CN109533228A - Search and rescue robot under a kind of intelligent water - Google Patents
Search and rescue robot under a kind of intelligent water Download PDFInfo
- Publication number
- CN109533228A CN109533228A CN201910061744.7A CN201910061744A CN109533228A CN 109533228 A CN109533228 A CN 109533228A CN 201910061744 A CN201910061744 A CN 201910061744A CN 109533228 A CN109533228 A CN 109533228A
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- China
- Prior art keywords
- waterproof base
- central controller
- search
- outer cylinder
- air pressure
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 29
- 206010013647 Drowning Diseases 0.000 claims abstract description 16
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 10
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 238000005516 engineering process Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims 1
- 229910052744 lithium Inorganic materials 0.000 claims 1
- 230000009182 swimming Effects 0.000 description 7
- 238000013527 convolutional neural network Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Alarm Systems (AREA)
Abstract
The present invention provides search and rescue robots under a kind of intelligent water, waterproof base including annular, rubber air storehouse is provided on waterproof base, multiple cameras are provided in the peripheral outer wall of waterproof base, the two sides of the bottom of waterproof base are respectively connected with link mechanism, link mechanism includes fixed link, and the lower end of fixed link is hinged with connecting rod, is hinged with Powerpush Unit in connecting rod.Powerpush Unit includes cylindrical outer cylinder, is provided with floor on outer cylinder, floor is hinged with connecting rod, and lithium ion battery and propeller are provided in outer cylinder.Bottom on waterproof base is additionally provided with central controller and air pressure regulator, and air pressure regulator is connected with rubber air storehouse.The present invention monitors drowned situation using camera, once it was found that drowned accident, by adjusting Powerpush Unit, so that robot quickly reaches the lower section of drowning person, and the atmospheric pressure value in rubber air storehouse is adjusted rapidly, drowning person is lifted using law of buoyancy, has ensured the personal safety of tourist.
Description
Technical field
The present invention relates to drowning rescue fields, and in particular to search and rescue robot under a kind of intelligent water.
Background technique
In recent years, cause the report being drowned commonplace about swimming, especially in the hot summer, the sea of coastal city
Assemble the tourist that swimming of much coming is avoided heat, on August 5th, 2018 on beach, Beijing twin sister meets in Qingdao Beaches
Difficult event is exposed, and has caused the extensive concern of society.After profound grief, accidentally overboard tourist how is monitored in time simultaneously
Become a urgent problem to be solved to suing and labouring to help in fact.
Currently, at seabeach or providing the scenic spot of swimming, the artificial mode pair searching and rescuing team and going on patrol on bank can be generally taken
Exception is overboard to be monitored, the monitoring range of this direct surveillance's mode is smaller, is protected from environmental very greatly, crowded
The search and rescue ability of scenic spot rescue worker more limit to, it is not high so as to cause search efficiency and accuracy rate, waste it is a large amount of manually at
Sheet and the life security for being difficult to ensure drowning people.Therefore, it is necessary to design a kind of robot that can intelligently search and rescue drowned personnel.
Summary of the invention
After drowned accident occurs in existing seabeach or swimming pool, the not high problem of rescue efficiency, the present invention is provided
Search and rescue robot under a kind of intelligent water, can be automatically performed drowned discovery, personnel rescuing of drowning, and ensure the person peace of tourist
Entirely.
The following technical solution is employed by the present invention:
Search and rescue robot under a kind of intelligent water, the waterproof base including annular are provided on waterproof base and waterproof base
The compatible rubber air storehouse of shape, is provided with multiple cameras, the bottom of waterproof base in the peripheral outer wall of waterproof base
Two sides are respectively connected with link mechanism, and link mechanism includes fixed link, and the lower end of fixed link is hinged with connecting rod, hinged in connecting rod
Dynamic propulsion device；
The Powerpush Unit includes cylindrical outer cylinder, is provided with floor on outer cylinder, floor is hinged with connecting rod, outside
Lithium ion battery and propeller are provided in cylinder, lithium ion battery drives propeller rotational；
Bottom on the waterproof base is additionally provided with central controller and air pressure regulator, air pressure regulator and rubber
Glue air bin is connected, and air pressure regulator is adjustable air pressure in rubber air storehouse；
Be provided with water sensor at the upper end-face edge of the waterproof base, water sensor, camera, link mechanism,
Lithium ion battery and air pressure regulator are electrically connected with central controller.
Preferably, the picture that the camera takes, which is sent to central controller, to be handled, and central controller passes through view
Feel that identification technology identifies picture, to monitor whether that someone is drowned, however, it is determined that someone is drowned, and central controller passes through view
Feel that location technology determines drowning people position.
Preferably, the central controller controls the angle of Powerpush Unit, to control by controls connecting rod structure
Search and rescue robot free movement in water.
Preferably, the front of the outer cylinder is the advance head of truncated cone-shaped, is provided with sonar contact device, sonar on advance head
Detection device is electrically connected with central controller.
Preferably, warning device is provided in the central controller, warning device includes wireless signal transmitter and report
Alert device, wireless signal transmitter and alarm are electrically connected with central controller.
The invention has the advantages that:
Search and rescue robot under intelligent water provided by the invention replaces human eye to monitor drowned situation using camera,
Once it was found that drowned accident so that robot quickly reaches the lower section of drowning person, and is adjusted rapidly by adjusting Powerpush Unit
Atmospheric pressure value in whole rubber air storehouse, it is ingenious to lift drowning person using law of buoyancy, reduce energy consumption, improves work
Reliability, lifting is steady, motion stabilization, reduces because of artificial supervision fault or accident of being drowned caused by rescuing not in time, mentions
The high safety of swimmer, strengthens the Security Construction at scenic spot, has stronger innovation and practicality.
Detailed description of the invention
Fig. 1 is the perspective view of search and rescue robot under intelligent water.
Fig. 2 is the top view of search and rescue robot under intelligent water.
Fig. 3 is the structural schematic diagram of Powerpush Unit.
Specific embodiment
A specific embodiment of the invention is described further in the following with reference to the drawings and specific embodiments:
In conjunction with Fig. 1 to Fig. 3, a kind of search and rescue robot under intelligent water, the waterproof base 1 including annular is set on waterproof base
It is equipped with rubber air compatible with waterproof base shape storehouse 2.
Multiple cameras 3 are provided in the peripheral outer wall of waterproof base, specifically, there are four cameras, four camera shootings
Head is uniformly arranged on the outer wall of waterproof base.
The two sides of the bottom of waterproof base are respectively connected with link mechanism, and link mechanism includes fixed link 4, the lower end hinge of fixed link
It is connected to connecting rod 5, Powerpush Unit 6 is hinged in connecting rod.
Powerpush Unit includes cylindrical outer cylinder 7, floor 8 is provided on outer cylinder, floor 8 and connecting rod 5 are hinged, outside
Lithium ion battery and propeller are provided in cylinder, lithium ion battery drives propeller rotational, and the lithium ion battery in outer cylinder does anti-
Water conservation.
Bottom on waterproof base is additionally provided with central controller 9 and air pressure regulator 10, air pressure regulator and rubber
Glue air bin is connected, and air pressure regulator is adjustable air pressure in rubber air storehouse 2.
Water sensor 11, water sensor 11, camera 3, connecting rod knot are provided at the upper end-face edge of waterproof base 1
Structure, lithium ion battery and air pressure regulator 10 are electrically connected with central controller.
Specifically, the front of outer cylinder is the advance head 12 of truncated cone-shaped, sonar contact device is provided on advance head, sonar is visited
It surveys device to be electrically connected with central controller, sonar contact device can detect barrier, so that robot is hidden in time.
The picture that camera 3 takes, which is sent to central controller, to be handled, and central controller passes through Visual identification technology
Picture is identified, to monitor whether that someone is drowned；If it is determined that someone is drowned, central controller passes through vision positioning technology
Determine drowning people position.
Visual identification technology can identify whether to drown and happen, and be trained by following procedure:
1, the experiment that the volunteer of different sexes, age and figure is normally swum and drowned in swimming pool, benefit are recruited
The action video of volunteer when normally being swum with water-proof CCD camera acquisition is a large amount of and is drowned, and the video acted to every kind is marked
It infuses, mark classification is normal swimming and drowns；
2, a kind of depth convolutional neural networks are selected, supervision has been carried out to depth convolutional neural networks using the video of acquisition
Training, determines network parameter, thus allow depth convolutional neural networks can identify normal swimming and it is drowned when swimmer movement；
3, trained depth convolutional neural networks are implanted into central controller, in practical application, when camera is caught
When having grasped drowned situation, the correct identification to there is drowned situation can be realized.
Central controller controls the angle of Powerpush Unit, to control search and rescue robot by controls connecting rod structure
Free movement in water.
By the speed difference of two Powerpush Units, the transverse shifting of adjustable robot；It is adjustable by connecting rod
The vertical angle of whole Powerpush Unit realizes the vertical mobile adjusting of robot.
Warning device is provided in central controller, warning device includes wireless signal transmitter and alarm, wireless communication
Number transmitter and alarm are electrically connected with central controller, once robot finds that someone is drowned, wireless signal transmitter to
The search and rescue center on bank sends rescue signal, meanwhile, alarm issues warning note, finds drowned position convenient for bank rescue personnel
It sets.
The substantially course of work of search and rescue robot under the intelligent water are as follows:
When work, camera captured in real-time picture under water, and give to central controller and handled, central controller is logical
It crosses Visual identification technology to identify picture, to monitor whether that someone is drowned；
If having monitored drowning person, drowning person position is determined using vision positioning technology, central controller controls are wireless
Signal projector sends rescue signal to the search and rescue center on bank, meanwhile, alarm issues warning note, rescues people convenient for bank
Member has found drowned position, and central controller starts Powerpush Unit, and traction search and rescue robot reaches the underface position of drowning people
It sets；
The atmospheric pressure value that rubber air storehouse is adjusted by air pressure regulator, allows robot to float, to lift on drowning man
It is floating, if buoyancy is insufficient, Powerpush Unit can control to provide extra power, until drowning people follows rubber air Cang Fuchushui
Face；After water sensor leaves the water surface, air pressure regulator stops working, and robot lifts drowning person and keeps afloat, and waits
Rescue personnel further rescues.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (5)
1. search and rescue robot under a kind of intelligent water, which is characterized in that the waterproof base including annular, be provided on waterproof base with
The compatible rubber air storehouse of waterproof base shape, is provided with multiple cameras, the anti-bottom in the peripheral outer wall of waterproof base
The two sides of the bottom of seat are respectively connected with link mechanism, and link mechanism includes fixed link, and the lower end of fixed link is hinged with connecting rod, connection
Powerpush Unit is hinged on bar；
The Powerpush Unit includes cylindrical outer cylinder, is provided with floor on outer cylinder, floor is hinged with connecting rod, in outer cylinder
It is provided with lithium ion battery and propeller, lithium ion battery drives propeller rotational；
Bottom on the waterproof base is additionally provided with central controller and air pressure regulator, and air pressure regulator and rubber are empty
Gas storehouse is connected, and air pressure regulator is adjustable air pressure in rubber air storehouse；
Be provided with water sensor at the upper end-face edge of the waterproof base, water sensor, camera, link mechanism, lithium from
Sub- battery and air pressure regulator are electrically connected with central controller.
2. search and rescue robot under a kind of intelligent water according to claim 1, which is characterized in that the camera took
Picture send to central controller and is handled, and central controller identifies picture by Visual identification technology, to monitor
Whether someone is drowned, however, it is determined that someone is drowned, and central controller determines drowning people position by vision positioning technology.
3. search and rescue robot under a kind of intelligent water according to claim 1, which is characterized in that the central controller passes through
Controls connecting rod structure, controls the angle of Powerpush Unit, to control search and rescue robot free movement in water.
4. search and rescue robot under a kind of intelligent water according to claim 1, which is characterized in that the front of the outer cylinder is circle
The advance head of platform shape is provided with sonar contact device on advance head, and sonar contact device is electrically connected with central controller.
5. search and rescue robot under a kind of intelligent water according to claim 1, which is characterized in that set in the central controller
It is equipped with warning device, warning device includes wireless signal transmitter and alarm, and wireless signal transmitter and alarm are in
Entreat controller electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910061744.7A CN109533228A (en) | 2019-01-23 | 2019-01-23 | Search and rescue robot under a kind of intelligent water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910061744.7A CN109533228A (en) | 2019-01-23 | 2019-01-23 | Search and rescue robot under a kind of intelligent water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109533228A true CN109533228A (en) | 2019-03-29 |
Family
ID=65838391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910061744.7A Pending CN109533228A (en) | 2019-01-23 | 2019-01-23 | Search and rescue robot under a kind of intelligent water |
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| CN (1) | CN109533228A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901859A (en) * | 2019-11-28 | 2020-03-24 | 武汉理工大学 | Retractable triaxial intelligence search and rescue robot on water |
| CN113212694A (en) * | 2021-01-04 | 2021-08-06 | 苏州创世威智能科技有限公司 | Intelligent escape robot |
| WO2022117814A1 (en) * | 2020-12-04 | 2022-06-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e. V. | Water rescue robot |
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| AU6240700A (en) * | 1995-10-18 | 2001-01-11 | International Submarine Engineering Ltd. | Marine personnel rescue system and apparatus |
| JP2015077894A (en) * | 2013-10-17 | 2015-04-23 | 政行 田口 | Rescue device for rescue boat |
| CN106314729A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater joint search and rescue robot and system and working method thereof |
| CN106672182A (en) * | 2016-10-28 | 2017-05-17 | 湖南科技大学 | Underwater submerged plate |
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| CN106976367A (en) * | 2016-06-16 | 2017-07-25 | 姜忠昱 | One kind three is dwelt unmanned plane |
| CN207274928U (en) * | 2017-09-13 | 2018-04-27 | 余拓 | A kind of Multifunction diving floating device with unmanned plane landing platform |
| CN208377063U (en) * | 2018-06-14 | 2019-01-15 | 浙江同创空间技术有限公司 | A kind of novel real-time prison bat unmanned plane structure |
| CN209553456U (en) * | 2019-01-23 | 2019-10-29 | 山东科技大学 | Search and rescue robot under a kind of intelligent water |
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2019
- 2019-01-23 CN CN201910061744.7A patent/CN109533228A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU6240700A (en) * | 1995-10-18 | 2001-01-11 | International Submarine Engineering Ltd. | Marine personnel rescue system and apparatus |
| JP2015077894A (en) * | 2013-10-17 | 2015-04-23 | 政行 田口 | Rescue device for rescue boat |
| CN106976367A (en) * | 2016-06-16 | 2017-07-25 | 姜忠昱 | One kind three is dwelt unmanned plane |
| CN106314729A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater joint search and rescue robot and system and working method thereof |
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| CN106926992A (en) * | 2017-04-10 | 2017-07-07 | 武汉尼维智能科技有限公司 | A kind of multiaxis advances search and rescue robot waterborne |
| CN207274928U (en) * | 2017-09-13 | 2018-04-27 | 余拓 | A kind of Multifunction diving floating device with unmanned plane landing platform |
| CN208377063U (en) * | 2018-06-14 | 2019-01-15 | 浙江同创空间技术有限公司 | A kind of novel real-time prison bat unmanned plane structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901859A (en) * | 2019-11-28 | 2020-03-24 | 武汉理工大学 | Retractable triaxial intelligence search and rescue robot on water |
| WO2022117814A1 (en) * | 2020-12-04 | 2022-06-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e. V. | Water rescue robot |
| CN113212694A (en) * | 2021-01-04 | 2021-08-06 | 苏州创世威智能科技有限公司 | Intelligent escape robot |
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Effective date of registration: 20240326 Address after: 518000 1104, Building A, Zhiyun Industrial Park, No. 13, Huaxing Road, Henglang Community, Longhua District, Shenzhen, Guangdong Province Applicant after: Shenzhen Hongyue Enterprise Management Consulting Co.,Ltd. Country or region after: China Address before: No.579 qianwangang Road, Huangdao economic and Technological Development Zone, Qingdao, Shandong 266590 Applicant before: SHANDONG University OF SCIENCE AND TECHNOLOGY Country or region before: China |