CN215043563U

CN215043563U - Rescue robot on water

Info

Publication number: CN215043563U
Application number: CN202120567617.7U
Authority: CN
Inventors: 汤伟; 栾一多; 刘嫣
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-12-07
Anticipated expiration: 2031-03-19

Abstract

The utility model discloses a rescue robot on water, including machine body, power supply system and core controller, core controller respectively with sensor system and actuating system electric connection, the sensor system includes vision module and navigation orientation module, actuating system includes motor drive and life buoy hasp dish, the sensor system is still including keeping away the barrier module. This rescue robot on water can realize the quick accurate detection and the acquisition position of the person that falls into water, carries out the fastest route planning and discerns the barrier along the way, arrives the person that falls into water side fast, and mechanical structure rotates, and the life buoy falls down, realizes the rescue, still possesses remote control mode and automatic alarm function, improves the rescue success rate, and the power of robot is provided by solar energy power supply system, accomplishes green.

Description

Rescue robot on water

Technical Field

The utility model relates to a rescue technical field on water specifically is a rescue robot on water.

Background

Drowning is a condition in which a person is submerged in water or other liquid medium and is injured. The water fills respiratory tract and alveoli to cause oxygen deficiency asphyxia, and the water absorbed into the blood circulation causes the change of blood osmotic pressure, electrolyte disorder and tissue damage; eventually causing respiratory arrest and cardiac arrest and death.

The method shows that people need to rescue drowning people on water in life, namely rescue measures are taken for drowning people and non-drowning people, and when the drowning people in outdoor water area rescue, a water rescue robot can be adopted.

However, most of the existing water rescue robots operate and control the robot to reach the side of the person falling into the water by people after the person falling into the water is found, and a long time is consumed from the finding of the person falling into the water to the rescue.

Therefore, the utility model discloses a rescue robot on water has been researched and developed.

SUMMERY OF THE UTILITY MODEL

Low efficiency, recognition accuracy are poor among the prior art, and do not consider influence factors such as lake surface obstacle, and life saving equipment adopts the jettison device transmission simultaneously, and the placement is uncertain, and unreliable, can't satisfy the not enough of automatic quick rescue, the utility model provides a rescue robot on water can realize the quick accurate detection and the acquisition position to the person that falls into water, carries out the fastest path planning and discerns the barrier along the way, reachs the person that falls into water physically fast, and mechanical structure rotates, and the life buoy falls, realizes the rescue, and this robot still possesses remote control mode and automatic alarm function, improves the rescue success rate, and the power of robot is provided by solar energy power supply system, accomplishes green, has solved the problem that proposes in the above-mentioned background art.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a rescue robot on water, includes machine body, power supply system and core controller, core controller respectively with sensor system and actuating system electric connection, the sensor system includes vision module and navigation orientation module, actuating system includes motor drive and life buoy buckle dish.

Optionally, the sensor system further includes an obstacle avoidance module.

Optionally, the execution system further comprises an alarm system.

Optionally, the power supply system includes two storage batteries and a solar panel.

Optionally, the navigation positioning module, the core controller, the motor driving device, the alarm system and the visual module are all arranged in a master controller integrated box inside the machine body.

Optionally, two sides of the bottom of the machine body are provided with buoyancy devices.

Optionally, the motor driving device includes a dc motor and a disc motor, an output end of the dc motor is connected with the water wheel through a coupling, an output end of the disc motor is connected with the lifebuoy buckle disc, and the lifebuoy is arranged inside the lifebuoy buckle disc.

Optionally, the outer surface of the machine body is provided with a PVC casing.

Optionally, a middle seat is arranged below the disc motor.

Optionally, a fixing column is arranged on one side of the lifebuoy buckle disc.

The utility model provides a rescue robot on water possesses following beneficial effect:

1. this rescue robot on water, after the vision module detects personnel fall into water, robot alarm module sends the police dispatch newspaper, and dial the warning phone, combine binocular stereo vision to acquire and feed back the position information of personnel and the barrier that fall into water again, use artificial potential field algorithm to carry out the route planning, master controller accuse power system work drive robot gos forward, carry out rescue work, and then have automatic cruise, can in time discover the person that falls into water, detect the fast advantage, simultaneously through the position information analysis to personnel and the barrier that fall into water, automatic obstacle avoidance takes the optimum route, high efficiency, and adopt the hybrid of solar energy and battery, energy saving and environmental protection.

2. According to the water rescue robot, through the arrangement of the motor driving device and the lifebuoy buckle disc, when the water rescue robot reaches a position near a person falling into the water, the motor driving device drives the disc type motor to drive the lifebuoy buckle disc to rotate, the lifebuoy falls down by means of dead weight, the lifebuoy is conveniently released to the person falling into the water, and accidents caused by the fact that the lifebuoy is not released in time are avoided.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the system flow framework of the present invention;

fig. 3 is a schematic view of the bottom view structure of the present invention;

fig. 4 is a schematic view of a three-dimensional structure of the lifebuoy buckle disc of the utility model;

fig. 5 is a schematic view of the lifebuoy buckle disk model of the utility model;

fig. 6 is a schematic view of the life buoy of the present invention falling.

In the figure: 1. a navigation positioning module; 2. a core controller; 3. a motor drive device; 4. an alarm system; 5. a solar panel; 6. a PVC housing; 7. a water wheel; 8. a buoyancy device; 9. a life buoy; 10. Fixing a column; 11. a disc motor; 12. a middle seat; 13. an obstacle avoidance module; 14. a vision module; 15. A storage battery; 16. a coupling; 17. a direct current motor; 18. a master controller integration box; 19. the life buoy buckle plate.

Detailed Description

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

Referring to fig. 1 to 6, the present invention provides a technical solution: a water rescue robot comprises a robot body, a power supply system and a core controller 2, wherein the core controller 2 is electrically connected with a sensor system and an execution system respectively, the sensor system comprises a vision module 14 and a navigation positioning module 1, the execution system comprises a motor driving device 3 and a life ring locking disc 19, and the sensor system is responsible for detecting people falling into water and positioning positions and obstacles;

the execution system is responsible for moving and rescuing the robot;

core controller 2 can be connected with the remote control module, and staff's accessible WIFI module and cell-phone APP are to its remote control.

The utility model discloses in, sensor system is still including keeping away barrier module 13.

The utility model discloses in, actuating system still includes alarm system 4.

The utility model discloses in, power supply system includes two batteries 15 and solar cell panel 5, and battery 15's voltage is 24V for each device and the 2 power supplies of core control ware in for sensor system, the actuating system, power module sets up in the top of machine body.

The utility model discloses in, navigation orientation module 1, core controller 2, motor drive 3, alarm system 4 and vision module 14 all set up in the integrated box 18 of the inside master controller of machine body.

The utility model discloses in, the both sides of the bottom of machine body all are provided with buoyant device 8, and buoyant device 8 makes machine body float in the surface of water.

In the utility model, the motor driving device 3 comprises a direct current motor 17 and a disc motor 11, the output end of the direct current motor 17 is connected with the water wheel 7 through a coupler 16, the output end of the disc motor 11 is connected with a life buoy buckle disc 19, a life buoy 9 is arranged inside the life buoy buckle disc 19, and the direct current motor 17 drives the coupler 16 to rotate to drive the water wheel 7 to move;

the motor driving device 3 drives the disc type motor 11 to drive the lifebuoy buckle disc 19 to rotate 180 degrees, and the lifebuoy 9 falls down by means of dead weight to realize rescue.

The utility model discloses in, the surface of machine body is provided with PVC shell 6, has good water proof function.

The utility model discloses in, the below of disc motor 11 is provided with middle seat 12, and middle seat 12 supports disc motor 11.

The utility model discloses in, one side of life buoy buckle dish 19 is provided with fixed column 10, and fixed column 10 supports life buoy buckle dish 19.

The navigation positioning module 1 selects a dual-mode module ATGM336H supporting Beidou GPS;

the core controller 2 selects raspberry pi 4B, CPU1.5GHZ quad-core 64 bits;

the motor driving device 3 selects an IR2101 driving circuit and a double H bridge L298N logic circuit board;

the alarm system 4 adopts a cloud alarm module with a sim card;

the obstacle avoidance module is an US-100 ultrasonic ranging module;

the vision module adopts a raspberry group camera based on an OV5647 photosensitive chip.

In summary, the water rescue robot has the following working principle:

the vision module 14 monitors the water surface, when a person falling into water is detected, the raspberry group 4B core controller 2 controls the robot to move forward towards the person falling into water and controls the alarm system 4 to work, the barriers on the water surface are detected through the navigation positioning module 1 and the obstacle avoidance module 13, an optimal path for avoiding the barriers is planned, the core controller 2 controls the motor driving device 3, the motor driving device 3 drives the direct current motor 17, the driving shaft coupling 16 drives the four water wheels 7 of the robot to work, the robot is moved forward, when the robot is close to the person falling into water, the motor driving device 3 drives the disc motor 11, the life buoy buckle disc 19 is driven to rotate 180 degrees, and the life buoy 9 falls by means of self weight to realize rescue.

The above description is only the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the concept of the present invention within the technical scope disclosed in the present invention.

Claims

1. The utility model provides a rescue robot on water, includes machine body, power supply system and core controller, its characterized in that: the core controller is respectively and electrically connected with the sensor system and the execution system, the sensor system comprises a vision module and a navigation positioning module, and the execution system comprises a motor driving device and a life buoy lock catch disc.

2. A water rescue robot as claimed in claim 1, wherein: the sensor system further comprises an obstacle avoidance module.

3. A water rescue robot as claimed in claim 1, wherein: the execution system further comprises an alarm system.

4. A water rescue robot as claimed in claim 1, wherein: the power supply system comprises two storage batteries and a solar panel.

5. A water rescue robot as claimed in claim 1, wherein: the navigation positioning module, the core controller, the motor driving device, the alarm system and the visual module are all arranged in a main controller integrated box inside the machine body.

6. A water rescue robot as claimed in claim 1, wherein: buoyancy devices are arranged on two sides of the bottom of the machine body.

7. A water rescue robot as claimed in claim 1, wherein: the motor driving device comprises a direct current motor and a disc type motor, the output end of the direct current motor is connected with a water wheel through a coupler, the output end of the disc type motor is connected with a lifebuoy buckle disc, and a lifebuoy is arranged inside the lifebuoy buckle disc.

8. A water rescue robot as claimed in claim 1, wherein: the outer surface of the machine body is provided with a PVC shell.

9. The water rescue robot of claim 7, wherein: and a middle seat is arranged below the disc type motor.

10. The water rescue robot of claim 7, wherein: one side of the lifebuoy buckle disc is provided with a fixing column.