NL2030197B1

NL2030197B1 - A water automatic rescue device

Info

Publication number: NL2030197B1
Application number: NL2030197A
Authority: NL
Inventors: Liu Guitao
Original assignee: Univ Yantai
Priority date: 2021-01-11
Filing date: 2021-12-21
Publication date: 2023-03-13
Also published as: NL2030197A; CN214084700U

Abstract

The application of the invention is an automatic rescue device on water, which comprises a main boat and an auxiliary boat connected with the main boat through an iron chain. The main boat is composed of a power system, a steering system and a comprehensive rescue system; The power system comprises a lithium battery, a first motor, a drive shaft and a propeller. The lithium battery is used to supply power to the first motor and drive the drive shaft and propeller to rotate to provide power; The steering system is controlled by an independent steering gear, the steering rudder realizes sensitive steering, and the navigation rudder design is adopted. The equipment has a variety of rescue schemes, which can realize automatic search and rescue under ordinary conditions, and can change from automatic rescue to remote rescue under bad weather. Through the camera, Various rescue schemes are analyzed by ultrasonic and thermal sensors: when the drowning person is found, it will automatically give an alarm first. When the drowning person is still conscious, it will realize self—help rescue through the auxiliary boat and the first—aid kit on the auxiliary boat.

Description

1 AO 21.12.1097 NL

A water automatic rescue device

Technical field

The utility model relates to the technical field of water rescue equipment, in particular to a water automatic rescue device.

Background technology

With the increase of water logging disasters and the occurrence of various natural disasters in China, and the occurrence of various water accidents every summer vacation has caused great harm to people's life and property safety. Affected by weather factors and typhoons, there are many flood disasters in summer in southern China.

About 57000 people drown in China every year, It is equivalent to more than 150 drowning deaths every day. WHO estimates that the actual figure may be twice as high.

Among them, primary school students may account for about 5%., And now during the summer vacation, many rural primary and secondary school students like to go swimming in ponds, reservoirs and other places, and summer accidents continue to occur.

Therefore, a kind of equipment is urgently needed to replace manual patrol and ensure all-weather safety. Moreover, rescue equipment is required to find emergencies and carry out rescue as soon as possible. At present, the rescue devices in the water area mainly include: assault boat, life raft, life buoy, etc. shore rescue mainly depends on ropes, rope throwing devices, etc. The rescue capability of these equipment is very limited. And it does not have life-saving at night, which is dangerous. Shore rescue equipment is generally used as auxiliary rescue.

The current rescue plan generally fails to meet the requirements. First, people cannot send rescue signals to the outside world in time after a dangerous situation occurs.

Second, the rescue equipment is generally clumsy, such as lifeboats and liferafts, which need to be operated by someone, and the operation space is large. Third, timely rescue cannot be carried out. In case of emergency in the water, emergency rescue is required, and the use of ordinary equipment. Fourth, rescue under adverse conditions will also

2 AO 21.12.1097 NL threaten the life safety of rescue workers. The application of automatic rescue device in water can well solve these problems, realize automatic and timely rescue, and have low

Cost.

Content of utility model

The utility model aims to provide an automatic rescue device on water to solve the problems raised in the above background technology.

In order to achieve the above purpose, the utility model provides the following technical scheme:

The utility model relates to an automatic rescue device on water, which comprises a main boat and an auxiliary boat connected with the main boat through an iron chain.

The main boat is composed of a power system, a steering system and a comprehensive rescue system; Among them,

The power system comprises a lithium battery, a first motor, a drive shaft and a propeller. The lithium battery is used to supply power to the first motor and drive the drive shaft and propeller to rotate to provide power;

The steering system is controlled by an independent steering gear, the steering rudder realizes sensitive steering, adopts the navigation rudder design, and stabilizes the hull during navigation;

The comprehensive rescue system is composed of a thermal infrared sensor, an ultrasonic obstacle avoidance sensor, a GPS sensor, a camera and a mechanical arm mechanism to realize the functions of automatic search, rescue and positioning in the water. When finding a drowning person, it first transmits a rescue signal to the outside world and then carries out rescue. The thermal infrared sensor can realize thermal imaging and automatically find the drowning person, The ultrasonic obstacle avoidance sensor can avoid obstacles automatically, and the GPS sensor can realize longitude and latitude positioning, which provides convenience for further rescue. The camera can

3 AO 21.12.1097 NL observe the real-time situation, and use the algorithm for morphological analysis to judge the state of the person falling into the water, so as to prevent misoperation of the person in the water without danger, so as not to affect people's normal water activities, so as to adopt appropriate rescue measures, When it is detected that the drowning person cannot save himself, it will automatically extend the mechanical arm for rescue;

If the person falling into the water is still conscious, let him use the auxiliary boat and mechanical arm to save himself.

As a further scheme of the utility model, water knives are arranged on both sides of the tail of the main boat, LED lights are arranged on the main boat and auxiliary boat, the body of the main boat is yellow, and an alarm light and horn are also arranged on the main boat.

As a further scheme of the utility model, the auxiliary boat is provided with a first-aid kit. When used at night, the main boat and the auxiliary boat will emit light, which is easy to find, and the ship body is equipped with a balancing device and a manual remote control device. 4G dual frequency wireless signal is adopted, which can prevent electromagnetic interference and remote control, realize rescue in harsh environment, and the ship's motor can realize stepless speed change, When the device detects personnel, it can automatically slow down and turn flexibly. The lithium battery can realize low-power early warning, and the standby battery can still realize positioning when the power is exhausted; The device has self seeking power supply and return function, so as to return at low voltage and further reflect its intelligence. The auxiliary boat is a rescue boat, and the first-aid kit on it can be used for preliminary rescue of drowning people. The separate boat body design can make it better rest. At this time, the main boat and auxiliary boat are soft connected, which is not affected by the state of life raft, that is, they will not overturn to the greatest extent, After special modification, the auxiliary boat is equipped with a rigid device on the top to prevent the injury to the drowning personnel in other accidents. This set of life-saving integrated device can wirelessly control the return and manual taxiing. It has a wide range of applications.

This device is designed to carry one or two people.

4 AO 21.12.1097 NL

As a further scheme of the utility model, a cavity is arranged in the main boat, the GPS sensor, lithium battery, first motor and steering gear are arranged in the inner cavity of the main boat, the thermal infrared sensor and ultrasonic obstacle avoidance sensor are arranged in the front of the main boat, and the ultrasonic obstacle avoidance sensor is located above the thermal infrared sensor.

As a further scheme of the utility model, the steering gear is provided with a rudder plate, the rudder plate is connected with a swing rod through a connecting rod, the tail of the swing rod is rotationally connected with the steering plate, the front end of the swing rod is rotationally connected with a fixed rod, and the fixed rod is fixed on the main boat.

As a further scheme of the utility model, the mechanical arm mechanism comprises a fixed seat, a first connecting arm and a second connecting arm, the fixed seat is fixed on the main boat, the top of the fixed seat is rotationally connected with the first connecting arm, the other end of the first connecting arm is rotationally connected with the second connecting arm, and a hydraulic cylinder is arranged in the first connecting arm and the second connecting arm, The top end of the second connecting arm is connected with a support arm, the end of the support arm is provided with a manipulator, and the camera is installed on the upper surface of the support arm.

As a further scheme of the utility model, the manipulator comprises a connecting seat, a second motor is arranged on one side of the connecting seat, the shaft part of the second motor is connected with a first gear, the first gear is rotationally connected with a second gear, the second gear is meshed with the first gear, and a rotating rod is sleeved on the second gear, One end of the rotating rod is fixedly connected with the connecting seat, the other end of the rotating rod is rotationally connected with the side wall of the support arm through a bearing, a third motor is arranged in the manipulator, the shaft part of the third motor is connected with a third gear, the third gear is rotationally connected with two symmetrically distributed fourth gears, and the two fourth gears are meshed with the third gear, The upper surfaces of the two fourth gears are sleeved with a first gear shaft, the upper and lower ends of the first gear shaft are connected with

AO 21.12.1097 NL connecting blocks, the first gear shaft is rotationally connected with the connecting seat through bearings, the two first gear shafts are connected with a second gear shaft through a belt, the second gear shaft is fixedly connected with clamping claws, and the upper and lower ends of the second gear shaft are connected with connecting blocks. 5

Compared with the prior art, the beneficial effects of the utility model are: 1. The equipment has a variety of rescue schemes, which can realize automatic search and rescue under normal conditions. In case of bad weather, it can change from automatic rescue to remote rescue. Various rescue schemes are analyzed through camera, ultrasonic and thermal sensors: when a person falls into the water, it will automatically alarm first, When it is detected that the person falling into the water is still conscious, it can realize self-help rescue through the auxiliary boat and the first-aid kit on the auxiliary boat; When the drowning person loses consciousness, the equipment automatically extends the mechanical arm to help the drowning person escape from danger. The main boat and auxiliary boat can realize double insurance emergency rescue. The power part is powered by the lithium battery to drive the transmission shaft and six blade propeller to rotate to provide power. At the same time, the patrol time and patrol route can be set to ensure the safety of the accident prone area. 2. The Yellow hull of the device can play a warning role, and can remind people to stay away from dangerous waters through alarm lights and Warning horns. The hull automatically lights up at night, which is conducive to patrol and rescue, fundamentally prevent accidents, greatly reduce the cost after large-scale application of the equipment, and can replace people's patrol and search and rescue in dangerous areas, It can also ensure the safety of searchers, so as to ensure the safety of specific areas at a small cost. 3. This product is a fully automatic water rescue device, which can be widely used in various scenes, such as patrol in reservoirs and rivers and emergency rescue. When a drowning person is detected, it can help the rescue personnel to realize the preliminary positioning and preliminary rescue of the drowning person, and the product has a high degree of automation. While automatic search and rescue, it can judge the

6 AO 21.12.1097 NL morphological characteristics of the person in the water by using the camera and programming analysis, so as to judge a variety of complex situations and prevent the wrong rescue of the swimmer under normal conditions, When the drowning person needs rescue, the rescue measures required under different states can also be analyzed.

After the equipment is put into use, it can greatly improve the survival rate of those who fall into the water and prevent the occurrence of tragedy.

Description of drawings

Fig. 1 is a structural diagram of an automatic rescue device on water.

Fig. 2 is a structural diagram of the main boat in an automatic rescue device on water.

Fig. 3 is a structural diagram of the inner cavity of the main boat in an automatic rescue device on water.

Fig. 4 is an exploded view of the main boat in an automatic rescue device on water.

Fig. 5 is a connection diagram of a steering plate and a fixed rod in an automatic rescue device on water.

Fig. 6 1s a structural diagram of a manipulator mechanism in an automatic rescue device on water.

Fig. 7 is a side view of a manipulator in a water automatic rescue device.

Fig. 8 is a structural diagram of a manipulator in an automatic rescue device on water.

Fig. 9 is a schematic diagram of dynamic balance analysis of mechanical arm in an automatic rescue device on water.

In the figure: 1. Main boat; 2. Auxiliary boat; 3. First aid kit; 4. Water jet; 5. Steering plate; 6. Propeller; 7. GPS sensor; 8. Lithium battery; 9. A first motor; 10. Drive shaft; 11. Thermal infrared sensor; 12. Ultrasonic obstacle avoidance sensor; 13. Steering gear; 14. Rudder disc; 15. Connecting rod; 16. Fixed rod; 17. Swing rod; 18. Fixed seat; 19. A first connecting arm; 20. A second connecting arm; 21. Hydraulic cylinder; 22.

Manipulator; 23. Camera; 24. Support arm; 25. Connecting seat; 27. Second motor; 28.

First gear; 29. Second gear; 30. Rotating rod; 31. The third motor; 32. The third gear; 33. The fourth gear; 34. First gear shaft; 35. Belt; 36. Clamping claw; 37. Connecting

7 AO 21.12.1097 NL block: 38. Second gear shaft; 39. Mechanical arm mechanism; 40. Alarm lamp; 41.

Horn.

Specitic embodiments

The technical scheme in the embodiment of the utility model will be clearly and completely described below in combination with the attached drawings in the embodiment of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in the art without creative work belong to the protection scope of the utility model.

Please refer to figures 1 to 9. In the embodiment of the utility model, an automatic rescue device on water comprises a main boat | and an auxiliary boat 2 connected with the main boat 1 through an iron chain. The main boat 1 is composed of a power system, a steering system and a comprehensive rescue system; The power system comprises a lithium battery 8, a first motor 9, a drive shaft 10 and a propeller 6. The lithium battery 8 is used to supply power to the first motor 9 and drive the drive shaft 10 and the propeller 6 to rotate to provide power; The steering system is controlled by an independent steering gear 13, the steering rudder realizes sensitive steering, adopts the navigation rudder design, and stabilizes the hull during navigation; The comprehensive rescue system is composed of a thermal infrared sensor 11, an ultrasonic obstacle avoidance sensor 12, a GPS sensor 7, a camera 23 and a mechanical arm mechanism 39 to realize the functions of automatic search, rescue and positioning in the water. When finding a drowning person, it first transmits a rescue signal to the outside world and then carries out rescue. The thermal imaging can be realized by using the thermal infrared sensor 11, The ultrasonic obstacle avoidance sensor 12 automatically avoids obstacles, and the GPS sensor 7 can realize longitude and latitude positioning, which provides convenience for further rescue. The camera 23 can observe the real-time situation, and use the algorithm for morphological analysis to judge the state of the person falling into the water, so as to prevent misoperation of the person in the water without danger, so as not to affect people's normal water activities, Appropriate rescue

8 AO 21.12.1097 NL measures shall be taken to automatically extend the mechanical arm for rescue when it is detected that the person falling into the water cannot save himself; If the person falling into the water is still conscious, let him use the auxiliary boat and mechanical arm to save himself.

Both sides of the tail of the main boat 1 are provided with a water knife 4, the main boat 1 and the auxiliary boat 2 are provided with LED lights, the hull of the main boat 1 is yellow, and the main boat 1 1s also provided with an alarm light 40 and a horn 41.

The auxiliary boat 2 is provided with a first-aid kit 3. When used at night, the main boat 1 and auxiliary boat 2 will emit light, which is easy to find, and the ship body is equipped with a balancing device and a manual remote control device. 4G dual frequency wireless signal is adopted, which can prevent electromagnetic interference and remote control, realize rescue in harsh environment, and the ship's motor can realize stepless speed change, When the device detects personnel, it can automatically slow down and turn flexibly. The lithium battery 8 can realize low-power early warning, and the standby battery can still realize positioning when the power is exhausted; The device has self seeking power supply and return function, so as to return under low voltage and further reflect its intelligence. The auxiliary boat 2 is a rescue boat, and the first-aid kit 3 on it can be used for the initial rescue of the drowning person. The separate boat body design can make it better rest. At this time, the main boat 1 and auxiliary boat 2 are soft connected, which is not affected by the state of the life raft, that is, they will not overturn to the greatest extent, After special modification, the auxiliary boat 2 is equipped with a rigid device on the top to prevent the injury to the drowning personnel in other accidents. This set of life-saving integrated device can wirelessly control the return and manual taxiing. It has a wide range of applications. This device is designed to carry one to two people.

A cavity is arranged in the main boat 1, the GPS sensor 7, the lithium battery 8, the first motor 9 and the steering gear 13 are arranged in the inner cavity of the main boat 1, the thermal infrared sensor 11 and the ultrasonic obstacle avoidance sensor 12 are arranged

9 AO 21.12.1097 NL in the front of the main boat 1, and the ultrasonic obstacle avoidance sensor 12 is located above the thermal infrared sensor 11.

The steering gear 13 is provided with a rudder plate 14, the rudder plate 14 is connected with a swing rod 17 through a connecting rod 15, the tail of the swing rod 17 is rotationally connected with the steering plate 5, the front end of the swing rod 17 is rotationally connected with a fixed rod 16, and the fixed rod 16 is fixed with the main boat 1.

The mechanical arm mechanism 39 comprises a fixed seat 18, a first connecting arm 19 and a second connecting arm 20, the fixed seat 18 is fixed on the main boat 1, the top end of the fixed seat 18 is rotationally connected with the first connecting arm 19, the other end of the first connecting arm 19 is rotationally connected with the second connecting arm 20, and a hydraulic cylinder 21 is arranged in the first connecting arm 19 and the second connecting arm 20, The top of the second connecting arm 20 is connected with a support arm 24, the end of the support arm 24 is provided with a manipulator 22, and the camera 23 is installed on the upper surface of the support arm 24.

The manipulator 22 comprises a connecting seat 25, one side of the connecting seat 25 is provided with a second motor 27, the shaft part of the second motor 27 is connected with a first gear 28, the first gear 28 is rotationally connected with a second gear 29, the second gear 29 is meshed with the first gear 28, the second gear 29 is sleeved with a rotating rod 30, and one end of the rotating rod 30 is fixedly connected with the connecting seat 25, The other end of the rotating rod 30 is rotationally connected with the side wall of the support arm 24 through a bearing, a third motor 31 is arranged in the manipulator 22, the shaft part of the third motor 31 is connected with a third gear 32, the third gear 32 is rotationally connected with two symmetrically distributed fourth gears 33, and the two fourth gears 33 are meshed with the third gear 32, The upper surface of the two fourth gears 33 is sleeved with a first gear shaft 34, the upper and lower ends of the first gear shaft 34 are connected with a connecting block 37, the first gear shaft 34 is rotationally connected with the connecting seat 25 through a bearing, the two first gear

10 AO 21.12.1097 NL shafts 34 are connected with a second gear shaft 38 through a belt 35, and the second gear shaft 38 is fixedly connected with a clamping claw 36, The upper and lower ends of the second toothed shaft 38 are connected with the connecting block 37.

Among them, the thermal infrared sensor 11 is the key component of the system, which is equivalent to the eyes of the whole system. It is mainly composed of infrared detector, amplification module and signal processing module. According to the different types of infrared detectors used, infrared probes are divided into thermal and photon.

Thermistor infrared detector is the core component of thermistor infrared probe. The main function of infrared probe 1s to convert the thermal radiation signal into electrical signal and transmit it to the back-end processing part. According to different equipment models and function configurations, the selected probe types, detection angles, signal processing and other aspects are different.

The thermopile infrared detector is easy to manufacture, compatible with the integrated circuit process, and the signal post-processing circuit is relatively simple, which has the potential of low cost. Therefore, the application here can well complete the corresponding functions and reduce the cost.

The tracking and positioning function is realized through the GPS compass of the ship.

First, GPS will transmit its position to the outside world at an appropriate frequency.

GPS will send the position to the mobile phone or computer of the monitoring personnel, so as to realize tracking and positioning, so as to assist the personnel to judge the damaged position and rescue in time. The positioning accuracy provided by a single

GPS system is better than 25m. In order to obtain higher positioning accuracy, differential GPS technology is usually adopted: a GPS receiver is placed on the reference station for observation. According to the known precise coordinates of the reference station and the coordinates calculated by the GPS receiver, the correction number of the real coordinates and the coordinates obtained by GPS positioning is calculated, and the reference station sends this data in real time. While GPS observation, the user receiver also receives the correction number sent by the reference station, and corrects its positioning results, so as to improve the positioning accuracy.

11 AO 21.12.1097 NL

The control circuit board receives the control signal from the signal line to control the rotation of the motor, and the motor drives the main shaft to the output rudder plate. The output shaft of the steering gear is connected with the position feedback potentiometer.

While the steering wheel rotates, it drives the position feedback potentiometer. The potentiometer will output a voltage signal to the control circuit board for feedback, and then the control circuit board determines the rotation direction and speed of the motor according to the position, so as to achieve the target stop. Its work flow is: control signal — control circuit board — motor rotation — spindle rotation — rudder disc rotation — position feedback potentiometer — control circuit board feedback flow, so as to give full play to the due performance of the steering gear.

The control signal period of the steering gear is a 20ms pulse width modulation (PWM) signal, in which the pulse width ranges from 0.5-2.5ms and the corresponding rudder disc position 1s 0-180 degrees, which changes linearly. In other words, when a certain pulse width is provided to it, its output shaft will maintain a certain corresponding angle. No matter how the external torque changes, it will not change the output angle to a new corresponding position until a pulse signal of another width is provided, as shown in the figure. There is a reference circuit inside the steering gear, which generates a reference signal with a period of 20ms and a width of 1.5ms. There is a comparator, which compares the external signal with the reference signal to judge the direction and size, so as to produce the rotation signal of the motor. It can be seen that the steering gear is a position servo driver, and the rotation range can not exceed 180 degrees. It is suitable for those drivers that need to change and can be maintained.

The power system of the unit is provided by 132s1-1 motor, which is driven by a single motor and controlled by speed and steering. Propeller is a necessary propulsion component in shipbuilding industry. Its design accuracy will directly affect the propulsion speed of the ship, and it provides thrust for the forward of the ship.

The power system is the basic part of the hands and feet of the device, that is, the steering system and the comprehensive rescue system. Its task is not only to transmit

12 AO 21.12.1097 NL power to the robot, but also to provide accurate motion positioning and flexible operation. This design adopts DC motor, which can rotate by connecting DC motor with

DC power supply.

Selection of propeller: 1) Propeller diameter: firstly, the relationship with tail shape and draft is considered.

When drawing the hull line of the main boat, the axis position and possible maximum diameter of the propeller have been basically determined. From the tail shape and draft conditions, the propeller diameter of ordinary ships is about the following range: single propeller d = (0.7 ~ 0.8) TW, where TW is the stern draft when the ship is fully loaded.

As long as the propeller diameter does not exceed the limitations of tail shape and draft conditions, the propeller diameter with the best open water efficiency can be obtained through the design map. However, due to the influence of the non-uniformity of wake behind the ship, the optimal diameter of open water is slightly different from that behind the ship. With the degree of non-uniformity of wake, the optimal diameter should be reduced in varying degrees: the non-uniformity of wake at the position of single propeller is large, and the optimal diameter should be reduced by 3 ~ 5%. To sum up, the propeller diameter selected here is 0.5m 2) Disk ratio: if the diameter, pitch, speed and number of blades of the propeller are equal, the thrust and torque increase with the increase of disk ratio. When the disk ratio is large, the effect of the wing grid is very strong, the friction resistance of the blade is also large. and the efficiency of the propeller is low. When the disk ratio is too small, the blade thickness is bound to increase due to strength requirements. At this time, the thrust per unit area of the blade is large, cavitation is easy to occur, and vortex resistance will be increased, resulting in reduced efficiency. Therefore, the minimum disk surface ratio without cavitation is selected in the design of propeller. 3) Blade contour shape: the blade contour can affect the efficiency and cavitation of the propeller. Generally, the change of blade shape has little effect on the efficiency of propeller.

13 AO 21.12.1097 NL 4) Blade number: the selection of propeller blade number shall be considered according to ship type, draft, propulsion performance, vibration and cavitation. It is generally believed that if the diameter and spread area of the propeller are the same, the efficiency of those with fewer blades is slightly higher, and the efficiency of those with more blades is often slightly lower due to the greater interference between blades. More leaves are beneficial to reduce vibration, and less leaves are beneficial to avoid cavitation. So choose a 6-blade propeller. 5) Propeller speed: if the propeller speed is lower, the diameter can be larger and the efficiency will be higher. However, for the main engine, if the speed is higher, the machine efficiency is higher, and the weight and size of the main engine can also be reduced. It can be seen that the requirements of propeller speed and main engine speed are opposite and connected with each other. Therefore, it is necessary to match the speed of the propeller with that of the main engine. However, in the propeller design of general civil ships, the main engine is often compared and selected from several marine main engines with certain power. In more cases, there is a main engine before ship design. Therefore, when designing a propeller, the speed of the propeller is often given.

The speed selected here is 3000r / min.

As the main actuator of saving people, the mechanical performance of the manipulator determines the reliability of saving people. In order to ensure its reliability, it is necessary to analyze its mechanical structure. As the most widely used quality analysis method in modern engineering field, the reliability of finite element analysis has been widely verified. Economic analysis is the basic modal analysis of mechanical structure design. As a modern method of studying structural dynamics, it is widely used in the field of engineering.

Firstly, the manipulator is made of materials, in which the connecting part of the manipulator and the clamping hand are made of stainless steel, the elastic modulus is 193gpa, the Poisson's ratio is 0.31, the density is 7750kg / m3, and other parts are equivalent to cemented carbide. Elastic modulus 71gpa, Poisson's ratio 0.33 density, 2770kg / m3 contact surface. Poisson's ratio 0.33 density, 2770kg / m3, bonded and No

14 AO 21.12.1097 NL

Separation two face constraint definitions. Because there are many components of the manipulator and the shape is simple after equivalent simplification, mechanical can be selected, and the mesh size is 20 for automatic mesh generation. Then data generation is carried out to generate stress and strain data. Through the analysis of finite element software, the mechanical characteristics of the overall system of the manipulator are obtained, and the rationality of the overall structure of the manipulator is verified. At the same time, the camera on the manipulator can real-time vision technology, which mainly involves the real-time collection, preprocessing, feature extraction, pattern recognition and shape analysis of visual information. Prevent misoperation and better rescue operation.

Buoyancy balance analysis:

Analyze the critical state, that is, when the extension degree of the manipulator is maximum, calculate the overturning moment. First, convert the specific problem into a mechanical model, as shown in Figure 9,

Calculated torque M=FL=100%9.8%{(2.5/1.414)+2]=3692.67Nm,

To keep the hull from overturning, it needs to be balanced by the restoring moment generated by the relative position of the floating center and the center of mass. By simulating the situation in the water, the geometric center and floating center position of the draft volume are found. After preliminary calculation, the restoring torque is greater than the torque M, it can be preliminarily determined that the ship does not overturn at this time, and the balance state of the ship can be realized.

The auxiliary boat is a rescue boat. The first aid kit on it can be used for the initial rescue of the drowning person. The separate boat body design is conducive to better rest. At this time, the soft connection of the main boat and auxiliary boat is not affected by the state of the life raft, that is, it is kept to the maximum extent. After special modification, the auxiliary boat 1s equipped with a rigid device on the top to prevent the injury to the drowning personnel in other accidents. This set of life-saving integrated device can wirelessly control the return and manual taxiing return, and has a wide range

15 AO 21.12.1097 NL of applications. The device is designed to carry one or two people. Enough for most situations.

The above is only the preferred specific embodiment of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field shall make equivalent replacement or change according to the technical scheme of the utility model and the concept of the utility model within the technical scope disclosed by the utility model, Should be covered by the protection scope of the utility model.

Claims

16 AO 21.12.1097 EN Conclusions

1. An automatic water rescue device, comprising a main boat (1) and an auxiliary boat (2) connected to the main boat (1) through an iron chain, characterized in that the main boat (1) consists of a power system, a steering system and an extensive rescue system; including the power system comprising a lithium battery (8), a first motor (9), a drive shaft (10) and a propeller (6) using the lithium battery (8) to supply power to the first motor (9) and to drive the drive shaft (10) and rotate the propeller (6) to provide energy; wherein the steering system uses an independent steering device (13) to operate the steering rudder to realize sensitive steering, and uses a navigation rudder design to stabilize the hull during navigation; wherein the comprehensive rescue system consists of a thermal infrared sensor (11), an ultrasonic obstacle avoidance sensor (12), a GPS sensor (7), a camera (23) and a mechanical arm mechanism (39), which performs the functions of automatic search , rescue and positioning in the water, whereby if a person is found who has fallen into the water, it first sends a rescue signal to the outer boundary, and then it performs the rescue.

An automatic water rescue device according to claim 1, characterized in that both sides of the tail of the main boat (1) are provided with a water blade (4), the main boat (1) and the auxiliary boat (2) being provided with of LED lights, the body of the main boat (1) is yellow, and the main boat (1) is also equipped with an alarm light (40) and a horn (41).

An automatic water rescue device according to claim 1, characterized in that the additional boat (2) is provided with a first aid kit (3).

An automatic water rescue device according to claim 1, characterized in that a cavity is placed in the main boat (1), the GPS sensor (7), lithium battery (8), first motor (9) and steering device (13) are placed are in the inner cavity of the

17 AO 21.12.1097 EN main boat (1), and the thermal infrared sensor (11) and ultrasonic obstacle avoidance sensor (12) are placed in the front of the main boat (1), with the ultrasonic obstacle avoidance sensor (12) located above the thermal infrared sensor (11).

An automatic water rescue device according to claim 1, characterized in that the steering device (13) includes a rudder plate (14), the rudder plate (14) being connected to a swing bar (17) through a connecting bar (15), the tail of the rocker bar (17) is pivotally connected to the steering plate (5), and the front of the rocker bar (17) is pivotally connected to a fixed bar (16), with the fixed bar (16) attached to the main boat (1 ) is attached.

An automatic water rescue apparatus according to claim 1, characterized in that the mechanical arm mechanism (39) comprises a fixed seat (18), a first connecting arm (19) and a second connecting arm (20), the fixed seat ( 18) is attached to the main boat (1), and the top of the fixed seat (18) is pivotally connected to the first connecting arm (19) and the first connecting arm (19) to the other end of the second connecting arm ( 20) is rotatably connected, and a hydraulic cylinder (21) is placed in the first connecting arm (19) and the second connecting arm (20), the top of the second connecting arm (20) being connected to a support arm (24 ), the end of the support arm (24) is provided with a manipulator (22), and the camera (23) is installed on the top surface of the support arm (24).

An automatic water rescue apparatus according to claim 6, characterized in that the manipulator (22) comprises a connecting seat (25), one side of the connecting seat (25) being provided with a second motor (27), the shaft portion of the second motor (27) is connected to a first gear (28), the first gear (28) is rotatably connected to a second gear (29), and the second gear (29) and the first gear (28) mesh , the second gear (29) being encased in a rotating rod (30), one end of the rotating rod (30) being rigidly connected to the connecting seat (25), the other end of the rotating

bar (30) is pivotally connected to the side wall of the support arm (24) through a bearing, the manipulator (22) being provided with a third motor (31), and with the third motor (31) the shaft part is connected to a third gear (32), the third gear (32) being rotatably connected to two symmetrically distributed fourth gears (33), the two fourth gears (33) and the third gear (32) meshing wherein the upper surface of the two fourth gears (33) is enclosed by a first shaft gear (34), and the upper and lower ends of the first shaft gear (34) are connected with connecting blocks (37), the first shaft gear (34) is rotatably connected to the connecting seat (25) via a bearing, and the two first gear shafts (34) are connected to a second shaft gear (38) via a belt (35), the claw clamp (36 ) is fixedly connected to the second shaft gear (38), and the upper and lower ends of the second shaft gear (38) are connected to the connecting block (37).