CN209870692U - Intelligent offshore lifesaving system - Google Patents

Abstract

The utility model discloses a marine intelligent lifesaving system, which includes a drone and a lifesaving device for searching for persons to be rescued and obtaining the positions of the persons to be rescued; the drone includes an image acquisition module for collecting environmental information, a The positioning module 1 and the signal transmitting module for positioning the position of the unmanned aerial vehicle; the life-saving device includes a life-saving device housing, a power supply module positioned inside the life-saving device housing, a signal receiving module communicating with the signal transmitting module, and a signal receiving module for locating the life-saving device. Positioning module II, inertial navigation module, control module and power module; the overall lifesaving device shell is U-shaped, and its head is equipped with a duckbill-shaped component; the inertial navigation module includes MEMS gyroscope, three-axis accelerometer and geomagnetic induction device. The marine intelligent lifesaving system of the utility model has a high degree of intelligence; the flow resistance of the lifesaving device is small, and the running speed is fast; the inertial navigation technology is adopted, which is not affected by wind and waves, and has good application prospects.

Description

A marine intelligent lifesaving system

technical field

The utility model belongs to the technical field of marine lifesaving equipment, relates to a marine intelligent lifesaving system, in particular to a marine intelligent lifesaving system capable of self-rescue without personnel operation.

Background technique

With the development of society, people pay more and more attention to the marine economy, and the economic development continues to extend from the inland to the ocean. The blue ocean economy has increasingly become the focus of development under the new economic situation. The development of marine economy will be first reflected in seabed ranching, recreational fishery, marine tourism, etc. With the increasing number of people's marine activities, this puts forward higher requirements for marine lifesaving equipment.

At present, searching and rescuing people who fall into the water on the surface of rivers or oceans still mainly rely on rescuers to carry life buoys close to them and carry out manual rescue. The rescue process is difficult and requires a lot of physical strength for lifeguards. . In response to this problem, the industry has also developed surface intelligent lifesaving equipment and intelligent lifebuoy equipment, but these equipment are controlled by the operator through remote control equipment to approach the drowning person. However, in actual operation, due to the limited field of vision of the operator, it is difficult to Precisely and quickly send the life-saving equipment to the vicinity of the drowning person, thereby affecting the progress of the rescue and endangering the personal health of the drowning person.

Therefore, it is of great practical significance to develop a sea intelligent life-saving system that has a fast rescue speed and does not require an operator.

Utility model content

The purpose of the utility model is to overcome the defects of the prior art that the degree of automation is not high and the rescue has certain limitations, and to provide a marine intelligent lifesaving system that has a fast rescue speed and does not require an operator.

In order to achieve the above object, the utility model provides the following technical solutions:

An intelligent lifesaving system at sea, including a drone and a lifesaving device for searching for persons to be rescued and obtaining the location of the persons to be rescued;

Described unmanned aerial vehicle comprises image acquisition module, positioning module 1 and the signal transmitting module that is connected with image acquisition module, positioning module 1 respectively, and described image acquisition module is used for collecting environmental information, and described positioning module 1 is used for positioning unmanned The position of the machine, the signal transmitting module is used to transmit the information obtained by the image acquisition module and the positioning module 1 to the lifesaving device;

The life-saving device includes a life-saving device housing, a power supply module located inside the life-saving device housing, a signal receiving module, a positioning module II, an inertial navigation module, a control module and a power module, and the control module is respectively connected with the signal receiving module, the positioning module II, Inertial navigation module and power module connection;

The shell of the life-saving device is U-shaped as a whole, and the open end of the U-shape is the tail end of the life-saving device. A power module is installed at this end, and a duckbill-shaped assembly is provided at the other end;

The power module is used to provide power for the control module, the signal receiving module, the positioning module II, the inertial navigation module and the power module;

The signal receiving module is used to establish a signal connection with the signal transmitting module to obtain the position information of the drone and the image collected thereof;

The positioning module II is used to locate the position of the lifesaving device;

The control module is used to determine the position of the person to be rescued according to the information sent by the image acquisition module and the positioning module I, and after planning the motion path of the lifesaving device according to the position information of the lifesaving device acquired by the positioning module II, the inertial navigation module and the power module Send instructions;

The inertial navigation module is used to guide the lifesaving device to the position of the person to be rescued, and it includes a MEMS (micro-electromechanical system) gyroscope, a three-axis accelerometer and a geomagnetic sensor;

The power module is used to drive the lifesaving device to the position of the person to be rescued.

The utility model adopts a new U-shaped lifesaving device. Compared with the lifebuoy type lifesaving device commonly used in the prior art, the lifesaving device of the present utility model has small resistance to water movement. The movement speed of the device is fast and can quickly reach the designated position. In addition, the head of the lifesaving device of the present invention is also equipped with a duckbill component. When the lifesaving device moves rapidly in the water, the duckbill component on the head of the lifesaving device will divert the water flow, which can further reduce its flow resistance. At the same time, the utility model selects MEMS (micro-electromechanical system) gyroscope, three-axis accelerometer and geomagnetic sensor to cooperate to provide inertial navigation for the lifesaving device. Compared with the GPS navigation commonly used in the prior art, the inertial navigation of the utility model It is not easily affected by waves and has high navigation accuracy. The utility model uses MEMS gyroscopes. Compared with the fiber optic gyroscopes commonly used in the existing inertial navigation technology, it is small in size and low in cost, and is more suitable for the marine intelligent lifesaving system of the utility model.

The operation process of the marine intelligent lifesaving system of the present utility model is as follows:

In the marine intelligent lifesaving system of the present utility model, the UAV communicates with the lifesaving device in real time, and the UAV sends the position information of the UAV and the image information collected to the lifesaving device in real time, and the control module of the lifesaving device responds to the above signals Perform processing to determine whether the person to be rescued is found. After the person to be rescued is found, the control module first determines the position of the person to be rescued according to the information sent by the image acquisition module and the positioning module I of the drone, and then combines the information obtained by the positioning module II of the lifesaving device. The position information of the life-saving device plans the trajectory of the life-saving device, and sends instructions to the inertial navigation module and the power module, and then the power module operates under the guidance of the inertial navigation module to drive the life-saving device to the position of the person to be rescued.

As a preferred technical solution:

According to the marine intelligent lifesaving system described above, the housing of the lifesaving device is left-right symmetrical, and it is mainly composed of a C-shaped front cabin and two-shaped rear cabins. The shape and structure of the lifesaving device shell of the utility model are not limited thereto. The utility model is only taken as an example. parts.

According to the above-mentioned intelligent lifesaving system at sea, the duckbill-shaped assembly is mainly surrounded by arc-shaped plates I, arc-shaped plates II, arc-shaped plates III and arc-shaped plates IV, and the arc-shaped plate IV is connected with the front cabin The edge of the curved plate I is located above the curved plate III and the curved plate II, the angle between the curved plate I and the horizontal plane is 25°～35°, and the angle between the curved plate III and the horizontal plane is 30° ~35°; the utility model significantly reduces the flow resistance of the lifesaving device by arranging the boards of the duckbill-shaped assembly. The angle between the boards and the horizontal plane can be adjusted within a certain range, but it should not be too large or too small. Failure to do so will affect the flow resistance of the life-saving appliance;

The middle part of the front cabin is provided with a bulge, and both sides of the bulge are provided with a slope surface with an angle of 5° to 8° with the horizontal plane. The slope surface gradually rises along the direction from the front cabin to the rear cabin. The design of the side slope will further reduce the flow resistance of the lifesaving device, and the bulge can also be designed with a certain slope. The slope of the bulge near the head of the lifesaving device is preferably 35° to 45°.

In the marine intelligent lifesaving system described above, the front cabin and the rear cabin are mechanically matched, and the axial and circumferential directions adopt single interference fit, and the remaining surfaces are clearance fit, and the axial direction is also fixed with limit screws. The specific connection form of the front cabin and the rear cabin of the present invention is not limited thereto, and those skilled in the art can choose according to the actual situation.

A kind of marine intelligent lifesaving system as described above, the positioning module I and the positioning module II are GPS (Global Positioning System, Global Positioning System) module, Beidou satellite navigation system (BDS) module or GLONASS satellite navigation system (GLONASS) module. The positioning module of the present invention is not limited thereto, and other devices capable of realizing positioning can be applied to the present invention, as long as the two positioning devices are based on the same system.

According to the above-mentioned marine intelligent lifesaving system, the power module is installed in the rear cabin, which includes a motor, a coupling, a jet pump and a steering gear for adjusting the direction of the jet pump;

The jet pump includes a pump body, a water inlet baffle, a spiral fan blade, a rotating shaft and a water outlet hole;

One end of the coupling is connected to the main shaft of the motor, the other end is connected to one end of the rotating shaft, and the other end of the rotating shaft is interference-connected to the spiral fan blade;

The steering gear is connected to the pump body through a pull rod, and then controls the direction of the water outlet hole;

The pump body is provided with a water inlet hole and a water outlet hole, the water inlet hole is equipped with a water inlet baffle which is interference fit with the water inlet hole, and the water outlet hole is connected with the water outlet hole body. The composition and specific installation location of the power module of the present utility model are not limited thereto. Those skilled in the art can select a suitable power module and its installation location according to actual needs, as long as the lifesaving device can be driven.

In the above-mentioned intelligent lifesaving system at sea, the rear cabin is divided into a sealed cabin and an unsealed cabin along the length direction of the lifesaving device, the sealed cabin is connected to the front cabin, and the surface of the unsealed cabin away from the front cabin is an open surface ;

The motor, steering gear, coupling, pump body and water inlet baffle are located in the sealed cabin, and the steering gear, pump body and sealed cabin are fixed by bolts;

The spiral fan blade and the water outlet body are located in the non-sealed cabin, and the spiral fan blade is a built-in blade to avoid contact between naked leakage and the human body and cause harm to those who fall into the water.

According to the above-mentioned intelligent lifesaving system at sea, the control module is arranged in the front cabin, and it includes an electronic speed governor, a buzzer, an infrared sensing device and an electronic speed governor, a buzzer, and an infrared sensing device. The connected control circuit board, the infrared sensing device is installed in the duckbill-shaped assembly, the electronic governor is connected with the motor, and the control circuit board is connected with the positioning module II, the inertial navigation module, the signal receiving module and the steering gear respectively. After the life-saving device reaches the vicinity of the designated position, the buzzer will beep to remind the person to be rescued of the position of the life-saving device. The structure, installation position and connection relationship with other parts of the control module of the present invention are not limited thereto, and the present invention is only taken as an example. Those skilled in the art can select the components, installation locations and connection relationships of the control module according to the actual situation.

According to the marine intelligent lifesaving system described above, the power supply module, positioning module II and inertial navigation module are all installed in the front cabin. The installation positions of the power supply module, positioning module II and inertial navigation module of the present invention are not limited thereto, those skilled in the art can install them according to the actual situation, but when considering the installation positions, the waterproof performance of the installation positions should be fully considered.

Beneficial effect:

(1) A marine intelligent lifesaving system of the present utility model has a high degree of intelligence, is online 24 hours a day, and has a fast rescue speed;

(2) A kind of maritime intelligent lifesaving system of the present utility model, the flow resistance of the lifesaving device is small, and its running speed is fast;

(3) A marine intelligent lifesaving system of the utility model, the lifesaving device adopts inertial navigation technology, which overcomes the defect that the existing GPS navigation is greatly affected by wind and waves, and uses MEMS gyro as the hardware, which is small in size and low in cost, and has great application prospects .

Description of drawings

Fig. 1 is the structural representation of the lifesaving device of the present utility model;

Fig. 2 is a sectional view of the lifesaving device of the present utility model;

Fig. 3 is a side view of the lifesaving device of the present invention;

Fig. 4 is the schematic diagram of the control module of the present utility model;

Fig. 5 is the schematic diagram of the power module of the present utility model;

Among them, 1-front compartment, 2-rear compartment, 3-duckbill component, 4-protrusion, 5-slope, 6-limit screw, 7-power supply module, 8-control module, 9-signal receiving module , 10-sealed cabin, 11-unsealed cabin, 12-power module, 13-curved plate I, 14-curved plate II, 15-curved plate III, 801-infrared sensor device, 802-buzzer, 803-control circuit board, 804-electronic governor, 1201-coupling, 1202-steering gear, 1203-tie rod, 1204-spiral fan blade, 1205-water outlet, 1206-water outlet body, 1207-pump body, 1208-water inlet baffle, 1209-water inlet hole, 1210-motor, 1211-jet pump.

Detailed ways

Below in conjunction with accompanying drawing, the specific embodiment of the utility model is described further.

A kind of marine intelligent lifesaving system, including unmanned aerial vehicle and the lifesaving device shown in Figure 1, 2 and 3;

The unmanned aerial vehicle comprises an image acquisition module for collecting environmental information, a positioning module 1 for locating the position of the unmanned aerial vehicle and a signal transmission module connected with the image acquisition module and the positioning module 1 respectively;

The life-saving device includes a life-saving device housing, a power supply module 7 located inside the life-saving device housing and responsible for supplying power to other modules, a signal receiving module 9 communicating with the signal transmitting module, a positioning module II, an inertial navigation module, a control module 8 and a power module. Module 12, control module 8 are respectively connected with signal receiving module 9, positioning module II, inertial navigation module and power module 12;

The shell of the life-saving device is U-shaped as a whole, symmetrical to the left and right, and is mainly composed of a C-shaped front cabin 1 and two rear cabins 2. A duckbill-shaped component 3 is installed on the front of the front cabin, and the duckbill-shaped component 3 is mainly composed of Curved plate I 13, curved plate II 14, curved plate III 15 and curved plate IV are enclosed, curved plate IV is attached to the edge of the front cabin, and curved plate I 13 is located between curved plate III 15 and the arc Above the shaped plate II14, the angle between the curved plate I 13 and the horizontal plane is 25°-35°, the angle between the curved plate III 15 and the horizontal plane is 30°-35°, and the middle part of the front cabin 1 is provided with a protrusion 4 , the two sides of the protrusion 4 are provided with a slope 5 with an angle of 5° to 8° with the horizontal plane, the slope gradually rises along the direction from the front cabin 1 to the rear cabin 2, and the rear cabin 2 is divided into sealing parts along the length direction of the life-saving device. The cabin 10 and the non-sealed cabin 11, the sealed cabin 10 is connected with the front cabin 1, the surface of the non-sealed cabin 11 away from the front cabin 1 is an open surface, the front cabin 1 and the rear cabin 2 are mechanically matched, and the axial and circumferential directions are single-sided Interference fit, clearance fit on the remaining surfaces, and a limit screw 6 is fixed in the axial direction;

The inertial navigation module includes MEMS gyroscope, three-axis accelerometer and geomagnetic sensor;

Control module as shown in Figure 4, comprises electronic speed governor 804, buzzer 802, is used to sense whether there is the infrared sensor device 801 of obstacle in front of life-saving device and is connected with electronic speed governor 804, buzzer 802, infrared sensor respectively. The control circuit board 803 connected to the induction device 801, the infrared induction device 801 is installed in the duckbill-shaped component 3, the control circuit board 803 is respectively connected with the positioning module II, MEMS gyroscope, three-axis accelerometer, geomagnetic sensor, signal receiving module 9, Steering gear connection, power supply module 7, signal receiving module 9, positioning module II, inertial navigation module and other components of control module 8 are all installed inside the front cabin 1;

As shown in Figure 5, the power module 12 includes a motor 1210 connected to the electronic governor 804, a coupling 1201, a jet pump 1211, and a steering gear 1202 for adjusting the direction of the jet pump. The jet pump 1211 includes a pump body 1207, a water inlet block Plate 1208, spiral fan blade 1204, rotating shaft and water outlet body 1206, motor 1210, steering gear 1202, shaft coupling 1201, pump body 1207 and water inlet baffle 1208 are located in the sealed cabin 10, wherein coupling 1201 one end and motor 1210 is connected to the main shaft, the other end is connected to one end of the rotating shaft, and the other end of the rotating shaft is connected to the screw blade 1204 in an interference fit. The steering gear 1202 is connected to the pump body 1207 through a pull rod 1203 to control the direction of the water outlet hole body 1206. The steering gear 1202, the pump body 1207 and the sealed cabin 10 are fixed by bolts. The pump body 1207 is provided with a water inlet 1205 and a water outlet 1209. Connected, the spiral fan blade 1204 and the water outlet hole body 1206 are located in the non-sealed cabin 11, and the spiral fan blade is a built-in blade;

Both positioning module I and positioning module II are GPS modules, Beidou satellite navigation system modules or GLONASS satellite navigation system modules.

The operation process of the marine intelligent lifesaving system of the present utility model is as follows:

In the marine intelligent lifesaving system of the present utility model, the UAV communicates with the lifesaving device in real time, and the UAV sends the position information of the UAV and the image information collected to the lifesaving device in real time, and the control module of the lifesaving device responds to the above signals Perform processing to determine whether the person to be rescued is found. After the person to be rescued is found, the control module first determines the position of the person to be rescued according to the information sent by the image acquisition module and the positioning module I of the drone, and then combines the information obtained by the positioning module II of the lifesaving device. The position information of the life-saving device plans the trajectory of the life-saving device, and sends instructions to the inertial navigation module and the power module, and then the power module operates under the guidance of the inertial navigation module, drives the life-saving device to the position of the person to be rescued, and after reaching the designated position , the buzzer will be triggered to remind the person to be rescued of the location of the life-saving device. During driving, the infrared sensing device will sense whether there is an obstacle in front (not the person to be rescued). If there is an obstacle, the infrared sensing device will give the control circuit board After sending a signal, the control circuit board will adjust the trajectory according to the situation, and ensure that the person to be rescued is reached as soon as possible while avoiding obstacles.

The working status of the power module after receiving the command from the control circuit board is as follows:

The control circuit board sends a command, the motor receives the command, the motor starts to rotate, and drives the rotating shaft in the jet pump to rotate through the coupling, and the spiral fan blade installed on the other end of the rotating shaft also rotates accordingly, and the water passes through the water inlet through the water inlet. The plate enters the pump body, and the power of spraying water is realized under the drive of the rotation of the spiral fan blade, and then the water is exported out of the cabin through the water outlet hole through the water outlet hole body, driving the lifesaving device to move. When the infrared sensing device senses an obstacle ahead, the control circuit board sends an instruction to the steering gear, and the steering gear pulls the lever connected to it to move. Pulling the lever back and forth will drive the left and right movement of the outlet hole to adjust the direction of the outlet hole. In the direction of movement, the lifesaving device completes the steering.

It has been verified that the marine intelligent lifesaving system of the utility model has a high degree of intelligence, is online 24 hours a day, and has a fast rescue speed; the flow resistance of the lifesaving device is small, and its operating speed is fast; the inertial navigation technology is adopted, and the navigation accuracy is high, which has great application prospects .

Although the specific implementations of the present utility model have been described above, those skilled in the art should understand that these are only examples, and various modifications can be made to these implementations without departing from the principle and essence of the present utility model. change or modification.

Claims (9)

1. An offshore intelligent lifesaving system is characterized by comprising an unmanned aerial vehicle and a lifesaving device, wherein the unmanned aerial vehicle is used for searching for a person to be rescued and acquiring the position of the person to be rescued;

the unmanned aerial vehicle comprises an image acquisition module, a positioning module I and a signal transmitting module respectively connected with the image acquisition module and the positioning module I, wherein the image acquisition module is used for acquiring environmental information, the positioning module I is used for positioning the position of the unmanned aerial vehicle, and the signal transmitting module is used for transmitting the information acquired by the image acquisition module and the positioning module I to the life-saving device;

the lifesaving device comprises a lifesaving device shell, a power supply module, a signal receiving module, a positioning module II, an inertial navigation module, a control module and a power module, wherein the power supply module, the signal receiving module, the positioning module II, the inertial navigation module and the power module are positioned in the lifesaving device shell;

the shell of the lifesaving device is integrally U-shaped, the open end of the U-shape is the tail end of the lifesaving device, the end is provided with a power module, and the other end is provided with a duckbill-shaped component;

the power supply module is used for providing power for the control module, the signal receiving module, the positioning module II, the inertial navigation module and the power module;

the signal receiving module is used for establishing signal connection with the signal transmitting module to acquire the position information of the unmanned aerial vehicle and the acquired image thereof;

the positioning module II is used for positioning the position of the lifesaving device;

the control module is used for determining the position of a person to be rescued according to the information sent by the image acquisition module and the positioning module I, planning the motion path of the lifesaving device according to the position information of the lifesaving device obtained by the positioning module II, and sending instructions to the inertial navigation module and the power module;

the inertial navigation module is used for guiding the lifesaving device to reach the position of a person to be saved and comprises an MEMS gyroscope, a three-axis accelerometer and a geomagnetic sensor;

the power module is used for driving the life-saving device to reach the position of a person to be saved.

2. An intelligent life-saving system at sea as claimed in claim 1, wherein the life-saving device shell is left-right symmetrical and mainly composed of a C-shaped front cabin and two strip-shaped rear cabins.

3. An intelligent life-saving system at sea according to claim 2, wherein the duckbilled assembly is mainly defined by an arc plate I, an arc plate II, an arc plate III and an arc plate IV, the arc plate IV is attached to the edge of the front cabin, the arc plate I is positioned above the arc plate III and the arc plate II, the included angle between the arc plate I and the horizontal plane is 25-35 degrees, and the included angle between the arc plate III and the horizontal plane is 30-35 degrees;

the middle part of the front cabin is provided with a bulge, two sides of the bulge are provided with slopes with an included angle of 5-8 degrees with the horizontal plane, and the slopes gradually rise along the direction from the front cabin to the rear cabin.

4. An intelligent life-saving system at sea as claimed in claim 3, wherein the front and rear compartments are mechanically engaged, and are axially and circumferentially engaged by a single interference fit, and are otherwise engaged by a clearance fit, and are axially fixed by a limit screw.

5. An intelligent life-saving system at sea as claimed in claim 1, wherein the positioning module I and the positioning module II are each a GPS module, a beidou satellite navigation system module or a glonass satellite navigation system module.

6. An intelligent life-saving system at sea as claimed in claim 1, wherein the power module is installed in the rear cabin and comprises a motor, a coupling, a jet pump and a steering engine for adjusting the direction of the jet pump;

the jet pump comprises a pump body, a water inlet baffle, spiral blades, a rotating shaft and a water outlet hole body;

one end of the coupler is connected with the motor spindle, the other end of the coupler is connected with one end of the rotating shaft, and the other end of the rotating shaft is in interference connection with the spiral fan blade;

the steering engine is connected with the pump body through a pull rod so as to control the direction of the water outlet hole body;

the pump body is provided with a water inlet hole and a water outlet hole, the water inlet hole is provided with a water inlet baffle in interference fit with the water inlet hole, and the water outlet hole is connected with the water outlet hole body.

7. An intelligent life-saving system at sea as claimed in claim 6, wherein the rear chamber is divided into a sealed chamber and a non-sealed chamber along the length direction of the life-saving device, the sealed chamber is connected with the front chamber, and the surface of the non-sealed chamber far away from the front chamber is an open surface;

the motor, the steering engine, the coupler, the pump body and the water inlet baffle are positioned in the sealed cabin, and the steering engine, the pump body and the sealed cabin are fixed through bolts;

the spiral fan blade and the water outlet hole body are positioned in the non-sealed cabin, and the spiral fan blade is a built-in blade.

8. The marine intelligent lifesaving system of claim 7, wherein the control module is arranged in the front cabin and comprises an electronic speed regulator, a buzzer, an infrared sensing device and a control circuit board which is connected with the electronic speed regulator, the buzzer and the infrared sensing device respectively, the infrared sensing device is used for sensing whether an obstacle exists in front of the lifesaving device and is arranged in the duckbill assembly, the electronic speed regulator is connected with the motor, and the control circuit board is connected with the positioning module II, the MEMS gyroscope, the three-axis accelerometer, the geomagnetic sensor, the signal receiving module and the steering engine respectively.

9. The marine intelligent lifesaving system of claim 1 wherein the power module, the positioning module II and the inertial navigation module are all mounted in a front cabin.