CN108891559B - Control method of novel water rescue robot - Google Patents
Control method of novel water rescue robot Download PDFInfo
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- CN108891559B CN108891559B CN201810704026.2A CN201810704026A CN108891559B CN 108891559 B CN108891559 B CN 108891559B CN 201810704026 A CN201810704026 A CN 201810704026A CN 108891559 B CN108891559 B CN 108891559B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000036760 body temperature Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000004804 winding Methods 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 13
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 9
- 229910052760 oxygen Inorganic materials 0.000 claims description 9
- 239000001301 oxygen Substances 0.000 claims description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 5
- 230000005674 electromagnetic induction Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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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
- B63C9/00—Life-saving in water
- B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method of a novel water rescue robot, which comprises the steps of conveying the robot to a designated rescue place, starting a power system and a second camera, detecting and searching through a life detector and a sonar, sending detection information to a searching system, analyzing the detection information through the searching system, when a rescued person is found, operating a manipulator by the rescued person according to shot information, putting the rescued person on a fixed stretcher, carrying a respirator on the rescued person, isolating the rescued person from river water, adjusting the temperature through a temperature adjuster, quickly recovering the body temperature of the rescued person to the normal body temperature, starting two reel motors to lift the fixed stretcher to the water surface, and enabling the robot to stably float on the water surface through an air bag, wherein the power system can ensure that the robot quickly moves and improve the searching speed, the rescue time is shortened, the search system realizes unmanned search, and the manpower limitation is broken through.
Description
Technical Field
The invention belongs to the technical field of water rescue, and particularly relates to a control method of a novel water rescue robot.
Background
The rescue robot is a robot developed by adopting advanced science and technology for rescue, such as an earthquake rescue robot, and is specially used for searching survivors in the ruins of underground shopping malls to execute rescue tasks after a great earthquake. The robot is provided with a color camera, a thermal imager and a communication system, and can be divided into a military rescue robot, a post-disaster rescue robot, an underwater rescue robot, a disaster reconnaissance robot and the like.
Disclosure of Invention
The invention aims to solve the problems, and provides a novel water rescue robot, which solves the problems that the existing rescue robot is low in efficiency, poor in search effect and slow in speed and influences the rescue speed when people are rescued, the rescue time is prolonged, the people cannot be brought out of the water quickly, the workload of the people is increased, the people do not have to find more people for help, great convenience is brought to rescue, and the practicability of the water rescue robot is greatly improved.
In order to solve the above problems, the present invention provides a technical solution: the utility model provides a novel rescue robot on water, includes driving system, robot main part and search system, driving system is including fixing at the left motor power of first base, be fixed with first gear in motor power's the pivot first gear is connected with the epaxial second gear meshing of gearbox input pivot, first gear is conical gear with the second gear, gearbox output pivot is rotated with transmission shaft one end and is connected, the transmission shaft downside, gearbox fixedly connected with electromagnetic sensor utilize electromagnetic induction principle response transmission shaft speed, and the transmission shaft other end passes the sealed driving system lateral wall of sealing washer and pivot fixed connection, a plurality of blades of pivot side fixed connection.
The two power systems are respectively fixed at the two ends of the rear side of the robot main body, the robot main body comprises a fixed frame, an air bag and a rescue mechanism, both ends of one side of the fixing frame are fixedly connected with a scroll motor through a second base, an output rotating shaft of the scroll motor is in transmission connection with a winding shaft through a coupler, both ends of the winding shaft are fixedly sleeved with winding grooves, and the inner sides of the winding grooves are wound with steel wire ropes, and the winding shaft is fixedly connected with a connecting plate on the rescue mechanism through the steel wire ropes, the rescue mechanism comprises a steel wire rope, a fixed stretcher, an oxygen tank, a balancing weight, a protective cover and a manipulator, the connecting plate is fixed at the left end and the right end of the lifting stretcher, the left side and the right side inside the lifting stretcher are fixedly connected with an oxygen tank through fixed iron sheets, and the output end of the oxygen tank is communicated with a breathing machine through a conveying pipe;
the transmission shaft side between the electromagnetic sensor and the sealing ring is provided with an electromagnet, the electromagnet side is provided with an electric brush, a 3mm gap exists between the electric brush and the electromagnet, the electric brush is electrically connected with a controller, and the controller is fixed on the upper side of the gearbox.
Robot main part front side fixedly connected with search system, search system front side fixed connection second camera, and there are fixed connection life detection instrument and sonar search system downside, life detection instrument front side, the one end fixed connection of the connecting rod on search system downside and the searchlight device, the connecting rod other end and fine setting steering wheel fixed connection, the fine setting steering wheel rotates through fourth fixed block and searchlight and is connected.
The inside right-hand member of fixed stretcher is equipped with the water tank, water tank bottom inclines right, and water tank right side bottom is connected with the water pump water inlet, the water pump outlet accesss to fixed stretcher outside, the filter layer that water tank left side wall was for the filter screen group, fixed stretcher upside inner wall fixedly connected with pressure sensor, and fixed stretcher left side axis department by from last fixed connection manipulator and first camera in proper order down, fixed stretcher upside is connected for one side hinge of the protection casing of awakening up with the interface, just the protection casing medial surface is equipped with clinical thermometer and thermoregulator, padlock and balancing weight fixed connection are passed through at fixed stretcher bottom side both ends.
The manipulator comprises a first supporting rod, a second supporting rod and an L-shaped plate, one end of the first supporting rod is rotatably connected with a fixed stretcher through a first rotary steering engine, the other end of the first supporting rod is rotatably connected with one end of the second supporting rod through a swinging steering engine, the other end of the second supporting rod is fixedly connected with the back of a plane plate of the L-shaped plate through a second rotary steering engine, the vertical side of the L-shaped plate is a plane, the bottom side of the L-shaped plate is an arc-shaped cross section, one side of the L-shaped plate, far away from the plane of the L-shaped plate, is hinged to one end of the second rotary steering engine through a first fixing block and one end of the third supporting rod, the other end of the third supporting rod is rotatably connected with one end of a C-shaped mechanical finger, the side, close to one end of the.
Preferably, the method comprises the following steps: the upper sides of the robot main body, the power system and the searching system are fixedly connected with a solar cell panel.
The control method of the novel water rescue robot comprises the following steps:
(1) the worker transports the invention to a designated rescue site;
(2) the power system and the second camera are started, the power motor drives the rotating shaft to rotate to drive the moving blade to rotate and push the moving blade to advance, cruise search and rescue are carried out through shooting information of the second camera, detection search is carried out through the life detector and the sonar 41, and the detection information is sent to the searching system to be analyzed through the searching system;
(3) when a rescued person is found, a first camera is started, the rescued person operates a manipulator according to information shot by the first camera, the rescued person is placed on a fixed stretcher by the manipulator and is brought with a breathing machine, then a protective cover is covered, water around the rescued person is discharged by a water pump to isolate the rescued person from river water, then the question of the rescued person is measured by a thermometer, and the temperature is adjusted by a temperature adjuster to enable the body temperature of the rescued person to be quickly recovered to the normal body temperature;
(4) and simultaneously, the two reel motors are started to pack up the steel wire rope, so that the fixed stretcher rises until the steel wire rope exceeds the horizontal plane, the protective cover is opened, and the rescue process is finished.
When the rescue work is carried out at night, the searchlighting device is started to searchlighte, so that illumination is provided for rescue, and the rescue work can be conveniently unfolded.
The invention has the beneficial effects that: the solar energy water saving rescue system is simple and practical in structure, the solar energy water saving rescue system can stably float on the water surface when water rescue is carried out through the bag, the power system can utilize the solar cell panel to generate electricity, meanwhile, the electric brush generates electricity through the electromagnetic induction principle, energy is recycled, the cruising ability of the solar energy water saving rescue system is obviously prolonged, the search system carries out search through a plurality of methods including a sonar method, a camera and a life detection instrument, the search effect is more obvious, the search efficiency is high, the mechanical arm can replace part of workers to work, and the rescue work after search is reduced.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a block diagram of the powertrain of the present invention;
FIG. 4 is a diagram of a rescue organization of the present invention;
FIG. 5 is a view showing the construction of a robot of the present invention;
FIG. 6 is an enlarged view of a portion of the invention A;
FIG. 7 is an enlarged view of the structure B of the present invention.
In the figure: 1. a power system; 2. a solar panel; 3. a robot main body; 4. a fixed mount; 5. an air bag; 6. a search system; 7 a rescue device; 8. a power motor; 9. a first base; 10. a rotating shaft; 11. a blade; 12. a drive shaft; 13. an electromagnet; 14. a seal ring; 15. an electric brush; 16. an electromagnetic sensor; 17. a first gear; 18. a second gear; 19. a gearbox; 20. a controller; 21. a rubber tube; 22. a wire rope; 23. a guide bar; 24. a connecting plate; 25. a water tank; 26. a water pump; 27. locking; 28. fixing the iron sheet; 29. an oxygen tank; 30. a pressure sensor; 31. a balancing weight; 32. a first camera; 33. a delivery pipe; 34. a thermometer; 35. a ventilator; 36. a protective cover; 37. a thermostat; 38. a second camera; 39. a searchlight device; 40. a life detector; 41. sonar; 42. a manipulator; 43. a filtering layer; 44. a first rotary steering engine; 45. a first support bar; 46. a swinging steering engine; 47. a second support bar; 48. a second rotary steering engine; 49. an L-shaped plate; 50. a first fixed block; 51. a second fixed block; 52. a third support bar; 53. a mechanical finger; 54. a telescopic rod; 55 a third fixing block; 56. a reel motor; 57. a second base; 58. a coiling groove; 59. a winding shaft; 60. fixing the stretcher; 61. a connecting rod; 62. finely adjusting the steering engine; 63. a fourth fixed block; 64. a searchlight;
the specific implementation mode is as follows:
as shown in fig. 1 to 7, the following technical solutions are adopted in the present embodiment: a novel water rescue robot comprises a power system 1, a robot main body 3 and a searching system 6, wherein the power system 1 comprises a power motor 8 fixed on the left side of a first base 9, a first gear 17 is fixed on a rotating shaft of the power motor 8, the first gear 17 is meshed with a second gear 18 on an input rotating shaft of a gearbox 19, the first gear 17 and the second gear 18 are conical gears, an output rotating shaft of the gearbox 19 is rotatably connected with one end of a transmission shaft 12, an electromagnetic sensor 16 is fixedly connected to the lower side of the transmission shaft 12 and the gearbox 19, the rotating speed of the transmission shaft 12 is sensed by utilizing the electromagnetic induction principle, the other end of the transmission shaft 12 penetrates through the side wall of the power system 1 sealed by a sealing ring 14 and is fixedly connected with a rotating shaft 10, and the side surface of the rotating shaft 10 is;
the power system 1 is provided with two power systems which are respectively fixed at two ends of the rear side of the robot main body 3, the robot main body 3 comprises a fixed frame 4, an air bag 5 and a rescue mechanism, two ends of one side of the fixed frame 4 are fixedly connected with a reel motor 56 through a second base 57, an output rotating shaft of the reel motor 56 is in transmission connection with a winding shaft 59 through a coupler, two ends of the winding shaft 59 are fixedly sleeved with winding grooves 58, steel wire ropes 22 are wound on the inner sides of the winding grooves 58, the winding shaft 59 is fixedly connected with a connecting plate 24 on the rescue mechanism through the steel wire ropes 22, the rescue mechanism comprises the steel wire ropes 22, a fixed stretcher 60, an oxygen tank 29, a counterweight block 31, a protective cover 36 and a manipulator 42, the connecting plate 24 is fixed at the left end and the right end of a lifting stretcher 60, and the left side and the right side inside the lifting stretcher 60 are fixedly connected, the output end of the oxygen tank 29 is communicated with a breathing machine 35 through a delivery pipe 33;
an electromagnet 13 is arranged on the side surface of a transmission shaft 12 between an electromagnetic sensor 16 and a sealing ring 14, an electric brush 15 is arranged on the side surface of the electromagnet 13, a 3mm gap exists between the electric brush 15 and the electromagnet 13, the electric brush 15 is electrically connected with a controller 20, and the controller 20 is fixed on the upper side of a gearbox 19;
the front side of the robot main body 3 is fixedly connected with a searching system 6, the front side of the searching system 6 is fixedly connected with a second camera 38, the lower side of the searching system 6 is fixedly connected with a life detector 40 and a sonar 41, the lower side of the life detector 40 is fixedly connected with one end of a connecting rod 61 on a searchlight device 39, the other end of the connecting rod 61 is fixedly connected with a fine-tuning steering engine 62, and the fine-tuning steering engine 62 is rotatably connected with a searchlight 64 through a fourth fixed block 63;
the right end in the fixed stretcher 60 is provided with a water tank 25, the bottom of the water tank inclines rightwards, the bottom end of the right side of the water tank 25 is connected with a water inlet of a water pump 26, a water outlet of the water pump 26 is communicated with the outside of the fixed stretcher 60, the left side wall of the water tank 26 is a filter layer 43 of a filter screen set, the inner wall of the upper side of the fixed stretcher 60 is fixedly connected with a pressure sensor 30, the central axis of the left side of the fixed stretcher 60 is fixedly connected with a manipulator 42 and a first camera 32 from top to bottom in sequence, the upper side of the fixed stretcher 60 is hinged with one side of a protective cover 36 with an awakened interface, a thermometer 34 and a thermoregulator 37 are arranged on the inner side of the protective cover 36;
the manipulator 42 comprises a first supporting rod 45, a second supporting rod 47 and an L-shaped plate 49, one end of the first supporting rod 45 is rotatably connected with a fixed stretcher 60 through a first rotary steering engine 44, the other end of the first supporting rod 45 is rotatably connected with one end of the second supporting rod 47 through a swing steering engine 46, the other end of the second supporting rod 47 is fixedly connected with the back of a plane plate of the L-shaped plate 49 through a second rotary steering engine 48, the vertical side surface of the L-shaped plate 49 is a plane, the bottom side of the L-shaped plate 49 is an arc-shaped cross section, one side of the plane of the L-shaped plate 49, which is far away from the second rotary steering engine 48, is hinged and connected with one end of a third supporting rod 52 through a first fixing block 50, the other end of the third supporting rod 52 is rotatably connected with one end of a C-shaped mechanical finger 53, the side surface of one end, which is close to the mechanical finger 53, of the, the upper sides of the robot main body 3, the power system 1 and the searching system 6 are fixedly connected with a solar cell panel 2.
The working principle is as follows: when water surface rescue actions are needed, workers quickly transport the invention to a designated rescue place, a power system 1 and a second camera 38 are started, a power motor 8 drives a rotating shaft 10 to rotate and drive a moving blade 11 to rotate and push forward, cruise search and rescue are carried out through shooting information of the second camera 38, detection and search are carried out through a life detector 40 and a sonar 41, detection information is sent to a search system 6 to be analyzed by the search system, when the rescued people are found, a first camera 32 is started, the rescued people operate a manipulator 42 according to the information shot by the first camera 32, the rescued people are put on a fixed stretcher 60 through the manipulator 42 and carry a breathing machine 35 on the rescued people, then a protective cover 36 is covered, water around the rescued people is removed through a water pump 26 to isolate the rescued people from river water, and then questions of the rescued people are measured through a thermometer 34, the temperature is adjusted by the temperature adjuster 37, so that the body temperature of rescued people is quickly restored to normal body temperature, then the two reel motors 56 are simultaneously started to retract the steel wire rope 22, the fixed stretcher 60 is lifted until the body temperature exceeds the horizontal plane, the protective cover 36 is opened, and the rescue process is finished;
when the rescue work is carried out at night, the searchlighting device 39 is started to searchlighte, so that illumination is provided for rescue, and the rescue work is more convenient to expand.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (2)
1. A control method of a water rescue robot is characterized in that: the water rescue robot comprises a power system, a robot main body and a searching system, wherein the power system comprises a power motor fixed on the left side of a first base, a first gear is fixed on a rotating shaft of the power motor and meshed and connected with a second gear on an input rotating shaft of a gearbox, the first gear and the second gear are both conical gears, an output rotating shaft of the gearbox is rotatably connected with one end of a transmission shaft, an electromagnetic sensor is fixedly connected to the lower side of the transmission shaft, the rotating speed of the transmission shaft is sensed by using the electromagnetic induction principle, the other end of the transmission shaft penetrates through the side wall of the power system sealed by a sealing ring and is fixedly connected with the rotating shaft, and the side face of the rotating shaft is fixedly connected with; the two power systems are respectively fixed at the two ends of the rear side of the robot main body, the robot main body comprises a fixed frame, an air bag and a rescue mechanism, both ends of one side of the fixing frame are fixedly connected with a scroll motor through a second base, an output rotating shaft of the scroll motor is in transmission connection with a winding shaft through a coupler, both ends of the winding shaft are fixedly sleeved with winding grooves, and the inner sides of the winding grooves are wound with steel wire ropes, and the winding shaft is fixedly connected with a connecting plate on the rescue mechanism through the steel wire ropes, the rescue mechanism comprises a steel wire rope, a fixed stretcher, an oxygen tank, a balancing weight, a protective cover and a manipulator, the connecting plate is fixed at the left end and the right end of the lifting stretcher, the left side and the right side inside the lifting stretcher are fixedly connected with an oxygen tank through fixed iron sheets, and the output end of the oxygen tank is communicated with a breathing machine through a conveying pipe; the right end in the fixing stretcher is provided with a water tank, the bottom of the water tank inclines rightwards, the bottom end of the right side of the water tank is connected with a water inlet of a water pump, a water outlet of the water pump is communicated with the outside of the fixing stretcher, the left side wall of the water tank is a filter layer of a filter screen set, the inner wall of the upper side of the fixing stretcher is fixedly connected with a pressure sensor, a manipulator and a first camera are fixedly connected to the central axis of the left side of the fixing stretcher from top to bottom in sequence, the upper side of the fixing stretcher is hinged to one side of a protective cover with an awakened interface, a thermometer and a temperature-adjusting meter are arranged on the inner side surface; the manipulator comprises a first supporting rod, a second supporting rod and an L-shaped plate, one end of the first supporting rod is rotatably connected with the fixed stretcher through a first rotary steering engine, the other end of the first supporting rod is rotatably connected with one end of the second supporting rod through a swing steering engine, the other end of the second supporting rod is fixedly connected with the back of a plane plate of the L-shaped plate through a second rotary steering engine, the vertical side face of the L-shaped plate is a plane, the bottom side of the L-shaped plate is an arc-shaped section, one side, away from the second rotary steering engine, of the plane of the L-shaped plate is hinged and connected with one end of the third supporting rod through a first fixing block, the other end of the third supporting rod is rotatably connected with one end of a C-shaped mechanical finger, the side, close to one end of the mechanical finger, of the third supporting rod; an electromagnet is arranged on the side surface of a transmission shaft between the electromagnetic sensor and the sealing ring, an electric brush is arranged on the side surface of the electromagnet, a 3mm gap exists between the electric brush and the electromagnet, the electric brush is electrically connected with a controller, and the controller is fixed on the upper side of the gearbox; the robot comprises a robot main body, a search system, a life detection instrument, a sonar, a fine adjustment steering engine and a searchlight, wherein the search system is fixedly connected to the front side of the robot main body; the control method comprises the following steps:
(1) the working personnel transport the water rescue robot to a designated rescue place;
(2) the power system and the second camera are started, the power motor drives the rotating shaft to rotate to drive the moving blade to rotate and push the moving blade to advance, cruise search and rescue are carried out through shooting information of the second camera, detection search is carried out through the life detector and the sonar, and the detection information is sent to the searching system to be analyzed through the searching system;
(3) when a rescued person is found, a first camera is started, the rescued person operates a manipulator according to information shot by the first camera, the rescued person is placed on a fixed stretcher by the manipulator and is brought with a respirator, then a protective cover is covered, water around the rescued person is drained by a water pump to isolate the rescued person from river water, then the body temperature of the rescued person is measured by a thermometer, and the body temperature of the rescued person is quickly recovered to normal body temperature by adjusting the temperature by a temperature adjuster;
(4) and simultaneously, the two reel motors are started to pack up the steel wire rope, so that the fixed stretcher rises until the steel wire rope exceeds the horizontal plane, the protective cover is opened, and the rescue process is finished.
2. The method for controlling the water rescue robot as claimed in claim 1, wherein: when the rescue work is carried out at night, the searchlighting device is started to searchlighte, so that illumination is provided for rescue, and the rescue work can be conveniently unfolded.
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| CN201810704026.2A CN108891559B (en) | 2018-07-01 | 2018-07-01 | Control method of novel water rescue robot |
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| CN201810704026.2A CN108891559B (en) | 2018-07-01 | 2018-07-01 | Control method of novel water rescue robot |
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| CN108891559B true CN108891559B (en) | 2021-06-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102020132287A1 (en) * | 2020-12-04 | 2022-06-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | water rescue robot |
| CN112660340B (en) * | 2020-12-08 | 2022-10-25 | 温州大学瓯江学院 | Underwater culvert pipe rescue robot system |
| CN112896462A (en) * | 2021-03-19 | 2021-06-04 | 义乌市返记商贸有限公司 | Underwater rescue equipment |
| CN113148067A (en) * | 2021-06-09 | 2021-07-23 | 浙江大虫科技股份有限公司 | Underwater search and rescue system |
| CN113506426B (en) * | 2021-07-12 | 2022-02-18 | 重庆东登科技有限公司 | Danger early warning system for water rescue |
| CN114524066B (en) * | 2022-03-29 | 2022-11-04 | 安徽理工大学 | Underwater robot for mine permeable rescue |
| CN115384732B (en) * | 2022-04-12 | 2024-01-23 | 广东海洋大学 | Water intelligent rescue robot |
| CN117125226B (en) * | 2023-03-27 | 2024-02-02 | 东台市海一船用设备有限公司 | High leakproofness diving equipment of marine rescue |
| CN117266915B (en) * | 2023-09-01 | 2024-04-02 | 中电建珠海生态环境有限公司 | Emergency rescue device and rescue method for artificial roof pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3310077A1 (en) * | 1983-03-21 | 1984-09-27 | Wolfgang Essen | DEVICE FOR RESCUE OF SHIPBACKED OR THE LIKE |
| JPH09201423A (en) * | 1996-01-26 | 1997-08-05 | Yokohama Rubber Co Ltd:The | Emergency escape chute |
| CN105035287A (en) * | 2015-07-23 | 2015-11-11 | 牛永友 | Underwater remain exploring method based on data communication |
| CN105000156A (en) * | 2015-07-24 | 2015-10-28 | 李红军 | Submarine rescue platform for human-body detection |
| CN105523156A (en) * | 2016-01-27 | 2016-04-27 | 浙江海洋学院 | Sea island life-saving equipment |
| CN105923127A (en) * | 2016-07-08 | 2016-09-07 | 北京天心无限科技有限公司 | Integrated underwater searching and rescuing robot |
| CN106585923B (en) * | 2016-12-13 | 2018-04-24 | 新昌县雷凯科技有限公司 | A kind of water rescue device |
| CN106864697B (en) * | 2017-02-27 | 2018-09-11 | 上海交通大学 | A kind of automation rescue at sea robot |
| CN206704487U (en) * | 2017-04-19 | 2017-12-05 | 中国舰船研究设计中心 | A kind of underwater emergency auxiliary rescue device |
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