It drives screw rod (5-5), driving does straight reciprocating motion to the nut of cooperation therewith, so that being installed in battery pack (3-5) and X Sliding block (5-4) on direction guiding rail body (5-2-1) is respectively relative to X direction guiding rail body (5-2-1) and Y-direction guide rail body (5-2-2) straight line It is mobile, to finally change the plan-position of battery pack (3-5) relative to enclosure interior.Mould is adjusted due to using position of centre of gravity Block, so there is no need to additional carry counterweights to manually adjust left-right balance, reduce resistance, at the same increase the present apparatus flexibility and The scope of application.

Different from the limited regulating power of position of centre of gravity adjustment module, counterweight adjustment module can adjust mould with position of centre of gravity Block, inflator module together, realize the overall buoyancy, overall gravity, overall position of centre of gravity for adjusting the present apparatus on a large scale.It is described to match Weight adjustment module include water tank (2-6), water injection pump (miniature bidirectional variable water pump is selected in this example), water injection control valve, Gas vent, water injection hole, in which: steel capsule shape tank body can be used in water tank (2-6), and two water tanks (2-6) symmetrically set It is placed in the left and right sides inside lumen (as shown in Figure 3), and affixed with left and right sides wall inside lumen respectively, for storing the external world Aqueous is to adjust the counterweight size at left and right sides of inside lumen；Porting is offered at the top of water tank (2-6), bottom offers Water injection mouth；Water injection hole (6-1) is opened in back casing lower surface and at protective cover, enters when rescuer carries the present apparatus After water, water injection hole (6-1) is located at the water surface or less；Gas vent (6-2) is set at the top of procapsid (1-1), with ambient atmosphere phase It is logical；Water injection control valve is used to open and close the fluid course of the water injection into water tank；Water injection hole (6-1), water injection pump, note row Water control valve, water tank (2-6) water injection mouth be sequentially connected by pipeline；The porting and gas vent of water tank (2-6) It is connected, so that porting is connected with ambient atmosphere；More specifically, as shown in fig. 7, water injection control valve uses two Two electric change valves of position (default conditions are in left position)；

Preferably, port sucks aqueous from the external world when water tank drains air inlet in order to prevent, porting is logical The realization of intake and exhaust switching control valve is crossed selectively to be connected with gas vent or with storage cylinder；In intake and exhaust switching control valve and row The check valve for preventing aqueous adverse current into intake and exhaust switching control valve is added between the exhaust passage that stomata connection is constituted.This In example, more specifically, intake and exhaust switching control valve is using three-position four-way electromagnetic directional valve as shown in Figure 7 (during default is in Position state)；The porting of two water tanks is connected with A and B mouthfuls of the working hole of three-position four-way electromagnetic directional valve respectively；Three S mouthfuls of pressure relief opening of four-way electromagnetic reversing valve are connected by check valve with gas vent (6-2), three-position four-way electromagnetic directional valve air inlet P mouthfuls of mouth is successively connect with electromagnetism air throttle, check valve, baroceptor, storage cylinder.It is worth noting that although gas vent (6- 2) there is the possibility submerged by extraneous water flow, but three-position four-way electromagnetic directional valve is placed in left position or right position, i.e., to correspondingly left end Or higher pressure gas is injected in right end water tank (2-6), it can also smoothly be drained from gas vent (6-2).

Preferably, intake and exhaust switching control valve, which is connected between the inlet channel constituted with storage cylinder, is added one for subtracting The air throttle (electromagnetism air throttle is selected in this example) of speed regulation is pressed, to prevent the excessively high damage pipeline of air pressure in storage cylinder.

Preferably, in order to protect water injection to pump, it is other on the fluid course between water injection pump and water injection control valve Pay the safety return circuit being made of safety valve.

Preferably, considering that, when rescuer meets with the state of emergency, the drainage efficiency of water injection pump can hinder to reduce counterweight With fast implementing for increase buoyancy, collateral branch goes out by overflow on the fluid course between water injection control valve and water tank (2-6) The aerial drainage circuit that valve (electromagnetic relief valve is selected in this example) is constituted；In back casing lower surface and at water injection hole (6-1) Bigbore discharge orifice is added, and the discharge orifice is connected with the overflow port of the overflow valve.So, the state of emergency Under, when starting water injection control valve makes water tank (2-6) inwardly be filled with higher pressure gas while draining outward, (storage cylinder is defeated Send) when, high pressure gas acts on the interior liquid stream liquid level of water tank (2-6), due to the limitation of water injection pump drainage efficiency, causes to store up The interior aqueous of water pot (2-6) generates supercharging effect, and (hydraulic pressure is sharply increased from 1000Pa to 12000Pa) in such as water tank, so that storage Water pot (2-6) assists aerial drainage by discharge orifice outward, to improve the speed for reducing counterweight.

More specifically, in this example, the water injection control valve, intake and exhaust switching control valve, baroceptor, throttling Valve, water injection pump are electrically connected with main system module (2-2).

In this example, propulsion electric machine, adjusting motor and steering motor are all made of high life high-precision brushless motor.

Posture and hydraulic pressure detection module (2-1) include attitude transducer (this example selects 6050 type gyroscope of MPU), setting In the front housing external surface upper half hydrostatic sensor I (1-2), be symmetrically disposed on the outer surface lower half back casing (1-4) or so Other components such as the hydrostatic sensor II (1-8) of two sides and control interface, power interface, signaling interface, for supervising in real time It surveys rescuer's attitude parameter (angle, direction of Eulerian angles etc.) in water and attitudes vibration trend and real-time monitoring is sued and laboured Person in water hydraulic pressure measuring point (namely hydrostatic sensor I and hydrostatic sensor II probe setting position at) variation in water pressure situation, And above-mentioned posture and hydraulic signal are fed back into the main system module.The testing principle of hydrostatic sensor are as follows: according to the quiet of water Pressure calculation formula P=ρ gh, P are the static pressure that hydrostatic sensor measures, and ρ is the density of water, and g is acceleration of gravity, and h is liquid The measuring point of pressure sensor enters the vertical depth after water.

More specifically, preferably, as shown in Figure 2 and Figure 8, being in such as Fig. 8 after the present apparatus enters water when rescuer bears It is shown most preferably enter water posture when, the hydraulic pressure measuring point of hydrostatic sensor I (1-2) was in the horizontal plane of the rescuer wing of nose, to Detect the variation in water pressure of rescuer head near zone；And the hydraulic pressure measuring point of hydrostatic sensor II (1-8) was in rescuer's chest In the horizontal plane in portion, the variation in water pressure and pressure difference in region at left and right sides of water potruncus are entered for detecting rescuer.

Main system module (2-2) includes that CPU (in this example select STM32 type single-chip microcontroller), electric machine speed regulation module (are selected in this example With A2212 type electric machine speed regulation module) etc. outside main components, further include that data selector, decoding circuit, relay control are patrolled It collects, semiconductor switch control logic, signal source, monitor, control other components such as hybrid juction；In addition, also being wrapped in this example Include safety protective circuit (overload protecting circuit, leakage protection circuit, short-circuit protection circuit), leakage sensor, self-test warning dress It sets (containing LED flash, loudspeaker etc.)；Main system module (2-2) and the driving steering module, inflator module, posture and hydraulic pressure Detection module (2-1), position of centre of gravity adjustment module, counterweight adjustment module are electrically connected；The major function of main system module (2-2) Include:

1, system mode initialization, state self-test and alarm.Initialization includes that attitude transducer is calibrated and initialized, center of gravity The initialization of position adjustment block, the initialization of inflator module, hydrostatic sensor calibration and zeroing, rudder piece return just etc.；State is certainly Inspection includes electricity, BEI-DOU position system connection, gas storage bottle pressure, air bag gas storage surplus, rudder piece position, battery location self-test Deng；Alarm alarms including electricity alarm, infiltration alarm, BEI-DOU position system connection failure alarm, storage cylinder insufficient pressure, is urgent Stuck alarm of status alert, driving steering module etc.；

2, data collection and analysis, the corner including collection analysis propulsion electric machine (3-6) tach signal, steering motor (4-1) Position and turn signal and the angular position and turn signal for adjusting motor (5-1)；Collection analysis posture and hydraulic pressure detect mould Whether the output signal of block (2-1), analysis posture change with state, if in the reasonable scope；Acquire inflator module Output signal analyzes the filling degree of storage cylinder (2-4) and air bag (3-2)；

3, state logic judges, comprising: whether comprehensive judgement rescuer be in a state of emergency, because position of centre of gravity is improper And in left and right instability status, being under normal advanced state posture, autonomous (i.e. non-extraneous factor burst causes, but applies The person's of rescuing positive action) change (to control fltting speed and direction), judge whether state occurs to change (state of emergency and unstability Whether state is eliminated, and whether process of suing and labouring is completed)；

4, based on rescuer's attitude parameter control underwater propulsion speed and direction.When the change for determining posture and state is to apply The person's of rescuing positive action, and when in the zone of reasonableness, then according to rescuer's attitude parameter data (angle, direction of Eulerian angles etc.) Start and stop, revolving speed and the direction of rotation of propulsion electric machine (3-6) and steering motor (4-1) are controlled, realizes and is based on rescuer's attitude parameter Underwater propulsion speed and direction controlling；

5, exhaust is filled based on rescuer's posture and state control air bag (3-2).When determine rescuer be in a state of emergency or When in left and right instability status, the solenoid directional control valve for controlling the inflator module obtains power loss, so that given air bag (3-2) inflation, It deflates, pressure maintaining, to provide the buoyancy to match with rescuer itself weight bearing situation and oneself state in real time, eliminates urgent shape rapidly State or left and right instability status.

6, the position of centre of gravity based on rescuer's posture Yu status adjustment present apparatus inner components.When judgement, rescuer is in The state of emergency or be in left and right instability status when, control X to Y-direction adjust motor (5-1), adjust the present apparatus to small range Position of centre of gravity, so that rescuer achievees the purpose that left-right balance as far as possible.

7, based on rescuer's posture and status adjustment counterweight size and its position of centre of gravity.When judgement, rescuer is in urgent shape State or be in left and right instability status when, the solenoid directional control valve for controlling the counterweight adjustment module obtains power loss, to given water tank (2-6) fills draining, to change the position of centre of gravity of the present apparatus on a large scale；Cooperate the inflator module simultaneously, adjusts on a large scale The buoyancy of the present apparatus.

Preferably, main system module (2-2) further includes being lauched in order to improve the reliability of the rapidity of rescue and communication Alarm module；The alarm module that is lauched includes condenser type trigger and BEI-DOU position system；The condenser type trigger setting It nearby (is such as installed in the backrest for closing on propeller) in propeller (3-7), meets water and start BEI-DOU position system；It is fixed using Beidou The short telegraphic keying function of position system sends medical aid request and provides position and believes while being lauched and suing and labouring to local medical department Breath.

Preferably, being connected in storage cylinder gas outlet using quick coupling and tracheae for the ease of replacing storage cylinder (2-4) It connects, and is fixed on panel by movable bandage.

The water surface auxiliary rescue operations of the present apparatus include the following steps:

1, device is initially lauched.After rescuer has found that man overboard calls for help, rescuer bears the present apparatus and enters water；Once position Water is met in the condenser type trigger of propeller (3-7) nearby, just starts BEI-DOU position system, utilizes the bob of BEI-DOU position system Report achievement can, be lauched sue and labour while to local medical department send medical aid request and provide location information；Meanwhile starting The present apparatus carries out system mode initialization and works with self-test.

2, enter water posture initially to adjust.After rescuer is initially lauched, main system module is according to posture and hydraulic pressure detection module In the reasonable scope whether the data of feedback, analysis rescuer's posture change with state, and；Under normal circumstances, Because rescuer and standard rescuer have differences, and rescuer's weight bearing situation is different, and rescuer is non-equilibrium in left and right after being lauched State；Main system module according to " first position of centre of gravity adjustment module, again counterweight adjustment module, last inflator module " priority It is controlled, rescuer is remained and most preferably enters water posture.

3, drowned region is rushed towards.The data that main system module is fed back according to posture and hydraulic pressure detection module, when judgement posture Change with state is rescuer's positive action, and when in the zone of reasonableness, then underwater based on the control of rescuer's attitude parameter Fltting speed and direction；Specifically, rescuer's body slightly leans forward in water, posture and hydraulic pressure detection module (2-1) are detected Out after rescuer's forward-lean state and the trend persistently to lean forward, start propulsion electric machine (3-6) to push rescuer to accelerate to advance；This When, rescuer's both arms and both legs can also free stroke, increase forward speed in water；Floater is avoided (such as when needs detour By the waters after big flood) when, rescuer's body slightly to the right or is tilted to the left in water, posture and hydraulic pressure detection module After (2-1) detects rescuer's forward-lean state and the trend persistently to lean forward, starting steering motor (4-1) operation, to drive rudder Piece (3-8) correspondingly to the right or turns left, and finally realizes auto-steering.Certainly, due to being the operation of someone's formula, even if therefore sending out Raw floater blocks this extreme small probability event of the present apparatus, and rescuer also flexibly can freely be taken off using both hands It is tired.While the present apparatus turns in water, the coordinated movement of various economic factors of rescuer's both arms both legs can also play the work of accurate assisted diversion With.After close to drowning people, rescuer's body is slightly swung back in water, so that the present apparatus is slowed down and is finally stopped.Rescuer exists Underwater direction controlling is similar to two-wheeled balance car.

4, it closely sues and labours and is maintained with posture.After rescuer rushes towards to drowned region, rescuer is generally embraced from back Drowning person, but it is not excluded for the possibility being in a state of emergency.It can when being turned in view of rescuer using itself gesture stability present apparatus It can cause pressure at both sides difference that slight change occurs, be in so as to cause main system module (2-2) erroneous judgement rescuer and extremely topple State, therefore main system module (2-2) should be according to the data-signal of posture and hydraulic pressure detection module (2-1) feedback, comprehensive judgement Whether rescuer is in a state of emergency, posture independently changes under left and right instability status or normal advanced state；Sentenced according to synthesis Determine as a result, main system module is according to the preferential suitable of " first position of centre of gravity adjustment module, again counterweight adjustment module, last inflator module " Sequence is controlled, and rescuer is remained and most preferably enters water posture.It is now assumed that hydrostatic sensor I (2-5) detection water outlet P1 is pressed, and the hydrostatic sensor II (1-8) being located at left and right sides of the lower half portion rear shell external surface (1-4) detects water outlet pressure respectively P3 and P4, then the left and right sides differential water pressures Δ P=P3-P4, to describe the comprehensive judgement criterion that may be used in this example:

Air bag (3-2) is in complete compressive state under original operating state；Air bag (3-2) covers (such as Figure 12 in extreme "Left"-deviationist It is shown), extreme Right deviation cover in asymmetric swelling state under (as shown in figure 13) state, air bag (3-2) is under vertical sinking state In symmetrical swelling state, additional buoyancy is provided for rescuer；Air bag (3-2) fills under normal advanced state in part when suing and labouring Gaseity, to balance rescuer itself weight bearing, so that rescuer in water most preferably to promote posture to push ahead；Air bag (3-2) exists It will continue to be filled with certain gas (relative to advanced state normal when suing and labouring) under normal advanced state after suing and labouring, but still in not complete Full full state to balance rescuer itself weight bearing and drowning person's weight bearing, while reducing resistance when promoting in water；Air bag (3-2) is in complete compressive state under disembarkation state after suing and labouring.

Preferably, with a kind of matching used posture control method of water surface deliverance apparatus as shown in Figure 1, feature also exists Following synthetic judgement has been used in the step (for a clear description, it is assumed that hydrostatic sensor I (2-5) detection water outlet P1 is pressed, and the hydrostatic sensor II (1-8) being located at left and right sides of the lower half portion rear shell external surface (1-4) detects water outlet pressure respectively P3 and P4, then the left and right sides differential water pressures Δ P=P3-P4):

1. the state of emergency of vertical sinking and submergence.When posture and hydraulic pressure detection module (2-1) detect rescuer or so Balance, P1, P3 and P4 are all larger than zero, and when Δ P is equal to zero, main system module (2-2) should determine that rescuer is in vertical sinking And the state of emergency of submergence, the solenoid directional control valve commutation are located at air bag storage tank (3- so that the filling channel switches over 12) two air bags (3-2) in are expanded by fast aeration simultaneously, while squeezing the storage tank lid positioned at two outside of procapsid (1-1) Plate (2-3), contacts with extraneous water flow, is reached for rescuer and drowning person and quickly provides the purpose of additional buoyancy, rescuer head It emerges, while drowning person also emerges.

2. it is equal that P1 is equal to zero, P3 and P4 when posture and hydraulic pressure detection module (2-1) detect rescuer's posture left-right balance Not equal to zero, | Δ P |≤300Pa, main system module (2-2) should determine that rescuer is in and normally push ahead state, inflating mold Block is failure to actuate.

3. when posture and hydraulic pressure detection module (2-1) detect that rescuer's posture is left-leaning or Right deviation, P1 are equal to zero, P3 and P4 ≤ 2205Pa, 300Pa≤| Δ P |≤500~600Pa, main system module (2-2) should determine that rescuer is in normal direction of rotation shape State, inflator module are failure to actuate.

4. when posture and hydraulic pressure detection module (2-1) detect that rescuer's posture is left-leaning or Right deviation, P1 are equal to zero, P3 and P4 ≤ 2205Pa, 800Pa >=| Δ P | >=600Pa, main system module (2-2) should determine that rescuer is in and normally substantially turn to shape State, inflator module are failure to actuate.(note: 2205Pa is the value of hydrostatic sensor II when rescuer is in 65 °)

5. when posture and hydraulic pressure detection module (2-1) detect that rescuer's posture is left-leaning or Right deviation, P1 are equal to zero, P3 and P4 <2205Pa, 900Pa>=| Δ P |>=800Pa (difference of toppling completely is 1200Pa), main system module (2-2) should determine to apply The person of rescuing is in normal substantially steering state, and rescuer has certain potential danger of toppling, should moderately adjust posture；Main system mould Block (2-2) alarm, inflator module wait further action command.

6. when posture and hydraulic pressure detection module (2-1) detect that rescuer's posture is left-leaning or Right deviation, P1>0, P3 and P4< 2205Pa, | Δ P |≤900Pa, main system module (2-2) should determine that rescuer is in that "Left"-deviationist is covered or Right deviation covers state, main system Module (2-2) alarm, driving steering module stop working, and inflator module is acted by following situation:

When Δ P > 0, then left side air bag (3-2) inflation, eliminates rapidly "Left"-deviationist and covers state；

When Δ P < 0, then right side air bag (3-2) inflation, eliminates rapidly Right deviation and covers state.

7. when posture and hydraulic pressure detection module (2-1) detect that rescuer's posture is left-leaning or Right deviation, P1>0, P3 and P4< 2205Pa, 1200Pa >=| Δ P | >=900Pa, main system module (2-2) should determine that rescuer is in extreme "Left"-deviationist and covers or Right deviation State, main system module (2-2) alarm are covered, driving steering module stops working, and inflator module is acted by following situation:

When Δ P > 0, then air bag (3-2) fast aeration in two sides expands, but left side air bag (3-2) swelling volume is with respect to (right side Air bag) it is larger, extreme "Left"-deviationist is eliminated rapidly covers state (as shown in figure 12)；

When Δ P < 0, then air bag (3-2) fast aeration in two sides expands, but right side air bag (3-2) swelling volume is with respect to (left side Air bag) it is larger, extreme Right deviation is eliminated rapidly covers state (as shown in figure 13).

8. as P1 → 0, P3 ↓ P4 ↓, and P3, P4 are respectively less than 2205Pa, 300Pa≤| Δ P | when≤500~600Pa, then lead System module (2-2) comprehensive judgement eliminates (the drowned state of drowning person's disengaging and the state frightened from extreme struggle for the state of emergency After being transferred to calmness), then the solenoid directional control valve resets, and outwardly atmosphere is suitably vented with portion rebounds, always at this time air bag (3-2) Buoyancy (rescuer, drowning person and the present apparatus) and total force (rescuer, drowning person and the present apparatus) balance each other, storage tank cover board (2- 3) it is gradually closed under the elastic force effect of elastic element；At this point, the buoyancy of the present apparatus in water reduces, the resistance that moves ahead reduces, with Just rescuer is rapidly returned to bank with drowning person and receives treatment.It is worth noting that rescuer can also be actively during suing and labouring Ground controls air bag (3-2) and inflates in advance, and air bag (3-2) exhaust is according to circumstances neatly controlled with oneself state, to reduce resistance Power.

5, safety place is returned.When posture and hydraulic pressure detection module (2-1) detect that rescuer's posture is left-leaning or Right deviation, P1, P3 and P4 are equal to zero, judge rescuer on the coast.

The utility model has the beneficial effect that

1, the present apparatus is configured with driving steering module, and waters of suing and labouring back and forth for rescuer provides driving power, therefore laborsaving It is convenient；2, the present apparatus can be according to the fltting speed of posture action control rescuer in rescuer's water in water and direction, on the one hand So that the operation is simple and flexible is easy-to-use for the present apparatus；On the other hand rescuer's four limbs can be liberated, allows rescuer neatly with double Hand gets rid of poverty and (such as evades floater, self is sued and laboured) or four limbs auxiliary stroke, after energy saving economy, also improves rescue The speed of response；

3, it is based on rescuer's posture and state, comprehensive progress air bag fills gas exhaust inspecting, inner components position of centre of gravity is adjusted, Counterweight size and its position of centre of gravity are adjusted, and achieve the purpose that adjust overall buoyancy, overall gravity, overall position of centre of gravity on a large scale, Finally enable rescuer to remain and most preferably enters water posture.

4, the shell has bullet-shaped sweeping appearance, and the present apparatus is without additionally configuring clump weight, it can be achieved that small resistance Power quickly propels with low power.

5, when suing and labouring, present apparatus main system module can determine by the signal synthesis of posture and hydraulic pressure detection module feedback Whether rescuer meets with dangers, and provides the additional buoyancy of unilateral or bilateral in time using inflator module for rescuer, prevents from applying The person of rescuing causes to be drowned due to physical strength is overdrawed, drowning man fear is struggled；But after sue and labour, the present apparatus again can comprehensive judgement apply Completion status is rescued, so that air bag (3-2) portion rebounds, have reached gross buoyancy (rescuer, drowning person and the present apparatus) and total force The state that (rescuer, drowning person and the present apparatus) balances each other, the resistance that moves ahead at this time is minimum, convenient for quickly returning to land；

6, the present apparatus is Attended mode formula deliverance apparatus, and flexibility ratio is high.

In conclusion the utility model advantage is to provide a kind of easy to operate, portable, response quickly, the labour-saving water surface Deliverance apparatus, to greatly improve the safety and efficiency of rescue.

Claims (10)

1. a kind of water surface deliverance apparatus, including shell, driving steering module, inflator module, posture and hydraulic pressure detection module, principal series System module, backrest, power module, position of centre of gravity adjustment module, counterweight adjustment module, it is characterised in that:

The shell includes procapsid and back casing, in which:

The procapsid and back casing are fastened by the way that buckle is close；Sealing rubber ring is encased inside between the mating surface of the buckle；It is described Shell has bullet-shaped sweeping appearance；

The partition that the enclosure interior space is arranged in length and breadth is divided into ante-chamber, back cavity and lumen, in which: filling in the ante-chamber There is the substance of low-density；Gas is symmetrically opened up on two outer surface of procapsid and at position corresponding with the lumen Capsule storage tank；

The inflator module includes storage cylinder, air bag, baroceptor, solenoid directional control valve, check valve, for according to the principal series The instruction of module feedback of uniting controls the solenoid directional control valve, to given air bag inflation/deflation and pressure maintaining, to provide in real time and rescuer The buoyancy that itself weight bearing situation and oneself state match, in which: the storage cylinder fills compressed gas, is the inflator module High-pressure air source is provided；One air bag is respectively set in the air bag storage tank；The storage cylinder, baroceptor, check valve, Solenoid directional control valve, air bag are sequentially connected with by tracheae；The solenoid directional control valve be used for open and close the air bag filling channel and to Outer exhaust passage, so that the air bag reaches different expanded states under different working condition；

The air bag is upper in the initial state to cover storage tank cover board；The storage tank cover board is actively articulated on procapsid；It is described It is in closed state that storage tank cover board is when in a compressed state in the air bag；

The power module includes battery pack, control circuit, is used for the driving steering module, inflator module, posture and water Press detection module, main system module, position of centre of gravity adjustment module, the power supply of counterweight adjustment module；

The backrest includes harness, backboard, in which: the backboard and the shell are affixed；The harness and the backboard are affixed； The harness is carried for rescuer's carried by shoulders；

The driving steering module includes propulsion electric machine, propeller, rudder piece, steering motor, for according to the main system module Positive and negative rotation direction and the revolving speed of instruction control the rudder piece rotational angle and the propeller of feedback, in which: the propulsion electricity Machine is placed in the back cavity, and output shaft is closed and actively passes through the shell wall of the back cavity, affixed with the propeller；It is described Propeller is for pushing the present apparatus to advance in water；Protective cover is provided with outside the propeller；The protective cover is fixed in described On back casing；

The steering motor is placed in the protective cover upper rear；The rudder piece is set in the protective cover and is located at described The dead astern of propeller；The steering motor is connected by power by deceleration device and the rudder piece, for driving the rudder piece left Right swing, to change direction of advance；

The posture and hydraulic pressure detection module include attitude transducer, the hydraulic biography for being set to the front housing external surface upper half The sensor I and hydrostatic sensor II being symmetrically disposed at left and right sides of rear shell external surface lower half is used for real-time monitoring The variation in water pressure situation of rescuer's attitude parameter in water and its variation tendency, rescuer's hydraulic pressure measuring point；

The main system module include CPU, electric machine speed regulation module and data selector, decoding circuit, relay control patrol It collects, semiconductor switch control logic, signal source, monitor, control hybrid juction, for system mode initialization, state self-test Gas exhaust inspecting, inside zero are filled with alarm, data collection and analysis, state logic judgement, underwater propulsion speed and direction controlling, air bag Component position of centre of gravity is adjusted, counterweight size and its position of centre of gravity are adjusted；The main system module and the driving steering module fill Gas module, posture and hydraulic pressure detection module, position of centre of gravity adjustment module, counterweight adjustment module are electrically connected；

The position of centre of gravity adjustment module, for adjusting relative position of the power module relative to the enclosure interior；

The counterweight adjustment module includes water tank, water injection pump, water injection control valve, gas vent, water injection hole, in which: institute The left and right sides that water tank is symmetrically fixedly arranged on inside the lumen is stated, for storing aqueous, adjusts counterweight size；The water storage Tank offers porting and water injection mouth；The water injection hole is opened in the back casing lower surface and close to the protection At cover；The gas vent is set at the top of the procapsid, is communicated with ambient atmosphere；The water injection control valve is for opening and closing institute State the fluid course of water tank water injection；The water injection hole, water injection pump, water injection control valve, water injection mouth pass through pipeline It is sequentially connected；The porting is connected with the gas vent.

2. a kind of water surface deliverance apparatus according to claim 1, it is characterised in that: in water injection pump and note row Collateral branch goes out the safety return circuit being made of safety valve on fluid course between water control valve.

3. a kind of water surface deliverance apparatus according to claim 1, it is characterised in that: the solenoid directional control valve uses two three Electric change valve and three-position four-way electromagnetic directional valve；Positioned at the procapsid arranged on left and right sides the air bag respectively and respectively One end of corresponding air bag connection tracheae is connected；The other end of the air bag connection tracheae hermetically passes through the procapsid Housing wall extends to the lumen, and via the respective corresponding baroceptor II of the left and right side air bag, then respectively with institute The working hole for stating three-position four-way electromagnetic directional valve is connected；The pressure port of the three-position four-way electromagnetic directional valve with described two three The working hole of electric change valve is connected；The pressure relief opening of the three-position four-way electromagnetic directional valve is communicated with ambient atmosphere；It is described Storage cylinder, baroceptor I, check valve, two-bit triplet solenoid directional control valve pressure port be sequentially connected with by tracheae；Described two Three-way solenoid valve pressure relief opening is communicated with ambient atmosphere.

4. a kind of water surface deliverance apparatus according to claim 1, it is characterised in that: the position of centre of gravity adjustment module uses Screw-type cross slid platform mechanism；Screw-type cross slid platform mechanism is sliding from X to screw-type slide unit regulating mechanism and Y-direction screw-type Platform regulating mechanism stack combinations form, in which: the X to Y-direction screw-type slide unit regulating mechanism respectively include a set of adjusting motor, Guide rail, nut, screw rod, sliding block；Guide rail described in Y-direction is fixed on the interior lining panel of the shell；The X to Y-direction screw rod Two nuts in formula slide unit regulating mechanism are affixed to the guide rail with the battery pack and X respectively；X is adjusted to screw-type slide unit Two sliding blocks in mechanism and Y-direction screw-type slide unit regulating mechanism are fixedly arranged on the battery pack and X on the guide rail respectively；Institute It states X and two adjusts motors respectively in X to the guide rail into screw-type slide unit regulating mechanism and Y-direction screw-type slide unit regulating mechanism It is fixed on guide rail described in body and Y-direction；The adjusting motor drives the screw rod respectively so that be installed in the battery pack and Sliding block of the X on the guide rail is respectively relative to X to guide rail straight reciprocating described in the guide rail and Y-direction.

5. a kind of water surface deliverance apparatus according to claim 1, it is characterised in that: the main system module further includes being lauched Alarm module；The alarm module that is lauched includes condenser type trigger and BEI-DOU position system；The condenser type trigger setting Near the propeller.

6. a kind of water surface deliverance apparatus according to claim 1, it is characterised in that: when rescuer is carried on the back by normal mode both shoulders After the negative carrying water surface deliverance apparatus enters water, under natural stability state, in water posture is most preferably entered, i.e. rescuer reaches left Right balance, while rescuer's neck is exposed the surface in its natural state with upper bit, and plane and horizontal plane where the backboard In 35~45 ° of angles.

7. a kind of water surface deliverance apparatus according to claim 6, it is characterised in that: the air bag has been in the initial state Full compression state.

8. a kind of water surface deliverance apparatus according to claim 1,2,3,4,5,6 or 7, it is characterised in that: the intake and exhaust Mouth is selectively connected with the gas vent or with the storage cylinder by the realization of intake and exhaust switching control valve；Described into row Gas switching control valve is connected between the exhaust passage constituted with the gas vent and adds check valve.

9. a kind of water surface deliverance apparatus according to claim 8, it is characterised in that: the intake and exhaust switching control valve and institute It states and adds air throttle between the inlet channel that storage cylinder connection is constituted.

10. a kind of water surface deliverance apparatus according to claim 9, it is characterised in that: in the water injection control valve and institute It states collateral branch on the fluid course between water tank and goes out the aerial drainage circuit being made of overflow valve；In the back casing lower surface and lean on Discharge orifice is added at the nearly water injection hole, and the discharge orifice is connected with the overflow port of the overflow valve.