CN106926992B - A kind of multiaxis propulsion search and rescue robot waterborne - Google Patents
A kind of multiaxis propulsion search and rescue robot waterborne Download PDFInfo
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- CN106926992B CN106926992B CN201710229241.7A CN201710229241A CN106926992B CN 106926992 B CN106926992 B CN 106926992B CN 201710229241 A CN201710229241 A CN 201710229241A CN 106926992 B CN106926992 B CN 106926992B
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- rescue
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- 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
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- Emergency Lowering Means (AREA)
Abstract
The present invention relates to field in intelligent robotics, specifically a kind of multiaxis promotes search and rescue robot waterborne, there is middle control platform, control platform circumferentially has at least three holders extended downwardly in, hinged cable device is respectively mounted on each holder, hinge cable device is lifted with folding life net below middle control platform by hawser, power device with float is also associated in the lower end of each holder, controller is equipped in the middle control platform, controller is connected with hinge cable device and the communication of power device with float；The present invention, which has in water, hovers, advances, retreating and 360 ° the multi-motion modes such as freely turn to, stability is extremely strong, capacity of anti-storm is strong, it can be good at replacing traditional rescue mode, while the design of folding life net realizes fast and safely lifesaving purpose, can realize that the search and rescue waterborne under complex water areas and inclement weather conditions are salvaged, the several work task such as monitor surface and observing and controlling waterborne, practicability is high, and flexibility is good, has good promotion prospect.
Description
Technical field
The present invention relates to field in intelligent robotics, specifically a kind of multiaxis promotes search and rescue robot waterborne.
Background technology
Man overboard mostly occurs in the occasions such as amusement on water project, maritime accidents forecast, is most common water safety
One of accident after man overboard, such as fails to implement relief in time, serious prestige will be caused to the life security of persons falling in water
The side of body, for this purpose, all the time, how quick and precisely to position persons falling in water position and effective rescue attempt is unfolded in time is currently to rescue
Help one of the key problem of need of work solution.
From the point of view of the current various rescue actions being unfolded for persons falling in water, it is main or by traditional artificial relief with
Ship implements relief after persons falling in water, wherein artificial relief there is rescue personnel cannot timely reach overboard place and
Difficult problem is rescued, while there is also larger risks to rescue personnel itself for artificial relief, and by ship close to overboard
Personnel implement relief, and there is also problems, while there is also the risks that secondary injury is caused to persons falling in water.
Invention content
To solve the problems, such as rescue mode of the conventional needle to man overboard's accident, the present invention provides one kind can be quick
It positions and reaches overboard place while the multiaxis propulsion search and rescue robot waterborne of effective rescue action is unfolded.
The present invention concrete scheme be：A kind of multiaxis propulsion search and rescue robot waterborne, has middle control platform, along middle control platform
Circumferentially there are at least three holders, lifting drive is mounted on each holder, lifting drive is in middle control platform
Lower section is lifted with extendible lifesaving appliance, is also connected with the dynamic device with float of installation in the tail end of each holder, the middle control is flat
Controller is equipped in platform, controller is connected with lifting drive and the communication of power device with float.
In the present invention, along being arranged circumferentially there are three holder for middle control platform, constitutes three axis and promote search and rescue machine waterborne
People.
Lifting drive of the present invention has the elevator motor being fixed on holder, in elevator motor output end
With reel is equipped with, the hawser for being useful for lifting extendible lifesaving appliance is taken up in reel.
Extendible lifesaving appliance of the present invention has at least three curved metal racks being sequentially connected end to end in turn, each
The wire side for lifesaving is laid in curved metal rack, all curved metal racks and wire side collectively form life net.
In the present invention, foldable rack connector, the rack are equipped between two adjacent curved metal racks
Connector has plinth, is symmetrically provided with hinged groove in the both sides of plinth, is set with and arc gold by articulated shaft in hinged groove
The hinged set for belonging to rack connection, is equipped with torsional spring, the company for lifting is additionally provided on plinth between hinged set and articulated shaft
Socket part.
There are several both ends to be fixed on arc gold on the wire side laid in each curved metal rack of the present invention
Belong to the cross reinforcing on rack, after all curved metal rack expansion, each wire side can be assembled into a complete disc.
In the present invention, extendible lifesaving appliance can also be the lifebuoy with charging-discharging function, be equipped on lifebuoy
The interconnecting piece of connection is matched with lifting drive, is equipped with the inflator pump being connect with controller communication in the middle control platform, is filled
Air pump is connected to by gas tube with lifebuoy.
Power device with float of the present invention has floating drum, and podded propulsor, the pod propulsion are housed in floating drum
There is propulsion device vertical drive shaft, the upper end of vertical drive shaft to be located inside floating drum and shaft coupling, shaft coupling are housed in end
On conical gear is installed, pinion shaft is connected with the stepper motor for changing course in conical gear, vertical drive shaft
Lower end is located at below floating drum and is connected with gondola on the end axis body, and gondola is internally provided with driving motor, driving motor output shaft
It is connected with propeller by main shaft.
Podded propulsor exterior of the present invention is furnished with protective cover, and the protective cover is that upper end is fixed on floating drum bottom
The hemispherical strip guard in portion.
In the present invention, circumferentially there are several zoom cloud video cameras along middle control platform side, in middle control mesa base
Rotatable camera is installed, communication antenna is housed at the top of middle control platform.
Extendible lifesaving appliance illustrates rescuing involved by search and rescue robot waterborne in the form of life net in the present invention
Helping persons falling in water process is：
1, standby phase：Elevator motor driving reel tightens hawser in the stage, makes life net and middle control mesa base
The distance between be less than curved metal rack height, tighten hawser make life net rise during, rescued by manually making
Curved metal rack in raw net keeps folded state, until middle control mesa base is resisted at the top of all curved metal racks,
And under the action of middle control platform, it is in folded state to keep life net；
2, travel phase：When finding that persons falling in water needs rescue, robot is thrown to water from the bank or on ship
In, robot is swum under the action of floating drum on the water surface, and wherein the protective cover below floating drum and propeller sink under the water；Pass through
Middle control platform and the podded propulsor control robot speed of a ship or plane and course, make search and rescue robot be navigated by water towards persons falling in water position,
During navigation, zoom cloud video camera and rotatable camera on middle control platform collect the navigation environment information of the navigation water surface,
It is referred to for search and rescue robot operator；
3, the stage is succoured：After search and rescue robot reaches persons falling in water position, in zoom cloud video camera and rotatable camera
Auxiliary under, by control podded propulsor, search and rescue robot is accurately positioned, persons falling in water is made to enter life net
Lower section；Start elevator motor driving reel and unclasp hawser, life net falls naturally under its own gravity, arc gold in life net
When belonging to control mesa base during rack vertex is detached from, under the torsional spring effect in rack connector, curved metal rack flicks, and makes lifesaving
Net unfolding becomes a complete circle, while under the action of wire side cross reinforcing, the wire side of life net remains taut
Tight state；After persons falling in water reaches life net wire side, by controlling to adjust hawser folding and unfolding length, life net wire side is made to keep water
It is flat；
4, return stage：Podded propulsor is restarted, driving search and rescue robot is back on the bank or ship stops
Point is moored, and completes search-and-rescue work.
The advantage that the present invention has is：
1, the search-and-rescue work that persons falling in water is carried out by the way of search and rescue robot is effectively prevented in traditional rescue method
The problems such as rescue worker itself causes secondary injury there are risk or hull to persons falling in water, reduces in search-and-rescue work and exists
Risk, while also assuring reliability and the safety of search-and-rescue work；
2, search and rescue robot is designed using pod propulsion Powered Propulsion mode in the present invention, can be realized and be hovered in water, is preceding
Into, retreat and 360 ° the multi-motion modes such as freely turn to, maneuvering performance is excellent, ensure that quick timely in search-and-rescue work
Property；
If 3, in one piece of search and rescue robot underhung in the search and rescue net of nature expansion, it is transferred to by the way that net will be searched and rescued and is fallen
Water personnel location be unfolded rescue, although this mode have the characteristics that it is quick, timely and efficient, due to search and rescue Netcom often certainly
Weight is larger, and wire side itself, which waves, generates larger inertia force, and search and rescue robot is caused to be possible to because of inertia force not in navigation
Itself centre-of gravity shift is set to generate inclination, such as fair current with the wind, it is most likely that search and rescue robot is caused to topple in water；The present invention
Middle search and rescue robot is substantially reduced body itself and is waved production using the design of the lifebuoy of folding life net or inflatable
The problem of raw larger inertia force causes off-centring, can equally realize fast and safely rescue while, it is ensured that this hair
Bright search and rescue salvaging waterborne, monitor surface and the observing and controlling waterborne that can be well adapted under complex water areas and inclement weather conditions
Equal several work task, environmental suitability is strong, practicability is high；
4, search and rescue robot waterborne, stabilization reasonable for structure, mobility strong, stability are promoted using triple axle in the present invention
Good, resistance to capsizing is strong, but also manufacturing cost is low, adaptability is good.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram that the present invention is in life net folded state in embodiment 1；
Fig. 2 is the upward view that the present invention is in life net folded state in embodiment 1；
Fig. 3 is the stereoscopic schematic diagram that the present invention is in life net unfolded state in embodiment 1；
Fig. 4 is the sectional view of power device with float in the present invention；
Fig. 5 is podded propulsor stereoscopic schematic diagram in the present invention；
Fig. 6 is that cable device stereoscopic schematic diagram is cut with scissors in the present invention；
Fig. 7 is rack connector stereoscopic schematic diagram in the present invention in embodiment 1；
Fig. 8 is rack connector vertical view in the present invention in embodiment 1；
Fig. 9 is the stereoscopic schematic diagram that the present invention is in lifebuoy aeration rescue state in embodiment 2.
In figure：Platform, 2- holders are controlled in 1-, 3- cuts with scissors cable device, 4- hawsers, 5- life net, 6- power device with float, 7- receipts
Hair antenna, 8- high-definition cameras, 9- monopod video cameras, 10- floating drums, 11- sealing partition boards, 12- buoyancy cavities, 13- power cavities, 14- are hung
Cabin formula propulsion device, 15- vertical drive shafts, 16- conical gears, 17- stepper motors, 18- gondolas, 19- main shafts, 20- propellers,
21- metal net masks, 22- elevator motors, 23- reels, 24- curved metal racks, 25- wire sides, 26- cross reinforcings, 27- nets
Holder joint, 28- torsional springs, 29- plinths, 30- hinged grooves, 31- articulated shafts, 32- hinged sets, 33- interconnecting pieces, 34- inflatables are rescued
Raw circle, 35- gas-charging connections, 36- vent valves, 37- gas tubes.
Specific implementation mode
Embodiment 1
A kind of pusher search and rescue robot waterborne of multiaxis, has middle control platform 1, circumferentially has at least along middle control platform 1
Three holders 2 are mounted on lifting drive on each holder 2, and lifting drive is lifted with receipts below middle control platform 2
Formula lifesaving appliance is put, the dynamic device with float 6 of installation is also connected in the tail end of each holder 2, control is equipped in the middle control platform 2
Device processed, controller are connected with lifting drive and the communication of power device with float 6.
In the present embodiment, a kind of pusher search and rescue robot waterborne of multiaxis is provided, has and controls platform 1 in circle, in
Controlling the circumferential uniform intervals arrangement of platform 1, there are three bending-type holders 2, and the tail end of bending-type holder 2 is arranged vertically downward, and is holding
Portion lifts dynamic device with float 6, three holders 2 and three power device with float 6 arrangement in equilateral triangle, constitutes three axis
Promote search and rescue robot waterborne；A hinge cable device 3, three hinge means 3 are also equipped with by anchor ear on each holder 2
In in same level and arrangement in equilateral triangle, three hinge means 3 are hung by hawser 4 below middle control platform 1 jointly
Equipped with folding life net 5, in addition, being equipped with remote style controller on middle control platform 1, transmitting-receiving is equipped on middle control platform 1
Antenna 7, controller is by dual-mode antenna 7, the information such as speed of a ship or plane, course and video monitoring during search and rescue robot is navigated by water
Real-time Feedback is carried out with operator on the bank and is exchanged, and to adjust search and rescue robot navigation and rescue state in time, guarantee is searched
Rescue the swiftness and safety of process.
In the present embodiment, in order to obtain the water surface and underwater preferable visual effect, being equipped in the lower end of middle control platform 1 can
High-definition camera 8 is rotated, is set there are three varifocal monopod video camera 9 in the circumferential direction uniform intervals of middle control platform 1.
In the present embodiment, it is hollow column type floating drum 10 that power device with float 6, which has internal, and floating drum 10 is internally provided with one
Floating drum 10 is separated into two layers by layer sealing partition board 11, be buoyancy cavity 12, lower layer is at the middle and upper levels power cavity 13, in power cavity 13
Podded propulsor 14 is installed, which, which has, extends vertically through in the vertical drive shaft of 10 bottom plate of floating drum
15,15 upper end of vertical drive shaft is located in power cavity 13 and is equipped with conical gear 16, and pinion shaft connects in conical gear 16
There are stepper motor 17, stepper motor 17 to constitute and be drivingly connected with remote style controller, to control the course of search and rescue robot, vertically
The lower end of transmission shaft 15 stretches out 10 bottom plate of floating drum and is connected with gondola 18 in end, and gondola 18 has a streamlined nacelle, in nacelle
Portion is equipped with driving motor, and driving motor is also constituted with remote style controller and is drivingly connected, and to control the speed of a ship or plane of search and rescue robot, drives
Dynamic motor output shaft is connected with propeller 20 by main shaft 19.
In the present embodiment, to avoid search and rescue robot power plant from damaging persons falling in water, while power being avoided to fill
It sets by artificial destruction or bottoms out risk, hemispherical strip metal guard 21 is installed in 10 bottom of floating drum, pod propulsion promotes
Device 14 is assemblied in inside metal net mask 21.
In the present embodiment, hinge cable device 3 has the elevator motor 22 being fixed on holder, in 22 output end of elevator motor
With reel 23 is equipped with, the hawser 4 for being useful for lifting folding life net 5 is taken up in reel 23.
The folding life net 5 has at least three curved metal racks 24 being sequentially connected end to end in turn, each arc
Be laid with the wire side 25 for lifesaving in metal truss 24, in the present embodiment, the tool of folding life net 5 there are three head and the tail according to
It is secondary to be connected to curved metal rack 24, wire side 25 is housed in curved metal rack 24, to improve the endurance of wire side 25, in wire side
The cross reinforcing 26 that both ends are fixed on curved metal rack 24 is additionally provided on 25, after all curved metal racks 24 are unfolded,
Each curved metal rack 24 forms a circle, and each wire side 25 can be assembled into a complete disc；In two adjacent arcs
Foldable rack connector 27 is equipped between shape metal truss 24, while between curved metal rack 24 and rack connector 27
It is provided with torsional spring 28, in its natural state, it is in unfolded state to keep folding life net 5 to torsional spring 28；To curved metal net
Under conditions of frame 24 applies external force, three curved metal racks 24, which fold, constitutes three-equilateral folding life net 5, passes through simultaneously
Life net 5 under folded state is promoted to 1 lower section of middle control platform by hinge cable device 3, in so that 24 top of curved metal rack is resisted
1 bottom of platform is controlled, middle control platform 1 causes it that cannot be unfolded naturally the pressure of curved metal rack 24, plays good fixation
Effect.
In the present embodiment, rack connector 27 has plinth 29, and hinged groove 30 is symmetrically provided in the both sides of plinth 29, cuts with scissors
Be set with the hinged set 32 connect with curved metal rack 24 in access slot 30 by articulated shaft 31, hinged set 32 and articulated shaft 31 it
Between torsional spring 28 is installed, be additionally provided with the interconnecting piece 33 for being connected with hawser 23 in side of the plinth 29 towards holder 2；Its
The function that middle torsional spring 28 is realized is 5 wire side of life net when making the curved metal rack 24 of life net 5 enter during water is detached to control platform 1
25 can be unfolded naturally, while since wire side 25 can also bear larger gravity, torsional spring after persons falling in water is picked up by life net 5
28 can also provide a part of cushion effect, ensure the safe to use of life net 5, extend its service life.
Embodiment 2
A kind of pusher search and rescue robot waterborne of multiaxis, has middle control platform 1, circumferentially has at least along middle control platform 1
Three holders 2 are mounted on lifting drive on each holder 2, and lifting drive is lifted with receipts below middle control platform 2
Formula lifesaving appliance is put, the dynamic device with float 6 of installation is also connected in the tail end of each holder 2, control is equipped in the middle control platform 2
Device processed, controller are connected with lifting drive and the communication of power device with float 6.
In the present embodiment, a kind of pusher search and rescue robot waterborne of multiaxis is provided, has and controls platform 1 in circle, in
Controlling the circumferential uniform intervals arrangement of platform 1, there are three bending-type holders 2, and the tail end of bending-type holder 2 is arranged vertically downward, and is holding
Portion lifts dynamic device with float 6, three holders 2 and three power device with float 6 arrangement in equilateral triangle, constitutes three axis
Promote search and rescue robot waterborne；A hinge cable device 3, three hinge means 3 are also equipped with by anchor ear on each holder 2
In in same level and arrangement in equilateral triangle, three hinge means 3 are hung by hawser 4 below middle control platform 1 jointly
Equipped with type inflatable life buoy 34, in addition, being equipped with remote style controller on middle control platform 1, transmitting-receiving day is equipped on middle control platform 1
Line 7, controller by dual-mode antenna 7, the information such as speed of a ship or plane, course and video monitoring during search and rescue robot is navigated by water with
Operator carries out Real-time Feedback and exchange on the bank, to adjust search and rescue robot navigation and rescue state in time, ensures and searches and rescues
The swiftness and safety of process.
In the present embodiment, in order to obtain the water surface and underwater preferable visual effect, being equipped in the lower end of middle control platform 1 can
High-definition camera 8 is rotated, is set there are three varifocal monopod video camera 9 in the circumferential direction uniform intervals of middle control platform 1.
In the present embodiment, it is hollow column type floating drum 10 that power device with float 6, which has internal, and floating drum 10 is internally provided with one
Floating drum 10 is separated into two layers by layer sealing partition board 11, be buoyancy cavity 12, lower layer is at the middle and upper levels power cavity 13, in power cavity 13
Podded propulsor 14 is installed, which, which has, extends vertically through in the vertical drive shaft of 10 bottom plate of floating drum
15,15 upper end of vertical drive shaft is located in power cavity 13 and is equipped with conical gear 16, and pinion shaft connects in conical gear 16
There are stepper motor 17, stepper motor 17 to constitute and be drivingly connected with remote style controller, to control the course of search and rescue robot, vertically
The lower end of transmission shaft 15 stretches out 10 bottom plate of floating drum and is connected with gondola 18 in end, and gondola 18 has a streamlined nacelle, in nacelle
Portion is equipped with driving motor, and driving motor is also constituted with remote style controller and is drivingly connected, and to control the speed of a ship or plane of search and rescue robot, drives
Dynamic motor output shaft is connected with propeller 20 by main shaft 19.
In the present embodiment, to avoid search and rescue robot power plant from damaging persons falling in water, while power being avoided to fill
It sets by artificial destruction or bottoms out risk, hemispherical strip metal guard 21 is installed in 10 bottom of floating drum, pod propulsion promotes
Device 14 is assemblied in inside metal net mask 21.
In the present embodiment, hinge cable device 3 has the elevator motor 22 being fixed on holder, in 22 output end of elevator motor
With reel 23 is equipped with, the hawser 4 for being useful for lifting type inflatable life buoy 34 is taken up in reel 23.
The type inflatable life buoy 34 is equipped with the interconnecting piece 33 that connection is matched with hawser 23, is equipped in middle control platform 1
There is on the type inflatable life buoy 34 inflator pump gas-charging connection 35 and vent valve 36, wherein gas-charging connection 35 to pass through gas tube
37 connect with inflator pump.
The pusher search and rescue robot waterborne of multiaxis in the present embodiment is during non-rescue, by vent valve 36 by inflatable
Gas emptying in lifebuoy 34, while the type inflatable life buoy 34 for the state that is vented is adjacent to middle control platform 1 using hinge cable device 3
Bottom, in order to store；During rescue, under search and rescue robot after water, type inflatable life buoy 34 is still kept in being vented and being adjacent to
The state for controlling 1 bottom of platform is rescued when the remaining time for reaching persons falling in water position close to inflatable with ensureing the stability of navigation
The inflator pump in platform 1 is controlled when the time required to the inflation of raw circle 34, in startup, when search and rescue robot reaches persons falling in water position
When, type inflatable life buoy 34 is full of air, starts hinge cable device 3 and type inflatable life buoy 34 is thrown on the water surface, to overboard people
Member implements relief.
Claims (5)
1. a kind of multiaxis promotes search and rescue robot waterborne, it is characterised in that：With middle control platform, along the middle circumferentially uniform cloth of control platform
It sets there are three holder, constitutes three axis and promote search and rescue robot waterborne, lifting drive is mounted on each holder, lifting is driven
Dynamic device is lifted with extendible lifesaving appliance below middle control platform, and the dynamic floating drum of installation is also connected in the tail end of each holder
Device, the middle control platform is interior to be equipped with controller, and controller is connected with lifting drive and the communication of power device with float；It is described
Lifting drive has the elevator motor being fixed on holder, has reel, coiling in elevator motor output end Matching installation
The hawser for being useful for lifting extendible lifesaving appliance is taken up in wheel, the extendible lifesaving appliance has at least three head and the tail successively
Connected curved metal rack is laid with the wire side for lifesaving in each curved metal rack；In two adjacent arcs
Foldable rack connector is equipped between metal truss, the rack connector has plinth, symmetrical in the both sides of plinth
It is provided with hinged groove, hinged groove is interior to be set with the hinged set being connect with curved metal rack, hinged set and articulated shaft by articulated shaft
Between torsional spring is installed, the interconnecting piece for lifting is additionally provided on plinth.
2. a kind of multiaxis according to claim 1 promotes search and rescue robot waterborne, it is characterised in that：Each arc gold
Belonging on the wire side laid in rack, there are several both ends to be fixed on the cross reinforcing on curved metal rack, all arc gold
After belonging to rack expansion, each wire side can be assembled into a complete disc.
3. a kind of multiaxis according to claim 1 promotes search and rescue robot waterborne, it is characterised in that：The power floating drum dress
It sets with floating drum, floating drum is interior to be equipped with podded propulsor, and the podded propulsor has vertical drive shaft, vertical-transmission
The upper end of axis is located inside floating drum and shaft coupling is housed in end, is equipped with conical gear on shaft coupling, small tooth in conical gear
Wheel shaft is connected with the stepper motor for changing course, and the lower end of vertical drive shaft is located at below floating drum and connects on the end axis body
It is connected to gondola, gondola is internally provided with driving motor, and driving motor output shaft is connected with propeller by main shaft.
4. a kind of multiaxis according to claim 3 promotes search and rescue robot waterborne, it is characterised in that：The pod propulsion promotes
Device exterior is furnished with protective cover, and the protective cover is the hemispherical strip guard that upper end is fixed on floating drum bottom.
5. a kind of multiaxis according to claim 1 promotes search and rescue robot waterborne, it is characterised in that：The control platform side in
Circumferentially have several zoom cloud video cameras, in middle control mesa base rotatable camera is installed, in middle control platform
Top is equipped with communication antenna.
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| CN201710229241.7A CN106926992B (en) | 2017-04-10 | 2017-04-10 | A kind of multiaxis propulsion search and rescue robot waterborne |
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| CN201710229241.7A CN106926992B (en) | 2017-04-10 | 2017-04-10 | A kind of multiaxis propulsion search and rescue robot waterborne |
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| CN106926992B true CN106926992B (en) | 2018-08-21 |
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| CN1927654A (en) * | 2006-09-07 | 2007-03-14 | 陈志豪 | Aquatic life-saving equipment |
| CN102267548B (en) * | 2010-06-07 | 2013-09-18 | 朱步成 | Water area search and rescue system |
| CN102923277B (en) * | 2012-11-13 | 2015-04-15 | 中国舰船研究设计中心 | Remote control lifesaving navigation device |
| CN104085515B (en) * | 2013-12-18 | 2016-08-17 | 中国科学院自动化研究所北仑科学艺术实验中心 | salvage device and salvage method |
| CN204998730U (en) * | 2015-09-25 | 2016-01-27 | 浙江海洋学院 | Lifeboat |
| CN205311877U (en) * | 2016-01-25 | 2016-06-15 | 武汉尼维智能科技有限公司 | Unmanned ship course control device of surface of water |
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2017
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