WO2022037042A1 - 适用于水上急救机器人浮力约束装置、急救机器人及工作方法 - Google Patents

适用于水上急救机器人浮力约束装置、急救机器人及工作方法 Download PDF

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Publication number
WO2022037042A1
WO2022037042A1 PCT/CN2021/080663 CN2021080663W WO2022037042A1 WO 2022037042 A1 WO2022037042 A1 WO 2022037042A1 CN 2021080663 W CN2021080663 W CN 2021080663W WO 2022037042 A1 WO2022037042 A1 WO 2022037042A1
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WIPO (PCT)
Prior art keywords
robot
water
buoyancy
fixedly installed
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/080663
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English (en)
French (fr)
Inventor
王积相
鲍锦超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Lingque Intelligent Manufacturing Co Ltd
Original Assignee
Nanjing Lingque Intelligent Manufacturing Co Ltd
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Filing date
Publication date
Application filed by Nanjing Lingque Intelligent Manufacturing Co Ltd filed Critical Nanjing Lingque Intelligent Manufacturing Co Ltd
Publication of WO2022037042A1 publication Critical patent/WO2022037042A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
    • B63C9/18—Inflatable equipment characterised by the gas-generating or inflation device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
    • B63C9/20—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like characterised by signalling means, e.g. lights

Definitions

  • the invention belongs to the field of robot equipment, in particular to a buoyancy restraint device, an emergency robot and a working method suitable for a water emergency robot.
  • the first aid robot advances to the drowning person, and the instantaneous impact force of nitrogen released after the drowning person grabs the first aid robot is too large, which can easily cause the drowning person to fall off the first aid robot and cause the possibility of first aid failure.
  • buoyancy restraint device an emergency robot and a working method suitable for a water emergency robot, so as to solve the above problems existing in the prior art.
  • the floating airbag device includes an inflation triggering device arranged above the balance wing, and the inflation is triggered when the top of the balance wing is submerged by water.
  • the floating airbag device includes: four clips fixedly installed on the bottom of the balance wing, restraint straps fixedly connected to the hooks at both ends and clipped on the clips, opened on the balance wing There are a plurality of installation openings for the trigger device on the top, an airbag storage slot fixedly installed at the bottom of the trigger device, and an airbag clamped in the airbag storage slot;
  • the restraint belt is made of elastic material and is arranged in an X-shaped structure, and the airbags are arranged in an X-shaped structure.
  • the sleeve is attached to the outside of the inflatable trigger device.
  • the gas-filled triggering device is inserted into a sleeve on the installation port of the balance wing triggering device, a solid salt silo fixedly installed in the sleeve, a compression spring arranged on the top of the solid salt silo, and a compression spring connected to the
  • the other end of the compressed gas tank, the connecting end of the compression spring and the solid salt silo is provided with a top plug that fits with the inner wall of the sleeve; the sleeve extends out of the outer side of the balance wing and the top is a constricted cone structure, and then the solid salt
  • the compression spring drives the top plug to advance toward the extension end of the sleeve, and the compression spring drives the compressed gas tank at the other end to open during the process of advancing, and the compressed gas fills the airbag instantly.
  • the robot body includes: a drive cabin, balance wings symmetrically installed on both sides of the drive cabin, a power device arranged in the drive cabin, a buoyancy detection and control device fixedly installed around the drive cabin, and a multi-function device fixedly installed on the top of the drive cabin. Life-saving throwing device in each direction.
  • control system further includes: a user wristband, a locator and a controller are arranged in the user wristband, and an emergency button is arranged on the user wristband.
  • the outside of the drive cabin is provided with a waterproof casing
  • the outer side of the waterproof casing is provided with a solar power panel and a battery to be electrically connected to reduce power consumption and prolong battery life.
  • the power device is fixedly mounted on a drive motor in the drive cabin, and a propeller that is symmetrically inserted at the bottom of the drive cabin and is drive-connected to the drive motor, and is drive-connected to the drive device at the output end of the drive motor;
  • the outside of the propulsion paddle is provided with a water inlet pressurizing cylinder, and the propulsion paddle comprises a rotating shaft sleeved in the water feeding pressurizing cylinder and a rotating paddle fixedly connected to the rotating shaft;
  • the transmission device includes: fixedly installed on the bottom of the robot
  • the waterproof cover is sleeved in the waterproof cover and symmetrically arranged on the transmission shaft on both sides of the output shaft of the drive motor, the first tapered wheel fixedly installed at the output shaft end of the driving motor, and the second tapered wheel fixedly installed at both ends of the transmission shaft and the third conical wheel, and the fourth conical wheel and the fifth conical wheel that are fixedly connected to the other end of the transmission shaft;
  • the power of the driving motor drives the two sets of propellers at the bottom of the robot to rotate through the conical wheel on the transmission shaft. It is discharged outward at a high speed, and the water flow discharged from the water inlet booster cylinder reacts to the robot and pushes the robot to move forward on the water.
  • the robot body controller is electrically coupled with the positioning system and the communication device, and a jacking device and a rotor mechanism fixedly installed on one side of the jacking device are symmetrically arranged on both sides of the top of the drive cabin; the There is a receiving groove under the rotor mechanism, the jacking device is installed in the receiving groove, the jacking device is a miniature hydraulic lifting rod, the rotor mechanism is multiple and matches the number of the receiving groove, the rotor The mechanism is fixedly installed at the output end of the miniature hydraulic lift rod, and the rotor mechanism includes: a drive motor, a rotating shaft connected to the output end of the drive motor, and a rotating blade connected to one end of the rotating shaft; the output end of the hydraulic lift rod is provided with A bearing device is plugged into the rotating shaft, and the micro-hydraulic lifting rod and the drive motor are electrically connected to the controller, and then under the command of the control system, the robot controller controls the micro-hydraulic lifting rod to lift up and eject
  • a battery pack corresponding to the drive motor is also provided in the drive compartment, and the drive motor is electrically connected to each assigned battery pack.
  • the life-saving throwing devices are in four groups, including a mounting seat fixedly installed in the drive cabin, a support device fixedly installed on the mounting seat and a compressed gas storage tank, which is connected to one end of the gas storage tank And the launching device fixed on the support device, and the projectile body arranged at the output end of the launching device;
  • the launching device comprises: a gas pipe connected to the air outlet of the gas storage tank, a trigger arranged on the gas pipe, a connecting rod arranged on the trigger, and a servo motor hinged on the other end of the connecting rod;
  • the output end of the launching device is a throwing tube integrally connected to the gas outlet end of the trachea, and the projectile body is a compressed lifebuoy embedded in the throwing tube and a traction rope fixedly connected to the bottom of the throwing tube and connected to the compressed lifebuoy;
  • One end of the compressed lifebuoy is provided with an inflatable trigger device, and the inflatable trigger device is inserted into the compressed lifebuoy.
  • the water area and direction of the water emergency robot are set to multiple, and a special parking stand with relay function is set up in a swimming pool or pool with a large area. For customers entering the swimming pool, a user bracelet is issued. When the customer finds that he has Press the emergency button when drowning or accidentally entering deep water;
  • the distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband, and controls the robot closest to the drowning person to go to the occurrence point;
  • the drive motor drives the rotating blade to rotate according to the command of the controller, and then drives a buoyancy restraint device suitable for the water rescue robot to fly to the vicinity of the drowning person, and controls the corresponding life-saving throwing device to be turned on according to the direction of the drowning person. throw the life-saving airbag;
  • the buoyancy sensor detects the buoyancy of the robot and sends it to the control system, and the control system communicates with multiple robots through the network;
  • the buoyancy device of the present invention has the following advantages:
  • the light weight can be placed on small boats and water drones to achieve rapid airbag charging, thereby increasing the buoyancy to meet the operation of small robots applied to the water surface to increase the load capacity.
  • the solid salt silo is used as the trigger medium, which is installed and exposed on the surface of the balance wing.
  • the solid salt dissolves in the water to trigger the release of compressed gas, which is stronger than the traditional gunpowder to release the impact force of compressed gas. It is small, which can prevent the first aid from deviation due to the impact force.
  • the device When the inflatable trigger device is set on the emergency robot, the device is in a compressed state, which does not increase the resistance of the emergency robot when flying on the water, thereby reducing the flight power consumption and increasing the endurance.
  • FIG. 1 is a schematic structural diagram of a buoyancy restraint device for a water emergency robot according to the present invention.
  • FIG. 2 is a schematic structural diagram of an emergency robot of the present invention.
  • FIG. 3 is a schematic view of the structure of the restraint belt of the present invention.
  • FIG. 4 is a schematic view of the structure of the floating airbag device of the present invention.
  • FIG. 5 is a schematic structural diagram of the power plant of the present invention.
  • FIG. 6 is a schematic structural diagram of the user bracelet of the present invention.
  • FIG. 7 is a schematic structural diagram of the rotor mechanism of the present invention.
  • FIG. 8 is a schematic structural diagram of the life-saving throwing device of the present invention.
  • FIG. 9 is a schematic view of the structure of the projectile of the present invention.
  • FIG. 10 is a schematic structural diagram of the inflatable trigger device of the present invention.
  • Reference numerals are: robot body 1 , drive cabin 10 , waterproof casing 100 , balance wing 11 , clip 110 , restraint strap 111 , trigger device installation port 112 , power device 12 , drive motor 120 , propeller 121 , rotating shaft 1210 , Rotary paddle 1211, water inlet booster cylinder 1212, transmission device 122, waterproof cover 1220, transmission shaft 1221, first tapered wheel 1222, second tapered wheel 1223, third tapered wheel 1224, fourth tapered wheel 1225, fifth tapered wheel 1226, sixth tapered wheel 1227, seventh tapered wheel 1228, drive motor output shaft 1229, mounting seat 13, rotor mechanism 14, drive motor 140, rotating shaft 141, rotating blade 142, top Lifting device 15, storage tank 16, supporting device 17, launching device 170, air pipe 1701, trigger 1702, connecting rod 1703, servo motor 1704, projectile body 171, throwing tube 1710, compressed lifebuoy 1711, traction rope 1712, compressed air storage Air tank 18, user bracelet 2, emergency button 20, floating air bag
  • airbags can increase the buoyancy of the robot on the water surface and thus increase the load capacity of the robot during the rescue process.
  • the tank inflates the airbag, thereby increasing the buoyancy of the hull on it. Since the air compressor and the compressed gas tank occupy a large weight, they can only be used on ships of medium size or above. It is difficult to promote the water robot that does not have the advantage of its own load . When the load exceeds the load, most of the small emergency robots use a collision-triggered nitrogen inflator. Usually, a gunpowder cartridge is set on the outside of the compressed nitrogen tank.
  • the gunpowder cartridge After hitting the igniter, the gunpowder cartridge is activated, and then the compressed nitrogen tube at one end of the gunpowder cartridge is released and instantly fills the airbag.
  • the first aid robot advances to the drowning person, and the instantaneous impact force of nitrogen released after the drowning person grabs the first aid robot is too large, which can easily cause the drowning person to fall off the first aid robot and cause the possibility of first aid failure.
  • a buoyancy restraint device suitable for a water first aid robot includes: a buoyancy sensor arranged at the bottom of the first aid robot and a buoyancy airbag 31 device 3 fixedly installed on the first aid robot; On the robot, the inflatable device is triggered when the first aid robot tilts and sinks beyond its own bearing range, thereby increasing the buoyancy of the first aid robot on the water surface, and finally increasing the load capacity of the first aid robot and reducing the physical consumption of lifeguards and drowning persons.
  • the emergency robot includes: a robot body 1, a drive cabin 10, a waterproof casing 100, a balance wing 11, a clip 110, a restraint strap 111, a trigger device installation port 112, a power device 12, a drive motor 120, a propeller 121, Rotating shaft 1210, rotating paddle 1211, transmission device 122, waterproof cover 1220, transmission shaft 1221, first cone wheel 1222, second cone wheel 1223, third cone wheel 1224, fourth cone wheel 1225, fifth cone Shaped wheel 1226, sixth tapered wheel 1227, seventh tapered wheel 1228, drive motor output shaft 1229, mounting seat 13, rotor mechanism 14, drive motor 140, rotating shaft 141, rotating blade 142, jacking device 15, storage Slot 16, Supporting Device 17, Launching Device 170, Trachea 1701, Trigger 1702, Connecting Rod 1703, Servo Motor 1704, Projectile 171, Throwing Tube 1710, Compressed Lifebuoy 1711, Traction Rope 1712, Compressed Air Tank 18, User Bracelet 2, emergency button 20, floating airbag
  • the first aid robot is suitable for outdoor swimming pools or water entertainment places to assist safety personnel in water rescue.
  • the control system connects the robot body 1 with the controller and the user bracelet 2, and the user bracelet 2 is provided with a locator and a controller.
  • the control system designates the robot in the nearest water area to start to go. Rescue at the drowning spot.
  • the user bracelet 2 is used to interact with the control system.
  • the swimmer uses the method of actively calling for help to send the drowning signal and positioning to the control system.
  • control system After the control system receives the signal, it controls the robot to go to the drowning point of the person to be rescued in time to prevent multiple drowning points.
  • the situation that the drowning safety officer cannot take into account occurs, and at the same time, it avoids the situation that the drowning person misses the rescue opportunity when the lifeguard leaves the post without permission or is negligent.
  • the rescue robot adopts the combination of the rotor mechanism 14 and the water power device 12 to realize the amphibious movement of water and air, shortening the rescue time; using multiple emergency robots to divide the working area according to the water area can efficiently Quickly increase the buoyancy of the drowning person, and at the same time assist the lifeguard to reduce physical strength;
  • the robot body 1 includes: a drive cabin 10, balance wings 11 symmetrically installed on both sides of the drive cabin 10, and a power device arranged in the drive cabin 10 12.
  • the buoyancy detection and control device fixedly installed around the drive cabin 10, and the life-saving throwing device fixedly installed on the top of the drive cabin 10 in multiple directions.
  • the robot body 1 controller electrically connects the positioning system and the communication device.
  • the controller When the control system controls the robot body 1 to start, the controller first turns on the rotor mechanism 14, and then drives the robot body 1 from the control to the drowning point, shortening the departure time, and the rotor mechanism 14 Disposed on both sides of the top of the drive cabin 10 , there are multiple rotor mechanisms 14 and a jacking device 15 is provided at the bottom, and a receiving slot 16 is arranged below the rotor mechanism 14 , and the jacking device 15 is installed in the storage.
  • the jacking device 15 is a miniature hydraulic lift rod
  • the rotor mechanisms 14 are multiple and are adapted to the number of the storage slots 16, and the rotor mechanism 14 is fixedly installed on the output end of the miniature hydraulic lift rod
  • the rotor mechanism 14 includes: a drive motor 140, a rotating shaft 141 connected to the output end of the drive motor 140, and a rotating blade 142 connected to one end of the rotating shaft 141; the output end of the hydraulic lift rod is provided with a bearing device and a rotating shaft 141 is plugged in, the micro hydraulic lifting rod and the driving motor 140 are electrically connected to the controller, and then under the command of the control system, the robot controller controls the micro hydraulic lifting rod to lift up and eject the rotating blade 142 in the receiving slot 16, and drive the motor 140 drives the rotating shaft 141 to rotate, and then drives the rotating blade 142 to rotate to drive the robot body 1 to fly to the drowning point. After reaching the drowning point, the robot controller controls the miniature hydraulic lift rod to descend to shrink the rotating blade 142 into the
  • the outside of the drive cabin 10 is provided with a waterproof casing 100, which causes water to enter the robot and damage the internal electronic components during the struggle of the drowning person.
  • the power unit 12 is fixedly installed in the drive cabin 10.
  • the propulsion paddle 121 at the bottom of the drive cabin 10 and drivingly connected with the drive motor 120, and the transmission device 122 which is drivingly connected with the propulsion paddle 121 and the output end of the drive motor 120;
  • the paddle 121 includes a rotating shaft 1210 sleeved in the water inlet booster cylinder 1212 and a rotating paddle 1211 fixedly connected to the rotating shaft 1210;
  • the transmission device 122 includes: a waterproof cover 1220 fixedly installed at the bottom of the robot, sleeved on the waterproof cover In 1220, the transmission shaft 1221 is symmetrically arranged on both sides of the output shaft of the drive motor 120, the first tapered wheel 1222 is fixedly installed on the output shaft end of the driving motor 120, the second tapered wheel 1223 and the second tapered wheel 1223
  • the three conical wheels 1224, and the fourth conical wheel 1225 and the fifth conical wheel 1226 which are fixedly connected to the other end of the transmission shaft 1221;
  • the rotating shafts 1210 are two sets of the rotating shafts 1210 respectively provided with a sixth conical wheel 1227 and a seventh conical wheel 1228 at one end.
  • the fourth conical wheel 1225 and the fifth conical wheel 1226 arranged on the other end of the transmission shaft 1221 are adapted, and then the power of the driving motor 120 drives the two sets of propellers 121 at the bottom of the robot to rotate through the conical wheel on the transmission shaft 1221,
  • the propeller 121 rotates in the water inlet pressurizing cylinder 1212
  • the water in the water inlet pressurizing cylinder 1212 is discharged outward at a high speed, and the water flow discharged from the water inlet pressurizing cylinder 1212 exerts a reaction force on the robot to push the robot forward on the water.
  • the drive compartment 10 is also provided with a battery pack corresponding to the drive motor 140 , and the drive motor 140 is electrically connected to each assigned battery pack to provide the electric power for the drive motor 140 to rotate.
  • the robot When the robot is rescuing multiple drowning people, it needs to detect its own buoyancy. When the buoyancy is insufficient, the controller sends a support signal to the control system again to deal with the rescue of multiple drowning people.
  • the robot body 1 There is also a device for increasing the buoyancy, to increase the number of rescuers and prevent the robot from being dragged into the water by the drowning person and cause the machine to enter the water.
  • the floating airbag device 3; the floating airbag device 3 includes an inflation trigger device 4 arranged above the balance wing 11, and the inflation is triggered when the top of the balance wing 11 is submerged by water.
  • the floating airbag 31 device 3 includes: four clips 110 fixedly installed on the bottom of the balance wing 11 , restraint straps 111 fixedly connected to the hooks at both ends and clipped on the clips 110 , opened on the balance wing 11 There are a plurality of trigger device installation openings 112 on the top, the airbag 31 receiving groove 16 fixedly installed at the bottom of the trigger device, and the airbag 31 clipped in the airbag 31 receiving groove 16; the restraint belt 111 is made of elastic material and is X-shaped The structures are arranged crosswise, and the airbag 31 is sleeved outside the inflation triggering device.
  • the elastic restraint belt 111 can perform the overall air uniformity effect on the inflating airbag 31, and when the released gas impacts one side, the impact force is dispersed to the external restraint belt 111, so the impact force is directed to the cross restraint belt 111. It is passed around to achieve the effect of uniform force.
  • the inflatable trigger device is inserted into the sleeve on the trigger device installation port 112 of the balance wing 11, the solid salt silo fixedly installed in the sleeve, the compression spring arranged on the top of the solid salt silo, and the compressed gas connected to the other end of the compression spring Tank, the connection end of the compression spring and the solid salt warehouse is provided with a top plug that is adapted to the inner wall of the sleeve; the compression spring is fixedly connected to the seal of the compressed gas cylinder, and the seal is provided with a pull ring connected to the compression spring,
  • the sleeve extends out of the outer side of the balance wing 11 and the top is a constricted cone structure, and then melts in the solid salt silo when it encounters water, so that the compression spring drives the top plug to advance toward the extension end of the sleeve.
  • the compressed gas tank at the other end is driven to open the seal, and the compressed gas fills the airbag 31 instantly.
  • the compressed gas here is compressed carbon dioxide solid. After the seal is opened, it reacts with the melted brine to form carbon dioxide gas, which quickly fills the airbag 31.
  • the design of the top plug cone structure After the solid salt melts, the solid salt in the salt bin becomes smaller, so that the top plug moves upward. When the top plug moves upward, it squeezes the water stored in the salt bin and accelerates the leakage of the stored water.
  • the top plug is fitted with the salt silo to seal the airbag 31 .
  • a compressed lifebuoy 1711 is provided for remote throwing of multiple drowning people, which can greatly assist
  • the lifesaving throwing device is divided into four groups, including the mounting seat 13 fixedly installed in the drive cabin 10, the supporting device 17 and the compressed gas storage tank 18 fixedly installed on the mounting seat 13, which are connected to the The launcher 170 at one end of the gas tank and fixed on the support device 17, and the projectile 171 arranged at the output end of the launcher 170;
  • the launching device 170 includes: a gas pipe 1701 connected to the air outlet of the gas storage tank, a trigger 1702 arranged on the gas pipe 1701, a connecting rod 1703 arranged on the trigger 1702, and a servo motor 1704 hinged on the other end of the connecting rod 1703; Then the servo motor 1704 rotates to drive the connecting rod 1703 connected to the output of the servo motor 1704 to rotate, and the power passes through the connecting rod 1703 to drive the trigger 1702 at the other end of the connecting rod 1703 to rotate, thereby completing the release and closing of the compressed gas in the trachea 1701.
  • the output end of the launching device 170 is a throwing tube 1710 integrally connected to the gas outlet end of the trachea 1701 , and the projectile 171 is a compressed lifebuoy 1711 fitted in the throwing tube 1710 and fixedly connected to the bottom of the throwing tube 1710 and connected
  • the traction rope 1712 of the compressed lifebuoy 1711 is compressed; an inflatable trigger device 4 is provided at one end of the compressed lifebuoy 1711 .
  • the range of the projectile body 171 is controlled by the power of the servo motor 1704 to drive the trigger 1702 to rotate, and is also controlled by the traction rope 1712 connected to the bottom of the throwing tube 1710.
  • the compressed gas released by the lifebuoy 1711 is ejected from the throwing tube 1710, and at the same time, it is controlled by the traction rope. 1712 is connected with the robot body 1, and then drives the compressed lifebuoy 1711 to move together, preventing the loss of the compressed lifebuoy 1711 in the later stage and reducing the physical exertion of the drowning person and the lifeguard.
  • the compressed lifebuoy 1711 moves parabolically after being ejected.
  • the compressed lifebuoy 1711 is folded into a cylindrical shape and compressed in the throwing tube 1710.
  • the top of the cylinder is fixed with a traction rope 1712, and the bottom of the cylinder faces the water surface when falling into the water.
  • the inflation triggers The device 4 is inserted into the sleeve 40 on the compressed lifebuoy 1711, the solid salt bin 41 fixedly installed in the sleeve 40, the compression spring 42 arranged on the top of the solid salt bin 41, and the compressed gas tank 43 connected to the other end of the compression spring 42 , the connecting end of the compression spring 42 and the solid salt bin 41 is provided with a top plug 44 that is adapted to the inner wall of the sleeve 40; the sleeve 40 extends out of the compression lifebuoy 1711 and the outer side of the balance wing 11 and the top is a constricted cone structure , and then the solid salt silo 41 is melted by water, so that the compression spring 42 drives the top plug 44 to advance toward the extension end of the sleeve 40, and the compression spring 42 further drives the compressed gas tank 43 at the other end to open during the process of advancing, compressing the gas instantly.
  • Filling the compression buoy 1711 can increase the buoyancy of the compression buoy 1711 thrown
  • the working principle is as follows: the water area and direction of the water emergency robot are set to multiple, and a special parking platform with relay function is set up in the swimming pool or pool with a large area.
  • the emergency button 20 When you find yourself drowning or accidentally enter a deep water area, press the emergency button 20; the distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband 2, and controls the location closest to the drowning person.
  • the driving motor 140 drives the rotating blade 142 to rotate according to the command of the controller, and then drives a buoyancy restraint device suitable for a water emergency robot to fly to the vicinity of the drowning person, and control the corresponding life-saving throw according to the direction of the drowning person.
  • the throwing device is turned on, and the life-saving airbag 31 is thrown to the drowning person; when there are too many rescuers and all the life-saving throwing devices on a single robot are turned on, the buoyancy sensor detects the buoyancy of the robot and sends it to the control system, and the control system passes the network Communicate with multiple robots; when rescuing multiple drowning or physically weak people, the balance wing 11 tilts to the side with the excessive force when the robot's force exceeds the buoyancy, thereby causing the inflatable trigger device on the balance wing 11 to be excited when it encounters water The compressed gas is released, so that the airbag 31 at the bottom of the balance wing 11 is inflated, and the buoyancy of the robot increases.
  • the control system searches according to the broadcast method.
  • the unemployed robot in the network closest to the water area will go to the rescue to reduce the load of the current robot.
  • the buoyancy restraint device of the present invention is arranged on the emergency robot and the inflatable trigger device is not triggered, the device is in a compressed state, does not increase the resistance of the emergency robot when flying on the water surface, thereby reduces the flight power consumption, increases the endurance, and is light in weight and can be placed in Small boats and water drones are used to realize the rapid charging of airbag 31, thereby increasing the buoyancy to meet the operation of increasing the load capacity of small robots applied to the water surface.
  • the inflatable trigger device uses a solid salt silo as the trigger medium, which is installed on the surface of the balance wing 11.
  • the solid salt dissolves in the water and triggers the release of the compressed gas, which has a smaller impact force than the traditional gunpowder releasing the compressed gas, thereby preventing the deviation of the first aid caused by the impact force.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Emergency Lowering Means (AREA)

Abstract

一种适用于水上急救机器人浮力约束装置、急救机器人及工作方法，该装置设置在急救机器人机上，在急救机器人载重超过自身承受范围倾斜下沉时触发充气装置，包括：设置在急救机器人底部的浮力传感器和固定安装在急救机器人的增浮气囊装置（3）；增浮气囊装置（3）包括设置在平衡翼（11）上方的充气触发装置（4），当平衡翼（11）顶部被水淹没时进而触发充气。未触发充气触发装置（4）时该装置处于压缩状态，不增加急救机器人在水面上飞行时的阻力进而减小飞行用电，加大续航能力，其次质量轻可放置在小型船只和水上无人机上实现气囊（31）速充，进而增加浮力以满足应用于水面的小型机器人增加载重额度的操作。

Description

适用于水上急救机器人浮力约束装置、急救机器人及工作方法 技术领域
本发明属于机器人设备领域，尤其是一种适用于水上急救机器人浮力约束装置、急救机器人及工作方法。
 背景技术
现有的气囊充气装置多数采用具有电动能力的空气压缩机，或者压缩气体罐对气囊进行充气操作，进而增加船体在上面上的浮力，由于空气压缩机和压缩气体罐占有较大重量，只能应用在中型以上的船型上，对于自身载重不具备优势的水上机器人难以推广。小型急救机器人在超出载重时大多是采用碰撞式触发氮气充气装置，通常采用在压缩氮气罐的外侧设置火药筒，碰撞点火器后激活火药筒，进而引发火药筒一端压缩氮气管释放瞬间充满气囊，该装置在实际应用过程中，急救机器人前进至溺水者处，溺水者抓紧急救机器人后氮气释放瞬间冲击力过大极易使溺水者脱落急救机器人进而造成急救失败的可能性。
 技术问题
提供一种适用于水上急救机器人浮力约束装置、急救机器人及工作方法，以解决现有技术存在的上述问题。
 技术解决方案
一种适用于水上急救机器人浮力约束装置，适用于户外游泳池或者水上娱乐场所，协助安全员进行水上救助，该装置设置在急救机器人机上，在急救机器人载重超过自身承受范围倾斜下沉时触发充气装置，包括：设置在急救机器人底部的浮力传感器和固定安装在急救机器人的增浮气囊装置；
所述增浮气囊装置包括设置在平衡翼上方的充气触发装置，当平衡翼顶部被水淹没时进而触发充气。
在进一步的实施例中，所述增浮气囊装置包括：固定安装在平衡翼底部的四个卡扣件，两端固定连接卡钩且卡接在卡扣件上的束缚带，开设在平衡翼顶部多个触发装置安装口，固定安装在触发装置底部的气囊收纳槽，以及卡接在气囊收纳槽中的气囊；所述束缚带采用弹性材料制成且呈X形结构交叉设置，所述气囊套接在充气触发装置外部。
在进一步的实施例中，所述充气触发装置穿插在平衡翼触发装置安装口上的套筒，固定安装在套筒中的固体盐仓，设置在固体盐仓顶部的压缩弹簧，以及连接在压缩弹簧另一端压缩气体罐，所述压缩弹簧与固体盐仓连接端设有与套筒内壁适配的顶塞；所述套筒延伸出平衡翼外侧且顶部为收缩的锥体结构，进而在固体盐仓遇水融化，从而使压缩弹簧带动顶塞向套筒延伸端前进，压缩弹簧在前进的过程中进而带动另一端的压缩气体罐开启，瞬间压缩气体充满气囊。
在进一步的实施例中，所述机器人本体和与机器人本体控制器连通的控制系统；
所述机器人本体包括：驱动舱，对称安装在驱动舱两侧的平衡翼，以及设置在驱动舱中的动力装置，固定安装在驱动舱四周的浮力检测控制装置，以及固定安装在驱动舱顶部多个方向的救生抛投装置。
在进一步的实施例中，所述控制系统还包括：用户手环，用户手环中设有定位器和控制器，所述用户手环上设有急救按钮。
在进一步的实施例中，所述驱动舱的外部设有防水外壳所述防水外壳的外侧设有太阳能发电板与蓄电池电联，减少用电损耗，延长续航能力。
在进一步的实施例中，所述动力装置固定安装在驱动舱中的驱动电机，以及对称穿插在驱动舱底部且与驱动电机传动连接的推进桨，传动连接推进桨与驱动电机输出端的传动装置；所述推进桨的外部设有进水增压筒，所述推进桨包括套接在进水增压筒中的转轴和固定连接在转轴上的旋转桨；所述传动装置包括：固定安装在机器人底部的防水罩，套接在防水罩中且对称设置在驱动电机输出轴两侧的传动轴，固定安装在驱动电机输出轴端的第一锥形轮，固定安装在传动轴两端的第二锥形轮和第三锥形轮，以及固定连接在传动轴另一端的第四锥形轮和第五锥形轮；所述防水罩及两组传动轴分别穿插过进水增压筒中，所述转轴为两组所述转轴的一端分别设有第六锥形轮和第七锥形轮，所述转轴设有锥形轮的一端穿插过防水罩且与设置在传动轴另一端的第四锥形轮和第五锥形轮适配，进而驱动电机的动力经过传动轴上的锥形轮带动机器人底部的两组推进桨转动，推进桨在进水增压筒中转动时使进水增压筒中的水向外高速排出，排出进水增压筒的水流对机器人进行反作用力推动机器人在水上前进。
在进一步的实施例中，所述机器人本体控制器电联定位系统和通信装置，所述驱动舱的顶部两侧对称设有顶升装置和固定安装在顶升装置一侧的旋翼机构；所述旋翼机构的下方设有收纳槽，所述顶升装置安装在收纳槽中，所述顶升装置为微型液压升降杆，所述旋翼机构为多个且与收纳槽的数量适配，所述旋翼机构固定安装在微型液压升降杆的输出端，所述旋翼机构包括：驱动马达，传动连接在驱动马达输出端转动轴，以及连接在转动轴一端的旋转叶；所述液压升降杆的输出端设有轴承装置与转动轴插接，所述微型液压升降杆和驱动马达与控制器电联，进而在控制系统的指令下，机器人控制器控制微型液压升降杆上升顶出收纳槽中的旋转叶，驱动马达带动进而转动轴转动，进而带动旋转叶转动带动机器人本体飞行至溺水点；
所述驱动舱中还设有与驱动马达对应的蓄电池组，所述驱动马达与每个分配的蓄电池组电联。
在进一步的实施例中，所述救生抛投装置为四组，包括固定安装在驱动舱中的安装座，固定安装在安装座上的支撑装置和压缩气体储气罐，连接在储气罐一端且固定在支撑装置上的发射装置，以及设置在发射装置输出端的弹体；
所述发射装置包括：连接在储气罐出气口的气管，设置在气管上的扳机，设置在扳机上的连接杆，以及铰接在连接杆另一端的伺服电机；
所述发射装置输出端为一体化连接在气管出气端的抛投管，所述弹体为嵌合在抛投管中的压缩救生圈和固定连接在抛投管底部且连接压缩救生圈的牵引绳；所述压缩救生圈的一端设有充气触发装置，所述充气触发装置穿插在压缩救生圈上。
在进一步的实施例中，包括如下工作步骤：
S1、水上急救机器人安水域面积和方向设置为多个，在面积较大的泳池或水池中设置具有中继作用的专用停放台，对进入游泳池的顾客，发放用户手环，当顾客发现自己有溺水的情况时或误入深水区时按下急救按钮；
S2、求救信号发送至控制系统，控制系统根据用户手环中的定位器确定溺水者的位置信息，并控制位于溺水者最近的机器人前往发生点；
S3、驱动马达根据控制器的命令带动旋转叶转动，进而带动一种适用于水上急救机器人浮力约束装置飞行至溺水者附近，根据溺水者的方向控制与之对应的救生抛投装置开启，向溺水者抛投救生气囊；
S4、当求救者过多，单个机器人身上所有的救生抛投装置开启后，浮力传感器检测到机器人所受的浮力大小发送至控制系统，控制系统通过网络与多个机器人通信；
S5、营救多个溺水者或体力不支的人员时，机器人受力大小超越浮力时平衡翼往受力过大的一方倾斜，进而使平衡翼上的充气触发装置遇水激发压缩气体释放，从而使平衡翼底部的气囊充气，机器人浮力增加，当两侧的平衡翼气囊都释放时，浮力传感器检测的机器人浮力大小小于受力时，控制系统按照广播方式查找网络中最接近此片水域的待业机器人前往救援，减小当前机器人的载重。
 有益效果
本发明浮力装置与传统的电充气式浮力装置相比具有以下优点：
1、质量轻可放置在小型船只和水上无人机上实现气囊速冲，进而增加浮力以满足应用于水面的小型机器人增加载重额度的操作。
2、充气触发装置中采用固体盐仓作为触发介质，安装暴露在平衡翼的表面，在平衡翼自身浮力不足倾斜时固体盐在水中溶解进而触发压缩气体释放，比传统的火药释放压缩气体冲击力小，进而能够防止因冲击力造成急救出现偏差。
3、设置在急救机器人上未触发充气触发装置时该装置处于压缩状态，不增加急救机器人在水面上飞行时的阻力进而减小飞行用电，加大续航能力。
 附图说明
图1是本发明适用于水上急救机器人浮力约束装置的结构示意图。
图2是本发明急救机器人的结构示意图。
图3是本发明束缚带的结构示意图。
图4是本发明增浮气囊装置的结构示意图。
图5是本发明动力装置的结构示意图。
图6是本发明用户手环的结构示意图。
图7是本发明旋翼机构的结构示意图。
图8是本发明救生抛投装置的结构示意图。
图9是本发明弹体的结构示意图。
图10是本发明充气触发装置的结构示意图。
附图标记为：机器人本体1、驱动舱10、防水外壳100、平衡翼11、卡扣件110、束缚带111、触发装置安装口112、动力装置12、驱动电机120、推进桨121、转轴1210、旋转桨1211、进水增压筒1212、传动装置122、防水罩1220、传动轴1221、第一锥形轮1222、第二锥形轮1223、第三锥形轮1224、第四锥形轮1225、第五锥形轮1226、第六锥形轮1227、第七锥形轮1228、驱动电机输出轴1229、安装座13、旋翼机构14、驱动马达140、转动轴141、旋转叶142、顶升装置15、收纳槽16、支撑装置17、发射装置170、气管1701、扳机1702、连接杆1703、伺服电机1704、弹体171、抛投管1710、压缩救生圈1711、牵引绳1712、压缩空气储气罐18、用户手环2、急救按钮20、增浮气囊装置3、气囊收纳槽30、气囊31、充气触发装置4、套筒40、固体盐仓41、压缩弹簧42、压缩空气罐43、顶塞44。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
运行在水面上的急救机器人在营救过程中设置气囊可增加机器人在水面上的浮力进而增加机器人的载重额度，申请人发现现有的气囊充气装置多数采用具有电动能力的空气压缩机，或者压缩气体罐对气囊进行充气操作，进而增加船体在上面上的浮力，由于空气压缩机和压缩气体罐占有较大重量，只能应用在中型以上的船型上，对于自身载重不具备优势的水上机器人难以推广。小型急救机器人在超出载重时大多是采用碰撞式触发氮气充气装置，通常采用在压缩氮气罐的外侧设置火药筒，碰撞点火器后激活火药筒，进而引发火药筒一端压缩氮气管释放瞬间充满气囊，该装置在实际应用过程中，急救机器人前进至溺水者处，溺水者抓紧急救机器人后氮气释放瞬间冲击力过大极易使溺水者脱落急救机器人进而造成急救失败的可能性。
如图1至图10所示的一种适用于水上急救机器人浮力约束装置包括：设置在急救机器人底部的浮力传感器和固定安装在急救机器人的增浮气囊31装置3；该浮力约束装置设置在急救机器人机上，在急救机器人载重超过自身承受范围倾斜下沉时触发充气装置，进而为急救机器人增加在水面的浮力，最终实现加大急救机器人在载重额度，减轻救生员和溺水者的体力消耗。
进一步的，急救机器人包括：机器人本体1、驱动舱10、防水外壳100、平衡翼11、卡扣件110、束缚带111、触发装置安装口112、动力装置12、驱动电机120、推进桨121、转轴1210、旋转桨1211、传动装置122、防水罩1220、传动轴1221、第一锥形轮1222、第二锥形轮1223、第三锥形轮1224、第四锥形轮1225、第五锥形轮1226、第六锥形轮1227、第七锥形轮1228、驱动电机输出轴1229、安装座13、旋翼机构14、驱动马达140、转动轴141、旋转叶142、顶升装置15、收纳槽16、支撑装置17、发射装置170、气管1701、扳机1702、连接杆1703、伺服电机1704、弹体171、抛投管1710、压缩救生圈1711、牵引绳1712、压缩空气储气罐18、用户手环2、急救按钮20、增浮气囊装置3、气囊收纳槽30、气囊31、充气触发装置4、套筒40、固体盐仓41、压缩弹簧42、压缩空气罐43、顶塞44。
该急救机器人适用于户外游泳池或者水上娱乐场所，协助安全员进行水上救助，其中，控制系统连通机器人本体1控制器和用户手环2，用户手环2中设有定位器和控制器，所述用户手环2上设有急救按钮20；控制系统中设有用户手环2急救按钮20信号接收装置，将对接收的信号进行转化和定位，信号转换完成后控制系统指定最近水域的机器人启动前往溺水点进行救援。在救援过程中采用用户手环2和控制系统互动，游泳者采用主动呼救的方式将溺水信号和定位发送至控制系统，控制系统接收到信号后及时控制机器人前往待救助人溺水点防止出现多个溺水者安全员无法顾及的情况发生，同时避免救生员擅离岗位或疏忽时造成溺水者错过救援机会的情况发生。
考虑到一个水域中出现多个溺水者的情况，救援机器人采用旋翼机构14与水上动力装置12结合的方式实现水空两栖移动，缩短救援时间；采用多个急救机器人根据水域划分工作区域，能够高效快捷的对溺水者增加浮力，同时辅助救生员减少体力消耗；所述机器人本体1包括：驱动舱10，对称安装在驱动舱10两侧的平衡翼11，以及设置在驱动舱10中的动力装置12，固定安装在驱动舱10四周的浮力检测控制装置，以及固定安装在驱动舱10顶部多个方向的救生抛投装置。所述机器人本体1控制器电联定位系统和通信装置，控制系统控制机器人本体1启动时，控制器首先开启旋翼机构14，进而带动机器人本体1从控制前往溺水点，缩短出发时间，旋翼机构14设置在驱动舱10的顶部的两侧，所述旋翼机构14为多个且底部设有顶升装置15，所述旋翼机构14的下方设有收纳槽16，所述顶升装置15安装在收纳槽16中，所述顶升装置15为微型液压升降杆，所述旋翼机构14为多个且与收纳槽16的数量适配，所述旋翼机构14固定安装在微型液压升降杆的输出端，所述旋翼机构14包括：驱动马达140，传动连接在驱动马达140输出端转动轴141，以及连接在转动轴141一端的旋转叶142；所述液压升降杆的输出端设有轴承装置与转动轴141插接，所述微型液压升降杆和驱动马达140与控制器电联，进而在控制系统的指令下，机器人控制器控制微型液压升降杆上升顶出收纳槽16中的旋转叶142，驱动马达140带动进而转动轴141转动，进而带动旋转叶142转动带动机器人本体1飞行至溺水点。到达溺水点后，机器人控制器控制微型液压升降杆下降将旋转叶142收缩至收纳槽16中，进而防止旋转叶142转动时的作用力造成机器人水上移动的偏差，精确动力装置12的移动精度。
所述驱动舱10的外部设有防水外壳100，在溺水者挣扎过程中造成机器人内部进水损坏内部电子元件，所述动力装置12固定安装在驱动舱10中的驱动电机120，以及对称穿插在驱动舱10底部且与驱动电机120传动连接的推进桨121，传动连接推进桨121与驱动电机120输出端的传动装置122；所述推进桨121的外部设有进水增压筒1212，所述推进桨121包括套接在进水增压筒1212中的转轴1210和固定连接在转轴1210上的旋转桨1211；所述传动装置122包括：固定安装在机器人底部的防水罩1220，套接在防水罩1220中且对称设置在驱动电机120输出轴两侧的传动轴1221，固定安装在驱动电机120输出轴端的第一锥形轮1222，固定安装在传动轴1221两端的第二锥形轮1223和第三锥形轮1224，以及固定连接在传动轴1221另一端的第四锥形轮1225和第五锥形轮1226；所述防水罩1220及两组传动轴1221分别穿插过进水增压筒1212中，所述转轴1210为两组所述转轴1210的一端分别设有第六锥形轮1227和第七锥形轮1228，所述转轴1210设有锥形轮的一端穿插过防水罩1220且与设置在传动轴1221另一端的第四锥形轮1225和第五锥形轮1226适配，进而驱动电机120的动力经过传动轴1221上的锥形轮带动机器人底部的两组推进桨121转动，推进桨121在进水增压筒1212中转动时使进水增压筒1212中的水向外高速排出，排出进水增压筒1212的水流对机器人进行反作用力推动机器人在水上前进。所述驱动舱10中还设有与驱动马达140对应的蓄电池组，所述驱动马达140与每个分配的蓄电池组电联，提供驱动马达140转动的电力。
当机器人在营救多个溺水者时，需要采用对自身的浮力进行检测，浮力不足时控制器向控制系统再次发送支援信号，以应对多个溺水者的救援情况，除了浮力检测装置，机器人本体1上还设置有增加浮力的装置，增加营救人员的数量和防止机器人被溺水者拽入水中造成机器进水造成的失灵；所述浮力检测控制装置包括：浮力传感器和固定安装在平衡翼11底部的增浮气囊装置3；所述增浮气囊装置3包括设置在平衡翼11上方的充气触发装置4，当平衡翼11顶部被水淹没时进而触发充气。
所述增浮气囊31装置3包括：固定安装在平衡翼11底部的四个卡扣件110，两端固定连接卡钩且卡接在卡扣件110上的束缚带111，开设在平衡翼11顶部多个触发装置安装口112，固定安装在触发装置底部的气囊31收纳槽16，以及卡接在气囊31收纳槽16中的气囊31；所述束缚带111采用弹性材料制成且呈X形结构交叉设置，所述气囊31套接在充气触发装置外部。弹性束缚带111可对充气中的气囊31进行整体匀气作用，当释放的气体对一侧冲击时进而将冲击力分散至外部的束缚带111上，因此冲击力讲过交叉的束缚带111向四周传递，到达匀力的效果。
所述充气触发装置穿插在平衡翼11触发装置安装口112上的套筒，固定安装在套筒中的固体盐仓，设置在固体盐仓顶部的压缩弹簧，以及连接在压缩弹簧另一端压缩气体罐，所述压缩弹簧与固体盐仓连接端设有与套筒内壁适配的顶塞；所述压缩弹簧固定连接在压缩气瓶的封口处，封口处设有与压缩弹簧连接的拉环，所述套筒延伸出平衡翼11外侧且顶部为收缩的锥体结构，进而在固体盐仓遇水融化，从而使压缩弹簧带动顶塞向套筒延伸端前进，压缩弹簧在前进的过程中进而带动另一端的压缩气体罐封口开启，瞬间压缩气体充满气囊31，此处的压缩气体采用压缩的二氧化碳固体，在封口开启后与融化后的盐水反应形成二氧化碳气体，急速充满气囊31。顶塞锥体结构的设计在固体盐融化后，盐仓中的固体盐变小，从而使顶塞向上运动，顶塞向上运动时，对盐仓中的存水挤压，加速存水下泄的速度，盐水在与干冰反应时可降低水的冰点，增加干冰的熔点，最终实现盐水加速干冰升化，进而对气囊31急速充气的过程。盐仓中的固体盐完全消失后顶塞与盐仓适配实现对气囊31的密封。
溺水人在被救援过程中抱紧抓紧救援人，使得救援人过多消耗体力的同时无法开展救援的进而加大自身危险性，所以为多个溺水者远程投掷提供压缩救生圈1711，能够极大辅助救生员的营救工作，所述救生抛投装置为四组，包括固定安装在驱动舱10中的安装座13，固定安装在安装座13上的支撑装置17和压缩气体储气罐18，连接在储气罐一端且固定在支撑装置17上的发射装置170，以及设置在发射装置170输出端的弹体171；
所述发射装置170包括：连接在储气罐出气口的气管1701，设置在气管1701上的扳机1702，设置在扳机1702上的连接杆1703，以及铰接在连接杆1703另一端的伺服电机1704；进而伺服电机1704转动带动连接在伺服电机1704输出的连接杆1703转动，动力经过连接杆1703带动连接杆1703另一端的扳机1702转动，从而完成对气管1701中压缩气体的释放和关闭。
所述发射装置170输出端为一体化连接在气管1701出气端的抛投管1710，所述弹体171为嵌合在抛投管1710中的压缩救生圈1711和固定连接在抛投管1710底部且连接压缩救生圈1711的牵引绳1712；所述压缩救生圈1711的一端设有充气触发装置4。弹体171射程通过伺服电机1704带动扳机1702转动的动力大小控制，还依靠连接在抛投管1710底部的牵引绳1712控制，压缩救生圈1711经过释放的压缩气体弹出抛投管1710，同时通过牵引绳1712与机器人本体1连接，进而带动压缩救生圈1711一起移动，防止后期压缩救生圈1711的丢失和减少溺水者和救生员的体力消耗。
压缩救生圈1711弹出后呈抛物线运动，所述压缩救生圈1711折叠呈圆筒状压缩在抛投管1710中，圆筒的顶部固定牵引绳1712，圆筒的底部在落水时面向水面，所述充气触发装置4穿插在压缩救生圈1711上的套筒40，固定安装在套筒40中的固体盐仓41，设置在固体盐仓41顶部的压缩弹簧42，以及连接在压缩弹簧42另一端压缩气体罐43，所述压缩弹簧42与固体盐仓41连接端设有与套筒40内壁适配的顶塞44；所述套筒40延伸出压缩救生圈1711和平衡翼11外侧且顶部为收缩的锥体结构，进而在固体盐仓41遇水融化，从而使压缩弹簧42带动顶塞44向套筒40延伸端前进，压缩弹簧42在前进的过程中进而带动另一端的压缩气体罐43开启，瞬间压缩气体充满压缩救生圈1711，能够为投掷在溺水者附近的压缩救生圈1711增加浮力。
工作原理如下：水上急救机器人安水域面积和方向设置为多个，在面积较大的泳池或水池中设置具有中继作用的专用停放台，对进入游泳池的顾客，发放用户手环2，当顾客发现自己有溺水的情况时或误入深水区时按下急救按钮20；求救信号发送至控制系统，控制系统根据用户手环2中的定位器确定溺水者的位置信息，并控制位于溺水者最近的机器人前往发生点；驱动马达140根据控制器的命令带动旋转叶142转动，进而带动一种适用于水上急救机器人浮力约束装置飞行至溺水者附近，根据溺水者的方向控制与之对应的救生抛投装置开启，向溺水者抛投救生气囊31；当求救者过多，单个机器人身上所有的救生抛投装置开启后，浮力传感器检测到机器人所受的浮力大小发送至控制系统，控制系统通过网络与多个机器人通信；营救多个溺水者或体力不支的人员时，机器人受力大小超越浮力时平衡翼11往受力过大的一方倾斜，进而使平衡翼11上的充气触发装置遇水激发压缩气体释放，从而使平衡翼11底部的气囊31充气，机器人浮力增加，当两侧的平衡翼11气囊31都释放时，浮力传感器检测的机器人浮力大小小于受力时，控制系统按照广播方式查找网络中最接近此片水域的待业机器人前往救援，减小当前机器人的载重。
本发明浮力约束装置设置在急救机器人上未触发充气触发装置时该装置处于压缩状态，不增加急救机器人在水面上飞行时的阻力进而减小飞行用电，加大续航能力，质量轻可放置在小型船只和水上无人机上实现气囊31速冲，进而增加浮力以满足应用于水面的小型机器人增加载重额度的操作其次充气触发装置中采用固体盐仓作为触发介质，安装暴露在平衡翼11的表面，在平衡翼11自身浮力不足倾斜时固体盐在水中溶解进而触发压缩气体释放，比传统的火药释放压缩气体冲击力小，进而能够防止因冲击力造成急救出现偏差。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种等同变换，这些等同变换均属于本发明的保护范围。

Claims (10)

  1. 一种适用于水上急救机器人浮力约束装置，适用于户外游泳池或者水上娱乐场所，协助安全员进行水上救助，其特征在于，该装置设置在急救机器人机上，在急救机器人载重超过自身承受范围倾斜下沉时触发充气装置，包括：设置在急救机器人底部的浮力传感器和固定安装在急救机器人的增浮气囊装置；
    所述增浮气囊装置在平衡翼上方设有充气触发装置，当平衡翼顶部被水淹没时进而触发充气。
  2. 根据权利要求1所述的一种适用于水上急救机器人浮力约束装置，其特征在于，所述增浮气囊装置包括：固定安装在平衡翼底部的四个卡扣件，两端固定连接卡钩且卡接在卡扣件上的束缚带，开设在平衡翼顶部多个触发装置安装口，固定安装在触发装置底部的气囊收纳槽，以及卡接在气囊收纳槽中的气囊；所述束缚带采用弹性材料制成且呈X形结构交叉设置，所述气囊套接在充气触发装置外部。
  3. 根据权利要求1所述的一种适用于水上急救机器人浮力约束装置，其特征在于，所述充气触发装置穿插在平衡翼触发装置安装口上的套筒，固定安装在套筒中的固体盐仓，设置在固体盐仓顶部的压缩弹簧，以及连接在压缩弹簧另一端压缩气体罐，所述压缩弹簧与固体盐仓连接端设有与套筒内壁适配的顶塞；所述套筒延伸出平衡翼外侧且顶部为收缩的锥体结构，进而在固体盐仓遇水融化，从而使压缩弹簧带动顶塞向套筒延伸端前进，压缩弹簧在前进的过程中进而带动另一端的压缩气体罐开启，瞬间压缩气体充满气囊。
  4. 一种适用于水上急救机器人，其特征在于，包括权利要求1至3任一项的浮力约束装置。
  5. 根据权利要求4所述的一种适用于水上急救机器人，其特征在于，所述机器人本体和与机器人本体控制器连通的控制系统；
    所述机器人本体包括：驱动舱，对称安装在驱动舱两侧的平衡翼，以及设置在驱动舱中的动力装置，固定安装在驱动舱四周的浮力检测控制装置，以及固定安装在驱动舱顶部多个方向的救生抛投装置；
    所述控制系统还包括：用户手环，用户手环中设有定位器和控制器，所述用户手环上设有急救按钮。
  6. 根据权利要求4所述的一种适用于水上急救机器人，其特征在于，所述驱动舱的外部设有防水外壳，所述防水外壳的外侧设有太阳能发电板。
  7. 根据权利要求4所述的一种适用于水上急救机器人，其特征在于，所述动力装置固定安装在驱动舱中的驱动电机，以及对称穿插在驱动舱底部且与驱动电机传动连接的推进桨，传动连接推进桨与驱动电机输出端的传动装置；所述推进桨的外部设有进水增压筒，所述推进桨包括套接在进水增压筒中的转轴和固定连接在转轴上的旋转桨；所述传动装置包括：固定安装在机器人底部的防水罩，套接在防水罩中且对称设置在驱动电机输出轴两侧的传动轴，固定安装在驱动电机输出轴端的第一锥形轮，固定安装在传动轴两端的第二锥形轮和第三锥形轮，以及固定连接在传动轴另一端的第四锥形轮和第五锥形轮；所述防水罩及两组传动轴分别穿插过进水增压筒中，所述转轴为两组所述转轴的一端分别设有第六锥形轮和第七锥形轮，所述转轴设有锥形轮的一端穿插过防水罩且与设置在传动轴另一端的第四锥形轮和第五锥形轮适配，进而驱动电机的动力经过传动轴上的锥形轮带动机器人底部的两组推进桨转动，推进桨在进水增压筒中转动时使进水增压筒中的水向外高速排出，排出进水增压筒的水流对机器人进行反作用力推动机器人在水上前进。
  8. 根据权利要求4所述的一种适用于水上急救机器人，其特征在于，所述机器人本体控制器电联定位系统和通信装置，所述驱动舱的顶部两侧对称设有顶升装置和固定安装在顶升装置一侧的旋翼机构；所述旋翼机构的下方设有收纳槽，所述顶升装置安装在收纳槽中，所述顶升装置为微型液压升降杆，所述旋翼机构为多个且与收纳槽的数量适配，所述旋翼机构固定安装在微型液压升降杆的输出端，所述旋翼机构包括：驱动马达，传动连接在驱动马达输出端转动轴，以及连接在转动轴一端的旋转叶；所述液压升降杆的输出端设有轴承装置与转动轴插接，所述微型液压升降杆和驱动马达与控制器电联，进而在控制系统的指令下，机器人控制器控制微型液压升降杆上升顶出收纳槽中的旋转叶，驱动马达带动进而转动轴转动，进而带动旋转叶转动带动机器人本体飞行至溺水点；
    所述驱动舱中还设有与驱动马达对应的蓄电池组，所述驱动马达与每个分配的蓄电池组电联。
  9. 根据权利要求4所述的一种适用于水上急救机器人，其特征在于，所述救生抛投装置为四组，包括固定安装在驱动舱中的安装座，固定安装在安装座上的支撑装置和压缩气体储气罐，连接在储气罐一端且固定在支撑装置上的发射装置，以及设置在发射装置输出端的弹体；
    所述发射装置包括：连接在储气罐出气口的气管，设置在气管上的扳机，设置在扳机上的连接杆，以及铰接在连接杆另一端的伺服电机；
    所述发射装置输出端为一体化连接在气管出气端的抛投管，所述弹体为嵌合在抛投管中的压缩救生圈和固定连接在抛投管底部且连接压缩救生圈的牵引绳；所述压缩救生圈的一端设有充气触发装置，所述充气触发装置穿插在压缩救生圈上。
  10. 基于权利要求1所述的一种适用于水上急救机器人浮力约束装置的工作方法，其特征在于，包括如下工作步骤：
    S1、水上急救机器人安水域面积和方向设置为多个，在面积较大的泳池或水池中设置具有中继作用的专用停放台，对进入游泳池的顾客，发放用户手环，当顾客发现自己有溺水的情况时或误入深水区时按下急救按钮；
    S2、求救信号发送至控制系统，控制系统根据用户手环中的定位器确定溺水者的位置信息，并控制位于溺水者最近的机器人前往发生点；
    S3、驱动马达根据控制器的命令带动旋转叶转动，进而带动一种适用于水上急救机器人浮力约束装置飞行至溺水者附近，根据溺水者的方向控制与之对应的救生抛投装置开启，向溺水者抛投救生气囊；
    S4、当求救者过多，单个机器人身上所有的救生抛投装置开启后，浮力传感器检测到机器人所受的浮力大小发送至控制系统，控制系统通过网络与多个机器人通信；
    S5、营救多个溺水者或体力不支的人员时，机器人受力大小超越浮力时平衡翼往受力过大的一方倾斜，进而使平衡翼上的充气触发装置遇水激发压缩气体释放，从而使平衡翼底部的气囊充气，机器人浮力增加，当两侧的平衡翼气囊都释放时，浮力传感器检测的机器人浮力大小小于受力时，控制系统按照广播方式查找网络中最接近此片水域的待业机器人前往救援，减小当前机器人的载重。
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