CN113968320A

CN113968320A - Self-expanding intelligent lifeboat, control method thereof and storage medium

Info

Publication number: CN113968320A
Application number: CN202111237207.7A
Authority: CN
Inventors: 常善强; 王晓飞; 金常伟; 王亚辉; 李金玉
Original assignee: Beijing Lingtian Intelligent Equipment Group Co ltd
Current assignee: Beijing Lingtian Intelligent Equipment Group Co ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2022-01-25

Abstract

The invention discloses a self-expanding intelligent lifeboat, a control method thereof and a storage medium, wherein the control method of the self-expanding intelligent lifeboat comprises the following steps: controlling the quick charging mechanism to charge the pre-charging bag body; when the ship body is thrown to the water surface, the water pumping and air inflating mechanism is controlled to inflate the main bag body; controlling a propeller to propel the ship body to a target position; and obtaining the environmental information of the target position, and planning the rescue path of the ship body according to the environmental information. Before the ship body is thrown to the water surface, the quick-charging mechanism charges the pre-charging bag body firstly, so that the pre-charging bag body is expanded to form an arc-surface-shaped lower surface, the ship body generally forms a tumbler shape, the posture of the ship body is ensured to be accurate when the ship body is thrown to the water surface, and the ship body is prevented from being inclined or toppled; after the ship body moves to the target position, the rescue path can be automatically planned according to the environmental information, an optimal rescue scheme is determined for the person to be rescued at the target position, and intelligent automation of rescue is facilitated.

Description

Self-expanding intelligent lifeboat, control method thereof and storage medium

Technical Field

The invention relates to the technical field of self-expanding lifeboats, in particular to a self-expanding intelligent lifeboat, a control method thereof and a storage medium.

Background

With the development of the water traffic, transportation and tourism industries, more and more people take boats or operate on water; in addition, the climate is repeated infrequently, so that the phenomena of flood and flooding occasionally occur, and water accidents happen occasionally. The existing products for water rescue, such as conventional lifeboats or life buoys and the like, can be used after being inflated in advance, and have the defects of large size and inconvenience in carrying. Therefore, the existing throwing type lifeboat can automatically inflate and expand to form a working state when the hull in a folded state is thrown to the water surface, but the hull of the existing throwing type lifeboat is easy to incline or topple after being thrown, and the hull needs to be manually corrected by a user after being self-expanded, so that the defect of inconvenient operation exists; in addition, the existing throwing type lifeboat only has the functions of lifebuoys and the like after being unfolded, and is lack of intelligence.

Disclosure of Invention

The invention mainly aims to provide a self-expanding intelligent lifeboat, a control method and a storage medium thereof, and aims to solve the problems that a hull of a traditional mechanical self-expanding lifeboat is easy to topple and lacks intelligence after being thrown.

In order to achieve the purpose, the invention provides a control method of a self-expanding intelligent lifeboat, the self-expanding intelligent lifeboat comprises a boat body, the boat body comprises a main bag body, a pre-filling bag body, an inflating device and a propeller, the main bag body defines an installation area, the pre-filling bag body is connected to the lower side of the main bag body corresponding to the installation area, the lower surface of the pre-filling bag body is arranged in an arc surface shape, the inflating device is arranged on the main bag body and close to the pre-filling bag body, the inflating device comprises a quick inflating mechanism and a water pumping and inflating mechanism, and the propeller is arranged in the installation area;

the control method of the self-expanding intelligent lifeboat comprises the following steps:

controlling the quick charging mechanism to charge the pre-charging bag body;

when the ship body is thrown to the water surface, the water pumping and air inflating mechanism is controlled to inflate the main bag body;

controlling a propeller to propel the ship body to a target position;

and obtaining the environmental information of the target position, and planning a rescue path of the ship body according to the environmental information.

Optionally, the hull further comprises a trigger;

the step of controlling the quick charging mechanism to charge the pre-charging bag body comprises the following steps:

acquiring trigger information of a trigger;

and when the trigger information meets a preset trigger condition, controlling the quick charging mechanism to charge the pre-charging bag body.

Optionally, the trigger comprises a speed sensor or an inductive switch.

Optionally, the hull further comprises a depth sensor; the water pumping and air inflating mechanism comprises a water pumping floating head and a driving mechanism for driving the water pumping floating head to move up and down;

when the ship body is thrown to the water surface, the step of controlling the water pumping and inflating mechanism to inflate the main bag body comprises the following steps:

obtaining the water depth measured by a depth sensor;

controlling the driving mechanism to adjust the height of the water pumping floating head up and down according to the depth of the water body;

and controlling the water pumping and inflating mechanism to inflate the main bag body.

Optionally, the hull further comprises an imaging device;

the step of obtaining the environmental information of the target position and planning the rescue path of the ship body according to the environmental information comprises the following steps:

acquiring a first image on the periphery side of the target position;

identifying the number of people to be saved around the target position according to the first image;

and when the number of the persons to be rescued does not reach the number threshold value, taking the preset journey-going path of the ship body as a rescue path.

Optionally, the hull further comprises a plurality of protection capsules, wherein the protection capsules are distributed around the circumference of the main capsule and are spaced with the main capsule to define a plurality of protection positions;

after the step of identifying the number of people to be saved around the target position according to the first image, the method further comprises the following steps:

and when the number of the people to be saved exceeds a number threshold value, controlling the water pumping and inflating mechanism to inflate the protective bag body so that the people to be saved can enter the protective position.

Optionally, the hull further comprises a connecting structure;

when the number of the people to be saved exceeds the number threshold value, the water pumping and inflating mechanism is controlled to inflate the protective bag body so that the people to be saved can enter the protective position, and the method further comprises the following steps:

acquiring a second image on the periphery side of the target position;

identifying a target fixture from the second image;

and taking the path between the target position and the target fixture as a rescue path.

In addition, in order to achieve the above object, the present invention also provides a self-expanding intelligent lifeboat, comprising:

the ship body comprises a main bag body, a pre-filling bag body, an inflating device and a propeller, wherein the main bag body defines an installation area, the pre-filling bag body is connected to the lower side of the main bag body corresponding to the installation area, the lower surface of the pre-filling bag body is arranged in an arc surface shape, the inflating device is arranged on the main bag body and is close to the pre-filling bag body, the inflating device comprises a quick inflating mechanism and a water pumping and inflating mechanism, and the propeller is arranged in the installation area; and the number of the first and second groups,

the control device comprises a memory, a processor and a control program of the self-expanding intelligent lifeboat, wherein the control program of the self-expanding intelligent lifeboat is stored in the memory and can run on the processor, and the control program of the self-expanding intelligent lifeboat is configured to realize the steps of the control method of the self-expanding intelligent lifeboat.

Optionally, the hull further comprises inflatable bladder arranged around the circumference of the main bladder and spaced from the main bladder to define a plurality of fender locations.

In addition, in order to achieve the above object, the present invention further provides a storage medium having a control program of a self-expanding intelligent lifeboat stored thereon, wherein the control program of the self-expanding intelligent lifeboat, when executed by a processor, implements the steps of the control method of the self-expanding intelligent lifeboat as described above.

According to the technical scheme provided by the invention, before the ship body is thrown to the water surface, the pre-filling bag body is inflated by the quick filling mechanism, so that the pre-filling bag body is expanded and formed, the inflating device is clamped between the quick filling bag body and the main bag body and forms a lower surface in an arc surface shape, and the ship body is generally in a tumbler shape, so that the accurate posture of the ship body when the ship body is thrown to the water surface is ensured, and the ship body is prevented from being inclined or toppled; after the ship body is thrown to the water surface, the main bag body is quickly inflated and formed to form an enough accommodating space; the ship body can be automatically propelled to a target position without manual operation of a specially-assigned person; after the ship body moves to the target position, the rescue path of the ship body can be automatically planned according to the environmental information obtained by sensing, an optimal rescue scheme is determined for the person to be rescued at the target position, and intelligent automation of rescue is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a first embodiment of a self-expanding intelligent lifeboat provided by the present invention;

fig. 2 is a schematic top view of a second embodiment of the self-expanding intelligent lifeboat provided by the present invention;

fig. 3 is a schematic top view of a third embodiment of the self-expanding intelligent lifeboat provided by the present invention;

fig. 4 is a schematic top view of the self-expanding intelligent lifeboat of fig. 3 after the protection capsules are inflated;

FIG. 5 is a schematic cross-sectional view taken at A-A of FIG. 4;

FIG. 6 is a schematic structural diagram of a hardware operating environment of a control device according to the present invention;

fig. 7 is a schematic flow chart of a control method of a self-expanding intelligent lifeboat according to a first embodiment of the present invention;

fig. 8 is a schematic flow chart of a control method of a self-expanding intelligent lifeboat according to a second embodiment of the present invention;

fig. 9 is a schematic flow chart of a control method of a self-expanding intelligent lifeboat according to a third embodiment of the present invention;

fig. 10 is a schematic flow chart illustrating a fourth embodiment of a control method of a self-expanding intelligent lifeboat according to the present invention;

fig. 11 is a schematic flow chart illustrating a fifth embodiment of a control method of a self-expanding intelligent lifeboat according to the present invention;

fig. 12 is a flowchart illustrating a sixth embodiment of a control method of a self-expanding intelligent lifeboat according to the present invention.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In view of the above, the present invention provides a self-expanding intelligent lifeboat, please refer to fig. 1 to 6, which show an embodiment of the self-expanding intelligent lifeboat provided by the present invention.

The invention provides a self-expanding intelligent lifeboat which comprises a boat body 1 and a control device 600.

Referring to fig. 1 to 5, the hull 1 includes a main capsule 100, a pre-filling capsule 200, an inflator 400 and a propeller 500, the main capsule 100 defines an installation region, the pre-filling capsule 200 is connected to the lower side of the main capsule 100 corresponding to the installation region, the lower surface of the pre-filling capsule 200 is arranged in an arc shape, the inflator 400 is disposed in the main capsule 100 and adjacent to the pre-filling capsule 200, the inflator 400 includes a quick-inflation mechanism 410 and a water-pumping and inflating mechanism 420, and the propeller 500 is disposed in the installation region.

It is understood that the main bladder 100 may be provided as a single body, or may be provided as a plurality of split bodies, wherein when the main bladder 100 is provided as a plurality of split bodies, the plurality of main bladders 100 are sequentially spliced to form the general shape of the hull 1. It should be noted that the specific representation form of the hull 1 is not limited by the present design, and the hull 1 may be configured into any suitable shape according to actual requirements, for example, the hull 1 is longitudinally configured in the front-back direction as shown in fig. 1 to fig. 2, and the front section of the hull 1 is gradually narrowed; of course, a substantially elliptical shape such as that shown in fig. 3 may be provided.

Referring to fig. 1, in one embodiment, the main bladder 100 includes a bottom bladder and a side bladder disposed at the periphery of the bottom bladder; the inflator 400 and the pusher 500 are disposed on the bottom bladder and are held by the side bladders on both sides of the bottom bladder; the hull 1 can be provided with structures such as handles, which is convenient for users to hold and operate, thereby facilitating the transportation and transfer of the hull 1; the hull 1 may also be provided with, for example, lighting means which may be mounted on the side bladders, for example at the front ends thereof, to emit light forwards.

Referring to fig. 2, in a further scheme, the ship body 1 may further be provided with a prompting device 710, the prompting device 710 may be, for example, a megaphone, a warning light, a buzzer, or the like, the prompting device 710 may be directly mounted on the ship body 1, or may be elevated above the ship body 1 through, for example, a mounting bracket 720, and the mounting bracket 720 is detachably connected to the ship body 1 and the prompting device 710, respectively.

The pre-filling capsule body 200 may be provided as an integral body or as a plurality of separate bodies, similarly to the main capsule body 100. The pre-filling capsule 200 is disposed at a lower side of the main capsule 100 and fixed with respect to the main capsule 100 to be integrally connected with the main capsule 100.

The mounting area may be the middle of the hull 1 or may be at the forward or aft region of the hull 1. Since the heavy propeller 500 and the inflator 400 are disposed at the installation region, the main structure of the propeller 500 is disposed at the installation region, and the propeller body can extend downward through the hull 1 into the water in the working state, which is referred to in the prior art and will not be described in detail herein. The inflator 400 is disposed between the main bladder 100 and the pre-filling bladder 200, and is clamped and limited by the main bladder 100 and the pre-filling bladder 200, so as to be beneficial to the stable installation of the inflator 400 on the ship body 1, and on the other hand, the center of gravity of the inflator 400 and the ship body 1 as a whole is lowered as much as possible, so that the inflator 400 and the ship body 1 can be formed into a tumbler shape after the pre-filling bladder 200 is inflated to form an arc-shaped lower surface. Thus, when the hull 1 is thrown to the water surface, it is ensured that the hull 1 is maintained in a correct posture without being deflected or toppled.

Based on the above, the main bladder 100 and the pre-filling bladder 200 both have an inflation state and a deflation state, wherein when the main bladder 100 and the pre-filling bladder 200 are both in the deflation state, the whole hull 1 is contracted and reduced in size, which facilitates storage and transfer; compared with the main capsule 100, the structure of the pre-filling capsule 200 is smaller, and when the pre-filling capsule 200 is inflated before the throwing action or during the throwing process, the impact on the throwing process is smaller, so that the ship hull 1 can be accurately thrown to a required position.

It should be noted that the quick charging mechanism 410 in the charging device 400 may be directly formed by a gas cylinder, or may be formed by various medicament raw materials capable of generating gas after reaction, or may be formed by a gas pump; the pumping and inflating mechanism 420 in the inflating device 400 needs to perform the steps of pumping, water diversion and filtration, compression, water drainage and the like on the water body in sequence after contacting the water body, and finally obtains an air source to inflate the main bag body 100. The specific structure and working mechanism of the quick inflating mechanism 410 and the pumping and inflating mechanism 420 can refer to the prior art, and are not described herein.

Further, in an embodiment, the hull 1 further includes a trigger, and the trigger is electrically connected to the control device 600, and is configured to send a trigger signal to the control device 600 when the trigger signal is received, and after the trigger signal is confirmed by the control device 600, the control device 600 controls the control mechanism to operate.

The specific expression of the trigger is not limited, and may be, for example, a speed sensor, an inductive switch, a time delay switch, etc.

Further, in an embodiment, the hull 1 further includes a depth sensor, and the pumping and inflating mechanism 420 includes a pumping head 421 and a driving mechanism 422 for driving the pumping head 421 to move up and down. The water pumping floating head 421 is connected to the main body of the water pumping and air inflating mechanism 420 through a connecting pipe, which is generally a flexible pipe, and can also be further a telescopic pipe; the floating head 421 has a suction hole; the driving mechanism 422 has various schemes, for example, it may be a mechanical transmission assembly, such as a screw-nut mechanism, a link mechanism, a rack-and-pinion mechanism, etc., which drives the water pumping floating head 421 to move horizontally in the up-and-down direction; or, the driving mechanism 422 may be an air bag capable of being inflated and deflated, the air bag is arranged along the circumferential extension of the floating head 421, the air source of the air bag may be the quick inflating mechanism 410 or another additional inflating mechanism, and the buoyancy of the floating head 421 can be correspondingly adjusted by adjusting the inflation amount of the air bag, so as to adjust the depth of the floating head 421 in the water.

In addition, the hull 1 may further include an imaging device, which may be a camera, an infrared camera, a camera, or the like, and the imaging device is mounted on the hull 1 through a support that is universally adjustable, so that the imaging device can capture image information within a certain distance around the circumference of the hull 1 according to actual needs.

Of course, in an embodiment, the imaging device may also be used as the depth sensor in the above, and the water condition, the approximate depth, and the like of the current position are determined by recognizing the underwater image captured by the imaging device.

Referring to fig. 2 to 5, in one embodiment, the hull 1 further includes a bladder 300, and the bladder 300 is disposed around the circumference of the main bladder 100 and spaced apart from the main bladder 100 to define a plurality of protection sites 310.

The protective bag 300 can be arranged in an inflatable manner, and the air source of the protective bag 300 can be a quick inflation mechanism 410, a water pumping and inflation mechanism 420 or other additionally arranged inflation mechanisms; when not needed, the protection bag body 300 is in a deflation state and is attached to the outer peripheral side of the main bag body 100, so that no extra space is occupied; when necessary, the protective capsule 300 is in an air-blowing state and is expanded and molded.

It should be noted that, when the protective capsule 300 is formed by inflation, the protective capsule 300 includes a ring-shaped main body extending along the circumferential direction of the main capsule 100 and a plurality of connecting columns connecting the ring-shaped main body and the main capsule 100, a certain distance is formed between the ring-shaped main body and the main capsule 100 to form an annular space, the plurality of connecting columns divide the annular space into a plurality of regions, and each region constitutes one of the protection sites 310. Therefore, when the number of the persons to be rescued carried by the main capsule body 100 reaches the safety limit value, the remaining persons to be rescued can enter the shelter 310, and when the persons to be rescued enter the shelter 310, the annular main body, the main capsule body 100 and the two adjacent connecting columns can protect the bodies of the persons to be rescued, which is equivalent to forming a life buoy, and meanwhile, as the protection capsule body 300 and the main capsule body 100 are relatively fixed, the persons to be rescued entering the shelter 310 can be driven by the ship body 1 to travel along the rescue path.

In addition, in an embodiment, the ship body 1 further comprises a connecting structure 110, the connecting structure 110 may be a fixing rope, a plug rod, or the like, when the ship body 1 pushes a person to be rescued to a bank, under a tree, or other areas with fixtures, the person to be rescued can connect the connecting structure 110 to the fixtures, so that the ship body 1 and the fixtures are kept relatively fixed within a certain time, and the ship body 1 and the person to be rescued are prevented from being washed away by water flow to strive for a certain rescue time.

In addition, in an embodiment, the hull 1 further includes a navigation device, and the navigation device is electrically connected to the control device 600, so as to communicate the sensed position information or the queried position information with the control device 600.

Next, referring to fig. 6, fig. 6 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 6, the self-expanding intelligent lifeboat may include: a processor 610, such as a CPU, a communication bus 620, a user interface 630, a network interface 640, and a memory 650. Wherein a communication bus 620 is used to enable connective communication between these components. The user interface 630 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 630 may also include a standard wired interface, a wireless interface. The network interface 640 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). Memory 650 may be a high-speed RAM memory 650 or may be a non-volatile memory 650, such as a disk memory 650. The memory 650 may alternatively be a storage device separate from the processor 610.

It will be understood by those skilled in the art that the configuration of the self-expanding intelligent lifeboat shown in fig. 6 does not constitute a limitation of the self-expanding intelligent lifeboat and may include more or less components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 6, the memory 650, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface 630 module, and a control program of the self-expanding intelligent lifeboat.

In the self-expanding intelligent lifeboat shown in fig. 6, the network interface 640 is mainly used for connecting a background server and performing data communication with the background server; the user interface 630 is mainly used for connecting a user terminal and performing data communication with the terminal; the self-expanding intelligent lifeboat of the present invention calls the control program of the self-expanding intelligent lifeboat stored in the memory 650 through the processor 610, and performs the following operations:

controlling the quick-charging mechanism 410 to charge the pre-charging bag body 200;

when the ship body 1 is thrown to the water surface, the water pumping and air inflating mechanism 420 is controlled to inflate the main bag body 100;

controlling the propeller 500 to propel the hull 1 to the target position;

and acquiring the environmental information of the target position, and planning a rescue path of the ship body 1 according to the environmental information.

Further, the processor 610 may call the control program of the self-expanding intelligent lifeboat stored in the memory 650, and also perform the following operations:

the step of controlling the quick-charging mechanism 410 to charge the pre-charging bag body 200 includes:

acquiring trigger information of a trigger;

and when the trigger information meets the preset trigger condition, controlling the quick-charging mechanism 410 to charge the pre-charging bag body 200.

when the ship body 1 is thrown to the water surface, the step of controlling the water pumping and inflating mechanism 420 to inflate the main bladder 100 comprises the following steps:

obtaining the water depth measured by a depth sensor;

according to the water depth, the driving mechanism 422 is controlled to adjust the height of the water pumping floating head 421 up and down;

the pumping and inflating mechanism 420 is controlled to inflate the main bladder 100.

the step of obtaining the environmental information at the target position and planning the rescue path of the ship body 1 according to the environmental information includes:

acquiring a first image on the periphery side of the target position;

and when the number of the persons to be rescued does not reach the number threshold value, taking the preset journey-going path of the ship body 1 as a rescue path.

when the number of the persons exceeds the number threshold value, the water pumping and inflating mechanism 420 is controlled to inflate the protective bags 300 so that the persons enter the protective position 310.

after the step of controlling the water pumping and inflating mechanism 420 to inflate the airbag 300 when the number of the persons exceeds the number threshold value, the method further comprises:

acquiring a second image on the periphery side of the target position;

identifying a target fixture from the second image;

Based on the self-expanding intelligent lifeboat, the invention further provides a control method of the self-expanding intelligent lifeboat, please refer to fig. 7 to 12, which show a specific embodiment of the control method of the self-expanding intelligent lifeboat provided by the invention.

Referring to fig. 7, in a first embodiment of the control method of the self-expanding intelligent lifeboat provided by the present invention, the control method of the self-expanding intelligent lifeboat includes:

step S100: controlling the quick-charging mechanism 410 to charge the pre-charging bag body 200;

in this embodiment, before the ship hull 1 is thrown out or during the throwing process, the quick-charging mechanism 410 is controlled to charge the pre-charging bag 200, so that at least when the ship hull 1 is thrown to the water surface, the pre-charging bag 200 is already expanded and formed, and the ship hull 1 is roughly in a tumbler shape, thereby achieving the anti-toppling purpose; since the volume of the pre-filling bladder 200 is smaller than that of the main bladder 100, even if the pre-filling bladder 200 is first inflated and molded, the influence on the overall volume of the hull 1 and the overall throwing process of the hull 1 is small.

Step S200: when the ship body 1 is thrown to the water surface, the water pumping and air inflating mechanism 420 is controlled to inflate the main bag body 100;

in this embodiment, based on the relevant sensors, such as a water body sensor, a speed sensor or a time relay, the timing of throwing the hull 1 to the water surface can be determined to different degrees, and when the control device 600 obtains the timing, that is, determines that the hull 1 has been thrown to the water surface in the current state, the water pumping and inflating mechanism 420 is controlled to operate, so as to pump water from the peripheral water body and obtain the air source, and inflate the main bag body 100 more efficiently, so that the hull 1 enters the operating state, can move ahead safely, and has enough space to accommodate the person to be saved.

Step S300: controlling the propeller 500 to propel the hull 1 to the target position;

in this embodiment, the control device 600 obtains the current position information of the ship body 1 based on the navigation device, and calls the position information of the target position where the person to be saved is located, which is provided by, for example, a cloud, to plan an optimal going route, and converts the going route into an instruction signal that can be identified and executed by the propeller 500, so that the instruction signal can be received and executed by the propeller 500. The optimal outbound path has various specific schemes, such as the shortest route in use, the route with the highest safety factor, and the like.

It should be noted that, when the plurality of ship hulls 1 are performing rescue actions at the same time, the rescue schemes of the plurality of ship hulls 1 may be interconnected, for example, the control devices 600 of the plurality of self-expanding intelligent lifeboats are wirelessly connected, or are controlled based on the same cloud or control end. Based on the above, the journey paths of the plurality of self-expanding intelligent lifeboats are mutually related.

Step S400: and acquiring the environmental information of the target position, and planning a rescue path of the ship body 1 according to the environmental information.

In the present embodiment, when the hull 1 travels to the target position, the control device 600 acquires the environmental information at the target position, which may be characteristic information of the person to be rescued including, for example, the number of persons to be rescued, approximate age, sex, physiological state, etc., based on the relevant sensors; the characteristic information of the surrounding environment includes, for example, a water surface depth, a water flow speed, a foreign matter condition in water, and the like. According to the environmental information, the control device 600 makes a decision based on a preset program or controls personnel through a background to determine a rescue scheme of the ship body 1, wherein the rescue scheme comprises original return, re-planning return route, near waiting rescue, handing over with other ship bodies 1 and the like, and each rescue scheme corresponds to a proper rescue route, so that the personnel to be rescued can obtain rescue as soon as possible.

In the technical scheme provided by the invention, before the ship body 1 is thrown to the water surface, the quick-charging mechanism 410 firstly charges the pre-charging bag body 200, so that the pre-charging bag body 200 is expanded and formed, the charging device 400 is clamped between the quick-charging bag body and the main bag body 100 and forms an arc-surface-shaped lower surface, the ship body 1 generally forms a tumbler shape, the accurate posture of the ship body 1 when thrown to the water surface is ensured, and the ship body 1 is prevented from being inclined or toppled; after the ship body 1 is thrown to the water surface, the main bag body 100 is rapidly inflated and formed to form a sufficient accommodating space; the ship body 1 can be automatically propelled to a target position without manual operation of a specially-assigned person; after the ship body 1 moves to the target position, the rescue path of the ship body 1 can be automatically planned according to the environmental information obtained by sensing, an optimal rescue scheme is determined for the person to be rescued at the target position, and intelligent automation of rescue is facilitated.

Next, referring to fig. 8, in a second embodiment of the control method of the self-expanding intelligent lifeboat provided by the present invention, the hull 1 further comprises a trigger; the step S100: the controlling the quick-charging mechanism 410 to charge the pre-charging bag 200 includes:

step S110: acquiring trigger information of a trigger;

step S120: and when the trigger information meets the preset trigger condition, controlling the quick-charging mechanism 410 to charge the pre-charging bag body 200.

It is understood that the specific representation of the trigger is not limited, and may be configured as a speed sensor, an inductive switch, a time delay switch, etc. as described above.

Specifically, when the trigger is an inductive switch, a user can manually press the inductive switch before throwing the ship body 1 out, and the control device 600 controls the quick charging mechanism 410 to work according to trigger information triggered by the inductive switch;

when the trigger is a delay switch, a user can manually press the delay switch before throwing the ship body 1 out, the delay switch sends trigger information to the control device 600 after a preset time, and the control device 600 controls the quick charging mechanism 410 to work according to the trigger information triggered by the induction switch;

when the trigger is a speed sensor, a user throws the ship body 1 out, the speed sensor senses the current speed of the ship body 1 in real time and sends the current speed to the control device 600, the control device 600 receives and identifies the speed value sent by the speed sensor, and when the speed of the ship body 1 is identified to change in a preset change state, the current throwing of the ship body 1 is determined, and the quick-charging mechanism 410 is controlled to work.

Next, referring to fig. 9, in a third embodiment of the control method of the self-expanding intelligent lifeboat provided by the present invention, the boat body 1 further includes a depth sensor; the pumping and inflating mechanism 420 comprises a pumping floating head 421 and a driving mechanism 422 for driving the pumping floating head 421 to move up and down; the step S200: when the ship body 1 is thrown to the water surface, the controlling the pumping and inflating mechanism 420 to inflate the main bladder 100 includes:

step S210: obtaining the water depth measured by a depth sensor;

step S220: according to the water depth, the driving mechanism 422 is controlled to adjust the height of the water pumping floating head 421 up and down;

step S230: the pumping and inflating mechanism 420 is controlled to inflate the main bladder 100.

In the present embodiment, when it is determined that the hull 1 is thrown to the water surface, the depth sensor is enabled and senses the depth information at the current position of the hull 1; of course, the depth information may be different according to the depth sensor, for example, when the depth sensor is a sensor for measuring distance, such as a photoelectric sensor, the depth information is also a distance value from the sensing surface to the water bottom; when the depth sensor is an imaging device, the depth information is information that can be represented by an image captured by the imaging device, such as a distance value from a sensing surface to a water bottom, a foreign matter condition within a preset distance from the water bottom, a water surface floating matter condition, and the like.

After the depth information of the water body is obtained, the control device 600 determines the appropriate height of the water pumping floating head 421 based on the preset rule, and drives the water pumping floating head 421 to the required position by controlling the driving mechanism 422 to work. For example, when there are many floating objects on the water surface, the water pumping head 421 can be controlled to slightly sink to avoid the floating objects, so as to avoid the floating objects from blocking the water pumping holes; when the water depth is small, the water pumping floating head 421 can be controlled to slightly rise to avoid the foreign matters on the water bottom, so as to avoid the foreign matters blocking the water pumping holes.

When the position of the pumping head 421 is determined, the control device 600 controls the pumping and inflating mechanism 420 to operate, so that the air source can be obtained more quickly and safely from the main bag body 100.

Next, referring to fig. 10, in a fourth embodiment of the control method of the self-expanding intelligent lifeboat provided by the present invention, the hull 1 further includes an imaging device; the step S400: the obtaining of the environmental information at the target position and planning of the rescue path of the hull 1 according to the environmental information includes:

step S410: acquiring a first image on the periphery side of the target position;

step S420: identifying the number of people to be saved around the target position according to the first image;

step S430: and when the number of the persons to be rescued does not reach the number threshold value, taking the preset journey-going path of the ship body 1 as a rescue path.

In the present embodiment, the imaging apparatus captures a peripheral side first image at a target position, the first image capturing at least information of a near side at the target position; the control device 600 identifies character characteristic information according to the first image, for example, the number of people to be saved at the target position is determined; the ship body 1 is preset with a quantity threshold value according to the specification of the ship body 1, and the quantity threshold value is the number of people to be saved and the like which can be borne by the ship body 1 under the safe condition. When the number of the persons to be rescued at the target position does not reach the number threshold value, that is, the current ship body 1 has enough space and can safely bear all the persons to be rescued, the going path of the ship body 1 can be directly used as a return path, that is, the current suitable rescue path, and the persons to be rescued can be directly taken back to the safe area.

Next, referring to fig. 11, in a fifth embodiment of the control method of the self-expanding intelligent lifeboat provided by the present invention, the hull 1 further comprises a plurality of protection capsules 300, wherein the protection capsules 300 are arranged around the circumference of the main capsule 100, and are spaced from the main capsule 100 to define a plurality of protection positions 310; the step S420: after the number of people to be saved around the target position is identified according to the first image, the method further comprises the following steps:

step S440: when the number of the persons exceeds the number threshold value, the water pumping and inflating mechanism 420 is controlled to inflate the protective bags 300 so that the persons enter the protective position 310.

It can be understood that, when the number of the persons to be rescued exceeds the number threshold, that is, when it is determined that all the persons to be rescued cannot be transported back by only one current self-expanding intelligent lifeboat, the control device 600 controls the water pumping and inflating mechanism 420 to inflate the protection bag 300, so that the protection bag 300 is inflated and formed to form a plurality of protection positions 310, the persons to be rescued who cannot go on the boat can be placed on each protection position 310, at least the persons to be rescued who cannot go on the boat can be protected physically, and individual persons are prevented from being washed away by water flow.

Next, referring to fig. 12, in a sixth embodiment of the control method of the self-expanding intelligent lifeboat of the present invention, the hull 1 further includes a connecting structure 110; the step S440: when the number of the persons to be saved exceeds the number threshold value, the method for controlling the water pumping and inflating mechanism 420 to inflate the protective bag 300 so that the persons to be saved enter the protective position 310 further comprises:

step S441: acquiring a second image on the periphery side of the target position;

step S442: identifying a target fixture from the second image;

step S443: and taking the path between the target position and the target fixture as a rescue path.

It can be understood that when a person who cannot get on the ship enters each protection position 310, the self-expanding intelligent lifeboat can choose to stay in the original place to wait for the support of other self-expanding intelligent lifeboats; or, in the present embodiment, the imaging apparatus captures a second image of the peripheral side at the target position, the second image including at least environmental characteristic information within a certain range; the control device 600 identifies a target fixture from the second image when receiving the second image, wherein the target fixture is a fixture according with the current rescue situation, such as a firmer tree, a fixed pillar and the like; when the ship body 1 is pushed to the target fixture, the person to be rescued can tie the connecting structure 110, such as a fixing rope, to the target fixture to increase the stability of the ship body 1, so as to prevent the ship body 1 together with the person to be rescued on the main bladder 100 and the shelter site 310 from being washed away by the water flow.

It should be noted that the position of the target fixture needs to be within a safe distance, so that the situation that the ship body 1 bears the person to be saved and travels to an overlong distance is avoided, and potential safety hazards are increased; in addition, the hull 1 may further include an operation manual, or a shouting device as described above, through which a person to be rescued is instructed to perform the above-mentioned operations of entering the guard space 310, binding the connection structure 110 to a target fixture, and the like; or the person to be saved is guided to act step by step through the shouting device.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The control method of the self-expanding intelligent lifeboat is characterized in that the self-expanding intelligent lifeboat comprises a boat body, the boat body comprises a main bag body, a pre-filling bag body, an inflating device and a propeller, the main bag body defines an installation area, the pre-filling bag body is connected to the lower side of the main bag body corresponding to the installation area, the lower surface of the pre-filling bag body is arranged in an arc surface shape, the inflating device is arranged in the main bag body and is close to the pre-filling bag body, the inflating device comprises a quick inflating mechanism and a water pumping and inflating mechanism, and the propeller is arranged in the installation area;

controlling the quick charging mechanism to charge the pre-charging bag body;

controlling a propeller to propel the ship body to a target position;

2. The control method of the self-expanding intelligent lifeboat of claim 1, wherein said hull further comprises a trigger;

acquiring trigger information of a trigger;

3. The control method of the self-expanding intelligent lifeboat of claim 2, wherein said trigger comprises a speed sensor or an inductive switch.

4. The control method of the self-expanding intelligent lifeboat of claim 1, wherein said hull further comprises a depth sensor; the water pumping and air inflating mechanism comprises a water pumping floating head and a driving mechanism for driving the water pumping floating head to move up and down;

obtaining the water depth measured by a depth sensor;

5. The control method of the self-expanding intelligent lifeboat of claim 1, wherein said hull further comprises an imaging device;

acquiring a first image on the periphery side of the target position;

6. The control method of the self-expanding intelligent lifeboat of claim 5 wherein said hull further comprises a plurality of fender bags circumferentially disposed around and spaced from said main bag to define a plurality of fender positions;

7. The control method of the self-expanding intelligent lifeboat of claim 6, wherein said hull further comprises a connecting structure;

acquiring a second image on the periphery side of the target position;

identifying a target fixture from the second image;

8. A self-expanding intelligent lifeboat, comprising:

a control apparatus comprising a memory, a processor, and a control program of a self-expanding intelligent lifeboat stored on said memory and operable on said processor, said control program of a self-expanding intelligent lifeboat being configured to implement the steps of the control method of a self-expanding intelligent lifeboat according to any one of claims 1 to 7.

9. The self-expanding intelligent lifeboat of claim 8, wherein the hull further comprises inflatable bladders disposed about a circumference of the main bladder and spaced apart from the main bladder to define a plurality of protection positions.

10. A storage medium on which a control program of a self-expanding intelligent lifeboat is stored, wherein the control program of the self-expanding intelligent lifeboat, when executed by a processor, implements the steps of the control method of the self-expanding intelligent lifeboat according to any one of claims 1 to 7.