WO2024181957A1

WO2024181957A1 - Remote-controlled rescue boat with autonomous home detection and return home

Info

Publication number: WO2024181957A1
Application number: PCT/TR2024/050183
Authority: WO
Inventors: Emre EGE; Ahmet Utku ATAY
Original assignee: Maren Robotics Elektronik Yazilim Sanayi Ve Ticaret Anonim Sirketi
Priority date: 2023-03-02
Filing date: 2024-03-01
Publication date: 2024-09-06
Also published as: WO2024181956A1; WO2024181955A1

Abstract

The present invention relates to a remote-controlled rescue boat that continuously monitors location information using GPS, compass, and accelerometer data. The object of the present invention is to enable a remote-controlled boat to automatically control its location-based functions. It aims to develop a remote-controlled rescue boat that can determine its home location autonomously through the operator or if the operator has not determined it. The invention also aims to develop a remote-controlled boat that can travel autonomously to said destination if the destination location information other than the home location information is provided.

Description

REMOTE-CONTROLLED RESCUE BOAT WITH AUTONOMOUS HOME DETECTION AND RETURN HOME

Technical Field

The present invention relates to a remote-controlled rescue boat that continuously monitors location information using GPS, compass, and accelerometer data.

Background

Humanity has used maritime transportation as one of the main sources of transportation for years. For many years, maritime transportation in human and freight transportation has continued to serve humanity as the main means of transportation. Maritime transportation, which continues to be used in freight transportation, maintains its value in terms of human transportation with holiday tours and individual uses.

Today, maritime vessels continue to be used individually. Yacht, boat and boat-style transportation vehicles are currently used for hobby or commercial purposes. In addition, tourism holiday ships that can travel between continents have too many uses. In addition to all these, the biggest problem of maritime transportation is the danger of drowning passengers that may be experienced due to any problems on board. In this context, many rescue vehicles and/or equipment have been used so far. Lifebuoys, which are currently used, are known to be the most used example. Today, the development of these equipment is still ongoing.

In the invention, which is the subject of the Chinese utility model CN210618420U, image processing and infrared technologies are used for the detection of the person waiting to be rescued and access to the intervention area. Although it is planned to support the daylight problem that may be experienced in image processing with the night vision system and infrared sensors, the possibility that the wavelengths of the system are very high in rainy and windy weather has not been considered. It will be difficult to obtain images and monitor the temperature waves of the human body in order to reach wavelengths higher than 2 meters in the open sea. In this context, the system will only be able to work in stable waters or rivers. In addition, no feature is mentioned in the content of the invention specified in the relevant useful model document in order to control the device.

In the invention, which is the subject of the Chinese utility model CN209650500U, a motorized U-shaped remote-controlled motor lifebuoy is mentioned. With the underwater motor of the invention, active and fast transportation is provided on the water. However, the only method used to reach the person to whom the device will help is the use of a remote. The control can be managed through a boat or similar maritime vehicle with the help of a control. However, it is inevitable that the device operating on the water surface will encounter many negative conditions. In this context, the device does not have an autonomous location and/or direction verification system. It can only be used depending on the use skills of the control user. For this reason, the intervention speed and quality will decrease. There is even a possibility of harm to the person waiting to be rescued in difficult weather conditions. In addition, no feature is mentioned that the device can be controlled if the user controls it.

In the invention, which is the subject of the WO2015/034382 PCT application, a lifebuoy with a self-propelled propulsion system produced in the form of a U is mentioned. Although GPS and sonar subsystems are available in the invention, the systems are only used with the help of telemetry in communication with the device. As is the case with many patent applications, this PCT application does not have a supportive system to verify the location and direction of the device in difficult weather conditions. The ability of the open sea, which is the time when the invention will be most needed, to perform the rescue task in difficult weather conditions in bad weather conditions is restricted. In addition, no command feature related to the user's control is mentioned in the relevant PCT document.

Although it is a rescue boat designed in the form of U, which is the subject of the Turkish patent application numbered TR202021771, the invention relates to a rescue boat that provides location and direction verification using GPS, compass, and accelerometer data. Although the object of the invention is a location and direction verification rescue boat, the system used has a fully autonomous driving mode. There is no description to be controlled by the user in the invention subject to the relevant patent.

The Object and Brief Description of the Invention The object of the present invention is to enable a remote-controlled boat to automatically control its location-based functions. Another object of the invention is to develop a remote- controlled rescue boat that can determine its home location autonomously through the operator or if the operator has not determined it. Another object of the invention is also to develop a remote-controlled boat that can travel autonomously to said destination if the destination location information other than the home location information is provided.

Definitions of Figures Describing the Invention

Figures and related descriptions used to better explain the rescue boat with user-controlled location and direction verification developed by this invention are as follows.

Figure 1. A perspective view of a user-controlled rescue boat according to the invention.

Figure 2. A top view of a user-controlled rescue boat according to the invention.

Figure 3. A top view of a user-controlled rescue boat according to the invention.

Figure 4. A side view of a user-controlled rescue boat according to the invention.

Figure 5. A rear view of a user-controlled rescue boat according to the invention.

Figure 6. A perspective view of the sub-components of a user-controlled rescue boat according to the invention.

Figure 7. A perspective view of the control center of a user-controlled rescue boat according to the invention.

Figure 8. A perspective view of the queue of a user-controlled rescue boat according to the invention.

Figure 9. A perspective view of the sub-components of the queue of a user-controlled rescue boat according to the invention.

Figure 10. A perspective view of the sub-components of the queue of a user-controlled rescue boat according to the invention.

Figure 11. A perspective view of the sub-components of the queue of a user-controlled rescue boat according to the invention.

Definitions of Components of the Invention In order to better explain the rescue boat developed by this invention, the parts and pieces in the figures are numbered and the corresponding of each number is given below.

1. Rescue boat

2. Body

3. Tail

4. motor chamber

5. Exhaust

6. First button

7. Second button

8. Handle

9. Warning light

10. Cover

11. Stabilizer

12. Pad

13. Entrance

14. Control panel

15. Battery chamber

16. Power element

17. Controller

18. Fan

19. Motor

20. Diffuser

21. Propeller

22. Flow regulator

23. Shaft

Detailed Description of the Invention

On the basis of the invention, a lifebuoy is a rescue boat that can be controlled and operated autonomously with the buttons on it in the form of "U" and a remote control. The object of the invention is to serve in rescue situations to be encountered in the sea, river, or open seas in all kinds of weather conditions. In this context, the rescue boat (1) contains many subsystems. The rescue boat (1) consists of 3 parts, mainly the body (2) and the tails (3). The largest of these parts is the body (2), a part that has a buoyancy on the water carrying many other subcomponents. There is a first button (6), a second button (7), handles (8), warning lights (9), a cover (10), a camera stabilizer (11), a pad (12) and a control center (14) on/in the body (2).

The tail (3) is 2 pieces in total, 1 on the right and 1 on the left side behind the body (2). The tails (3) are equal to each other and basically contain the propulsion and power systems. There is a motor chamber (4), exhaust (5), water inlet (13) and battery chamber (15) in each tail (3).

The body (2) is designed in accordance with the flow so that it moves without tipping over on the water and without disturbing its linear movement. In addition, there are handles (8) on the body (2) that facilitate the transportation of the invention, its release into water and the catching of the rescue boat (1) by the person requesting help. The camera on the body (2) is used with the stabilizer (11) by attaching the camera for tracking the road during travel. In addition, the image to be taken with the camera is also used for artificial intelligence in the development of autonomous driving.

There are 2 warning lights (9) on the body (2). These warning lights (9) are operated so that the device location and/or the person waiting for help can notice the rescue boat (1). In the front part of the body (2), collision support pads (12) are placed to reduce the severity of the collision in order to access the person waiting for help and/or when the system encounters an obstacle.

In addition to remote control of the rescue boat (1), the autonomous control system is managed through the control center (14). The control center (14) is located in the body (2) and is accessed by the cover (10).

The control center (14) includes a power element (16) and a controller (17) for each motor (19). The power element (16) enables the necessary power to be transmitted to the motor (19) at appropriate values after the motor (19) is received through the batteries. There are fans (18) and/or fans (18) on the power elements (16) for cooling the system. The controller (17) houses an electronic card and enables the relevant motor (20) to be driven. The tail (3) part contains the propulsion and power systems. The motor chamber (4), which is the most important part that will provide the thrust of the invention, is located in the tail (3) part with all its subsystems. The part of the motor chamber (4) containing the electric motor (19), diffuser (20), propeller (21), flow regulator (22) and shaft (23) is powered by batteries arranged with series and/or parallel connections with lithium ion or different components that can be increased according to system requirements. The batteries are positioned in the battery chamber (15) and protected to prevent damage to the batteries from water.

There is a motor (19), propeller (21), diffuser (20), flow regulator (22) and exhaust (5) designed for optimum conditions in the motor chamber (4) part. After the motor (19) receives the relevant equipment, it accelerates the water it receives from the water inlet (13) with the help of the diffuser (20) and delivers it to the propeller (21). There is a shaft (23) between the motor (19) and the propeller (21). The shaft (23) serves as the element that transmits the rotation of the motor (14) to the propeller (21). Here, the water, which gains more speed with the rotation speed of the propeller (5), will be pushed by being discharged from the exhausts (7). For all of these operations, the control commands will be transmitted by the control center (14).

The water inlet (13) openings are located at the bottom of the motor chamber (4). Due to its structure, it is designed to enable the boat to be rotated in cases where the rescue boat (1) contradicts the water. In the event of a reverse fall, each motor (19) works in the opposite direction to each other, allowing the rescue boat (1) to roll over.

In the rescue boat (1), all driving assistance systems will be controlled by the electronic and software subsystems included in the control center (14). All or part of the components of these subsystems may be located in the control center (14) in the body (2), or some of them may be located outside as sensor components such as accelerometers, compass GPS unit, which may be included in the content of the motor chamber (4).

In addition to the accelerometer, compass and GPS data of the invention, location and direction data can be extracted from fixed submarine surface observation data through submarine sonars. It is possible to plan a series of coordinates instead of driving to a single coordinate using the autonomous driving support system. In this way, underwater screening activities can be carried out autonomously.

The rescue boat (1) will be able to carry rescue personnel in cases of loss of consciousness of the person to be helped and similar situations. The rescue personnel can go to the person waiting to be rescued with the rescue boat (1) by controlling the rescue boat (1) with the help of a first button (6) and a second button (7) system as well as the autonomous driving system. The control system can be controlled with the buttons on the right and left gripping points. The first button (6) is determined as the on-off button of the system. The second button (7) provides the forward movement of the rescue boat (1). The direction of the rescue boat (1) can be controlled by body movements. In addition, it can consist of 2 controls or a single multi-axis control that will enable control in the forward-reverse and right-left directions.

The buttons on the rescue boat (1) are used to determine the driving and steering speed of the rescue boat (1). The first button (6), which is the steering button, and the second button (7), which is the forward driving button, are buttons that are sensitive to the pressing intensity. The user can control the speed and orientation of the rescue boat (1) according to the speed of pressing the buttons.

The first button (6) and the second button (7) can be in a gradual structure. For example, when the user exceeds the first of the stages on the second button (7), they can move at a certain speed. When moved to the second level, they can move faster. The buttons can be one and/or multiple stages. The rescue boat (1) can contain another button for the control of these stages in terms of safety. This button can allow the user to increase the speed and move to the ongoing stages.

The first button (6) and the second button (7) on the rescue boat (1) can operate sensitively to more than one press. The user can press the buttons repeatedly to make the rescue boat (1) move faster. Depending on the pressing frequency, the rescue boat (1) can move faster.

In cases where the rescue personnel control the boat, they can verify their location by using compass and GPS data in cases of loss of route and location due to bad weather conditions and movements of water. The verification process takes place autonomously. After the verification is made, the return to the relevant area is ensured by opening the return home status with the commands of the rescue personnel and/or autonomously. The return home status can also be used only when transporting the victim.

The rescue boat (1) can be controlled by a rescue personnel remote control. When the rescue personnel activate the control, the first button (6) and the second button (7) can be disabled on the rescue boat (1). After this point, the user cannot control the rescue boat (1). The control of the rescue boat (1) passes completely to the control controlled by the rescue personnel. The rescue personnel can transfer the control to the user again through the control. After this point, the user can control the rescue boat (1) on the boat with the help of the first button (6) and the second button (7).

The rescue personnel can partially leave the control of the rescue boat (1) to the user. The rescue personnel can partially open the steering and/or acceleration features to the user through the first button (6) and the second button (7) with the help of the control of the rescue boat (1). It can provide the user with the opportunity to use at certain speeds and angles. The acceleration permission can be opened to the user with the help of the control.

The rescue boat (1), which is the subject of the invention, will be able to move itself away from risky environments or ensure the continuation of the operation by activating autonomous driving and/or working scenarios in some cases. Below are detailed descriptions of different working scenarios.

Return Home Work Scenario

The most important of all working scenarios is the ability to return to the autonomous home to the location where it was first activated, or the last control location transmitted to it by the controller in case of communication problems. If the communication between the control and the rescue boat (1) is interrupted in the event of a current or storm, or if the rescue boat (1) cannot receive information from the control for a certain period of time due to a problem experienced by the control system, the return home feature will be activated.

In the autonomous return to home feature, the predefined "home location" can be an unchanging station or a "home location" selected by the operator or the rescue boat (1). The rescue boat (1) can also operate the return home scenario in order not to leave itself away from the "home location" with the battery depleted, ignoring the instructions of the operator who directs through the control or the operator who is mounted on it according to the charging status.

Various working dynamics can be applied one after the other before the activation of the return home function. These will be operated differently by the control center (14) due to different reasons for starting the return home scenarios. Consequently;

Execution of the return home command from the control; o In this case, activated by the operator, the rescue boat (1) will immediately direct itself to the "home location" by making the necessary maneuvers.

Disconnection with the control; o If the communication with the control is interrupted for a period of ti , the rescue boat (1) will stop itself to understand whether this is a livelihood effect or a permanent situation. o The rescue boat (1), which has stopped itself, will stay in the stop position for t2 hours so that communication can be restored. o The rescue boat (1), which cannot communicate with the control during t2 time it waits, will direct itself to the "home location" by making the necessary maneuvers.

If the battery level falls below a certain limit value; o In both cases, if it is controlled remotely or controlled by the operator, the rescue boat (1) may be saving a victim or may be on its way to perform a task activity. It is possible that there is not enough charge left to perform said task or even to return to the "home location". In such cases, at least if the rescue boat (1) falls below a certain charging state so that it can save itself, the rescue boat (1) will start to return home autonomously due to the lack of batteries. o The rescue boat (1) must inform the person above that they will return home in accordance with their own decision that they will not respond to the reactions of the victim or the operator. For this purpose, the rescue boat will make differences in the motor (19) working scenario in order to provide physical feedback. These differences will create effects such as the decreasing motor (19) speed to make you feel that the battery power is weakened. If there is a person on the rescue boat (1) for a period of t3, it will inform this person. o At the end of the relevant t3 time, the rescue boat (1) will direct itself to the "home location" by making the necessary maneuvers.

The home maneuvers described above may be to be on the coastline instead of the open sea or to follow the return route to the house with a certain pin point if there are rock fragments in between, or to turn the nose directly to the "home location" in the open sea and move in that direction.

The return home function is essentially an autonomous driving function. However, it is imperative that the "home location" is updated dynamically as it may change at each time of use. This update can be done directly by registering the current location of the rescue boat (1) as the "home location". However, this is a process step that can be forgotten by the user.

The rescue boat (1), whose main function is to save the victim in emergencies, will be thrown overboard from the beach or mostly from a moving marine vehicle or helicopter near the victim. The rescue boat (1), which is opened from the on/off button or disconnected from the charging or taken from the station before being thrown into the water, will be turned on/awakened in a way that can be controlled by the control. If the rescue boat (1), which is most likely moving during said wake-up, stores the location information it detects as home when it is first awakened, it can determine a location on land or a location much further from the scene as "home location".

In order to determine the "home location" as accurately as possible, the rescue boat (1) will check the operating dynamics of the motor (19) and whether it is in the water, as well as the location information it constantly monitors. If the motor (19) of the rescue boat (1) works without touching the water, the current it draws will be different from the current it draws when touching the water. Thanks to this difference, the rescue boat (1) can determine whether it is in the water or not. It is possible for the user to operate the motors (19) incorrectly or for test purposes while out of water. The control center (14) so that the position of the rescue boat (1) when it is thrown into the water and operated can be recorded as the "home location"; the moment when the motor 19 is started for at least t4 time will be detected, - the current drawn by the motor (19) will be monitored during this time, it will be checked whether the current value drawn by the motor (19) is not more than 20% different from the predefined current value that is likely to be measured when the rescue boat (1) is in the water, the change in the position information will be checked during the t4 time when the motor (19) is working, it will be checked whether the change of the location information is not more than 20% different from the predefined feed value that is likely to be measured when the motors (19) are full throttle in the water, if all of the above listed control values are within the predefined values, the position where the motor (19) is first started will be recorded as "home location".

The t4 time can be determined as 4-10 seconds in the preferred embodiment of the invention.

Claims

1. A rescue boat (1) to determine the home location by continuously tracking the position information using GPS, compass, and accelerometer data, comprising; a buoyant body (2) consisting of 3 parts, the body (2) and the tails (3), which carries all other components on and in it, tails (3), 1 each on the right and left side behind the body (2), which provide the effect, the first button (6), the second button (7) for controlling on/in the body (2) and control center (14), which contains electronic and software subsystems and sensor components such as accelerometers, compass and/or GPS unit, characterized by a control center (14) that; detect the moment when the motor (19) is started for at least ti time, monitor the current drawn by the motor (19) during this time, check whether the current value drawn by the motor (19) is not more than 20% different from the predefined current value that is likely to be measured when the rescue boat (1) is in the water.

2. A rescue boat (1) according to claim 1, characterized in that the control center (14) enables the rescue boat (1) to immediately perform the necessary maneuvers to direct itself to the "home position" in the event that the command return home is executed from the control.

3. A rescue boat (1) according to claim 1, characterized in that if communication with the controller is lost for a period of time tl , it stops itself to determine whether the situation is a temporary effect or a permanent situation, remains in a stop position for a period of time t2 to allow communication to be restored, and is guided to the "home position" if no communication with the controller is established for a period of time t2 by the control center (14).

4. A rescue boat (1) according to claim 1, characterized in that the control center (14) allows to direct it to the "home position" when the battery level drops below a certain limit value.

5. A rescue boat (1) according to any of the claims 2 to 4, characterized in that the homing maneuvers are performed by a control center (14) enabling the homing route to be followed, comprising a set of pinpoints, in case the homing maneuvers are on the coastline instead of in open sea, or in case there are rocks in between.

6. A rescue boat (1) to be able to determine home location by continuously tracking location information using GPS, compass, and accelerometer data, comprising; a buoyant body (2) consisting of 3 parts, the hull (2) and the tails (3), which carries all other components on and in it, tails (3), 1 each on the right and left side behind the body (2), which provide the effect, the first button (6), the second button (7) for controlling on/in the body (2) and control center (14), which contains electronic and software subsystems and sensor components such as accelerometers, compass and/or GPS unit, characterized by a control center (14) that; detect the moment when the motor (19) is started for at least ti time, control the change in the position information during the ti time when the motor (19) is working, check whether the change of the location information is not more than 20% different from the predefined feed value that is likely to be measured when the motors (19) are full throttle in the water.

7. A rescue boat (1) according to claim 6, characterized in that the control center (14) enables the rescue boat (1) to immediately perform the necessary maneuvers to direct itself to the "home position" in case of execution of the command return home from the control.

8. A rescue boat (1) according to claim 6, characterized in that if communication with the controller is lost for a period of time tl , it stops itself to determine whether this is a temporary effect or a permanent condition, it remains in a stop position for a period of time t2 to allow communication to be restored, and it has a control center (14) that allows it to be directed to the "home position" if no communication with the controller is established for a period of time t2.

9. A rescue boat (1) according to claim 6, characterized in that the control center (14) allows the battery level to be directed to the "home position" when it falls below a certain limit value.

10. A rescue boat (1) according to any of the claims 7 to 9, characterized in that the homing maneuvers are performed by a control center (14) enabling the homing route to be followed, comprising a set of pin points, in case the homing maneuvers are on the coastline instead of in the open sea, or in case there are rocks in between.