CN215361802U - Robot for underwater rescue - Google Patents

Abstract

The utility model is suitable for the technical field of underwater rescue equipment, and provides a robot for underwater rescue, which comprises: the rescue device comprises a rack, a power device arranged on the rack, a sealed cabin arranged in the rack, a visual window arranged on the sealed cabin and a rescue mechanism arranged on the rack; a vision sensor, a wireless communication device and a control mechanism are arranged in the sealed cabin, and the vision sensor is arranged at the vision window; rescue mechanism is equipped with the on-off on the pipe including setting up the gas holder in the frame, setting up the bearing base at the frame top and setting up on the bearing base and pass through the gasbag of pipe intercommunication with the gas holder, gasbag air inlet department is equipped with the check valve. The rescue robot has low cost; drowning persons can be found in time and rescue can be implemented, so that the drowning persons can be prevented from missing rescue opportunities; the drowned personnel can be rapidly and accurately rescued through the robot, and the rescue effect is good.

Description

Robot for underwater rescue

Technical Field

The utility model belongs to the technical field of underwater rescue equipment, and particularly relates to a robot for underwater rescue.

Background

In daily life, with the popularization of the movement of the whole people, the swimming movement is widely participated by the public, and the safety problem is increasingly highlighted. The swimming pools with large number have the defects of low patrol intensity, inadequate safety measures and lack of professional overwater emergency rescue devices, and particularly drowning death accidents frequently occur in summer. In order to avoid tragedies, underwater rescue robots have been used in some areas.

An existing underwater rescue robot in the market, such as an overwater first-aid robot and a working method (application number: CN 202010850913.8; publication number: CN 112078759A) disclosed by a Chinese patent library, comprises a robot body, a control system and a user bracelet, wherein the control system is communicated with a controller of the robot body; the robot body includes: the device comprises a driving cabin, balance wings symmetrically arranged on two sides of the driving cabin, a power device arranged in the driving cabin, buoyancy detection and control devices fixedly arranged on the periphery of the driving cabin, and life-saving throwing devices fixedly arranged on the top of the driving cabin in multiple directions.

The emergency robot needs to wear the user bracelet for each swimming person, and the required investment cost is high; when a dangerous case occurs, the user is required to press the first-aid button by himself, but when the user encounters the dangerous case, the user does not necessarily think of pressing the first-aid button in a panic state, and the risk is high; only can inform rescue workers that someone is drowned, but cannot determine the specific position of the drowned person, so that the underwater rescue robot cannot rapidly and accurately rescue the drowned person, and the rescue effect is poor.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot for underwater rescue, which can effectively solve the problems.

The utility model is realized by the following steps:

a robot for underwater rescue comprising: the rescue device comprises a rack, a power device arranged on the rack, a sealed cabin arranged in the rack, a visual window arranged on the sealed cabin and a rescue mechanism arranged on the rack; a vision sensor, a wireless communication device and a control mechanism are arranged in the sealed cabin, and the vision sensor is arranged at the vision window; rescue mechanism is in including setting up gas holder in the frame, setting the bearing base at frame top and setting are in on the bearing base and with the gasbag that the gas holder passes through the pipe intercommunication, be equipped with the on-off on the pipe, gasbag air inlet department is equipped with the check valve.

As a further improvement, the power device comprises a horizontal moving mechanism arranged at the bottom of the frame and a vertical moving mechanism penetrating through the frame.

As a further improvement, the control mechanism is used for controlling the horizontal movement mechanism to drive the robot to rapidly move to a preset range of drowning people on the water surface according to the control information.

As a further refinement, said predetermined range is 5m to 10 m.

As a further improvement, the horizontal moving mechanisms are four groups and are arranged at the bottom of the rack at equal intervals; the traveling directions of the two adjacent horizontal moving mechanisms are vertical.

As a further improvement, the robot for underwater rescue also comprises a plurality of groups of binding mechanisms arranged on the bearing base, wherein the binding mechanisms comprise two binding belts which are oppositely arranged at two ends of the bearing base, and the two binding belts are connected through an adsorption piece.

As a further improvement, the robot for underwater rescue also comprises a gyroscope arranged in the sealed cabin, a position indicator lamp arranged in the sealed cabin and a pressure sensor arranged at the bottom of the frame.

As a further improvement, the robot for underwater rescue also comprises a timer arranged on the guide pipe, a gas detection device arranged on the air bag and a clamp arranged on the bearing base.

As a further improvement, the outer edge of the air bag is provided with an annular bulge, and the air bag is provided with at least one through groove and at least one handle.

As a further refinement, the vision sensor includes two sets of detection cameras and thermal imaging sensors disposed within the capsule.

The utility model has the beneficial effects that: the utility model arranges a vision sensor, a wireless communication device and a control mechanism in a sealed cabin of a robot; the control mechanism controls the power device according to external control information received by the wireless communication device, so that the robot moves to a preset range of drowning personnel, and then controls the visual sensor to accurately judge the specific real-time positions of the robot and the drowning personnel, so as to continuously control the power device and enable the robot to move towards the bottom of the drowning personnel; meanwhile, the control mechanism controls the rescue mechanism to rescue, so that drowning people are supported out of the water surface, and the drowning people are helped to break away from dangerous situations; the rescue robot has low cost; drowning persons can be found in time and rescue can be implemented, so that the drowning persons can be prevented from missing rescue opportunities; the drowned personnel can be rapidly and accurately rescued through the robot, and the rescue effect is good.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a robot for underwater rescue provided by an embodiment of the utility model;

fig. 2 is a front view of a robot for underwater rescue provided by an embodiment of the present invention;

fig. 3 is a side view of a robot for underwater rescue provided by an embodiment of the present invention;

fig. 4 is a top view of a robot for underwater rescue provided by an embodiment of the present invention;

fig. 5 is a bottom view of a robot for underwater rescue provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram illustrating the deployment of an airbag of the robot for underwater rescue provided by the embodiment of the utility model;

fig. 7 is a block diagram of a control principle structure of the robot for underwater rescue provided by the embodiment of the utility model.

Reference numerals:

1-a frame; 11-sealing the cabin; 12-a visual window; 2-a power plant; 3-a rescue organization; 31-a gas storage tank; 32-a support base; 33-a catheter; 34-an air bag; 35-a fixture; 21-a horizontal moving mechanism; 22-a vertical movement mechanism; 4-a restraining mechanism; 41-a binding belt; 42-a suction member; 5-a pressure sensor; 341-annular projection; 342-a through slot; 343-a handle; 6-guardrail.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1 to 7, a robot for underwater rescue includes: the rescue system comprises a frame 1, a power device 2 arranged on the frame 1, a sealed cabin 11 arranged inside the frame, a visual window 12 arranged on the sealed cabin 11, and a rescue mechanism 3 arranged on the frame 1; a vision sensor, a wireless communication device and a control mechanism are arranged in the sealed cabin 11, and the vision sensor is arranged at the vision window 12; rescue mechanism 3 is including setting up gas holder 31 in frame 1, setting are in the bearing base 32 at frame 1 top and setting are in on bearing base 32 and with gasbag 34 that gas holder 31 passes through pipe 33 intercommunication, be equipped with the conduction switch on the pipe 33, gasbag 34 air inlet department is equipped with the check valve.

The control mechanism is used for controlling the robot to move to a preset range of drowning people according to the control information; and the control mechanism is further used for controlling the visual sensor to work to obtain the specific real-time position of the drowned person when the robot moves to the preset range of the drowned person, and the control mechanism is further used for controlling the robot to move to the lower part of the drowned person according to the specific real-time position and carrying out rescue through the rescue mechanism 3.

In specific implementation, a visual window 12 for a visual sensor to observe the peripheral environment of the rack 1 is arranged on a sealed cabin 11 arranged on the rack 1, and the wireless communication device and the control mechanism are arranged in the sealed cabin 11. When drowning personnel appear, the wireless communication device receives the control information sent by the external monitoring system, and the control mechanism controls the robot to float up to the water surface and move to the predetermined range of the drowning personnel according to the control information. The robot floats to the water surface to move, so that the resistance of water to the robot is reduced, the power consumption of the robot is reduced, the robot can reach a preset range quickly, the rescue efficiency is improved, and the safety of drowned personnel is improved. When the robot enters a preset range, the vision sensor is controlled to accurately judge the specific real-time positions of the robot and the drowning person, and then the power device 2 is continuously controlled to enable the robot to dive and advance to the bottom of the drowning person; and in the process of submerging and advancing, the control mechanism controls the air bag 34 of the rescue mechanism 3 to inflate, and releases the air bag 34 after the air bag 34 is inflated to meet the conditions, so that drowning people are supported out of the water surface, the drowning people are helped to break away from the dangerous situation, and rescue is completed. The visual window 12 is arranged in a ring structure, so that the visual field is wider, and a visual sensor can detect a larger range; and a rotating mechanism can be arranged in the sealed cabin 11, the vision sensor is arranged on the rotating mechanism, so that the surrounding environment outside the vision sensor detection rack 1 can be increased conveniently, the flexibility of the robot is improved, and the safety performance is improved. In addition, if the robot is originally within the preset range of the drowning person, the robot is directly controlled by the control mechanism to move to the position below the drowning person.

In this embodiment, the gas storage tank 31 is fixed at the bottom of the frame 1 by a fixing device 35, and gas is compressed in the gas storage tank 31, so as to inflate the airbag 34; the air storage tank 31 is arranged at the bottom of the machine frame 1, an air outlet of the air storage tank is connected with one end of the guide pipe 33, the other end of the guide pipe 33 penetrates through the machine frame 1, is communicated with the bearing base 32 arranged at the top of the machine frame 1, and is in butt joint with the air bag 34. A conducting switch is arranged on the conduit 33, and a one-way valve is arranged at the air inlet of the air bag 34; when the air bag 34 needs to be inflated, the control mechanism controls the conduction switch to be opened, so that the air bag 34 is inflated; the one-way valve prevents air from escaping when the bladder 34 is full of air and is disengaged from the support base 32. In this embodiment, frame 1 bottom still is equipped with guardrail 6, guardrail 6 has two sets ofly, sets up respectively gas holder 31 both sides can be used to protection gas holder 31, and when needs are right when the robot overhauls and maintains, guardrail 6 can also be used to the supporting role, will the robot supports subaerial, is convenient for placing of robot.

The utility model arranges a visual sensor, a wireless communication device and a control mechanism in a sealed cabin 11 of a robot; the control mechanism controls the power device 2 according to external control information received by the wireless communication device, so that the robot moves to a preset range of drowning personnel, and then controls the visual sensor to accurately judge the specific real-time positions of the robot and the drowning personnel, so as to continuously control the power device 2, and the robot moves to the bottom of the drowning personnel; meanwhile, the control mechanism controls the rescue mechanism 3 to rescue, so as to support drowning people out of the water surface and help the drowning people to break away from dangerous situations; the rescue robot has low cost; drowning persons can be found in time and rescue can be implemented, so that the drowning persons can be prevented from missing rescue opportunities; the drowned personnel can be rapidly and accurately rescued through the robot, and the rescue effect is good.

Further, the power device 2 comprises a horizontal moving mechanism 21 arranged at the bottom of the frame 1 and a vertical moving mechanism 22 penetrating the frame 1.

Further, the control mechanism is used for controlling the horizontal movement mechanism 21 to drive the robot to rapidly move to a preset range of drowning people on the water surface according to the control information.

Furthermore, four groups of horizontal moving mechanisms 21 are arranged at the bottom of the rack 1 at equal intervals; the traveling directions of two adjacent horizontal movement mechanisms 21 are perpendicular.

Further, the predetermined range is 5m to 10 m.

In a specific implementation, the power device 2 includes four horizontal moving mechanisms 21 arranged at four ends of the bottom of the rack 1 and four sets of vertical moving mechanisms 22 penetrating through the rack 1; the four groups of vertical moving mechanisms 22 are distributed on the rack 1 in a cross manner by taking the gravity center of the robot as the center, and are used for controlling the sinking and floating of the robot, so that the robot can be better stabilized in a horizontal state; the four groups of horizontal moving mechanisms 21 are distributed on the rack 1 in an X shape by taking the gravity center of the robot as the center, and the traveling directions of the two adjacent horizontal moving mechanisms 21 are vertical to control the advancing and adjusting directions of the robot; namely, four sets of the vertical moving mechanisms 22 are arranged to intersect with four sets of the horizontal moving mechanisms 21. When the direction needs to be adjusted, the control mechanism controls different rotating speeds of the motors of the four groups of horizontal moving mechanisms 21 to complete the adjustment of the direction. The control mechanism is used for controlling the horizontal moving mechanism 21 to drive the robot to rapidly move to a preset range of drowning people on the water surface according to the control information; the control mechanism controls the robot to float to the water surface to move, so that the resistance of water to the robot is reduced, the power consumption of the robot is reduced, the robot can quickly reach a preset range, the rescue efficiency is improved, and the safety of drowned personnel is improved.

Further, the robot for underwater rescue also comprises a plurality of groups of binding mechanisms 4 arranged on the supporting base 32, wherein the binding mechanisms 4 comprise two binding belts 41 oppositely arranged at two ends of the supporting base 32, and the two binding belts 41 are connected through an adsorption piece 42. In this embodiment, the bladder 34 is fixed to the support base 32 when not inflated, and in this embodiment the support base 32 is a circular uncovered container measuring 30cm in diameter and 10cm in height. The binding mechanisms 4 are provided with a plurality of groups, and each group of binding mechanisms 4 consists of two binding belts 41 and an adsorption piece 42; wherein, the adsorption component comprises two round magnets, and the two binding belts 41 are clamped through the adsorption of the two round magnets, so as to play a role in binding the airbag 34 which is not deployed. When the air bag 34 is inflated, after the tension of the air bag is larger than the adsorption force between the circular magnets, the circular magnets are loosened, the two binding belts 41 are separated, and the air bag 34 is released; meanwhile, a miniature clamp holder is arranged at the bottom of the air bag 34 to clamp the air bag 34 on the bearing base 32, when the air bag 34 is inflated, the clamp holder is controlled by the control mechanism to be loosened, the air bag 34 and the robot are separated and float, the robot does not need to be driven to float together, and the rescue effect is good.

Further, the robot for underwater rescue also comprises a gyroscope arranged in the sealed cabin 11, a position indicator lamp arranged in the sealed cabin 11 and a pressure sensor 5 arranged at the bottom of the machine frame 1. In this embodiment, the gyroscope is configured to measure an attitude signal of the robot under water, and transmit the attitude signal to the control mechanism, and the control mechanism determines an attitude of the robot according to the attitude signal and controls the power device 2 to keep the robot balanced under water; when the robot submerges to the position right below the drowning person, the control mechanism is used for judging the underwater depth of the robot according to the pressure sensor 5, and the distance between the robot and the drowning person is judged according to the thermal imaging sensor, so that the control mechanism can control the robot to keep a proper distance with the drowning person conveniently; the pressure sensor 5 is mounted at a groove in the center of the bottom of the rack 1 to reduce the influence of water flow. Frame 1 arranges four position indicator lamps in four corners, is convenient for detect the camera and judge the relative position of robot and drowned personnel.

Further, the outer edge of the air bag 34 is provided with an annular protrusion 341, and the air bag 34 is provided with at least one through slot 342 and at least one handle 343. In this embodiment, an annular protrusion 341 is provided at the outer edge of the air bag 34, and when the air bag is filled with air, the air bag 34 forms a dish-shaped structure with a convex periphery and a concave middle; the diameter of the airbag 34 after being unfolded is 1.5m, so that the whole drowning person can be conveniently supported. When the drowning person is lifted or lifted, the dish-shaped air bag 34 structure can prevent the drowning person from sliding out of the air cushion, thereby improving the safety. At least one handle 343 is arranged on the air bag 34, which is convenient for holding a drowning person in the process of lifting the drowning person, is convenient for grasping, and is beneficial to relieving the nervous mood of the drowning person; in this embodiment, four of the handles 343 are annularly and equally spaced at the upper end of the air bag 34. At least one through groove 342 is formed in the air bag 34, in the embodiment, the through grooves 342 are multiple and are uniformly formed in the air bag 34, the diameter of each through groove 342 is 10cm, the water discharging effect is achieved in the floating process of the air bag 34, the resistance of the water in the floating process of the air bag 34 can be reduced, the air bag 34 is prevented from being deviated, the impact force of the air bag 34 on drowned people in the floating process is reduced, and the rescue effect is good.

Further, the vision sensor includes two sets of detection cameras and thermal imaging sensors disposed within the capsule 11. In the embodiment, the vision sensor is composed of two groups of detection cameras and thermal imaging sensors; two detect the camera, form two meshes, judge the distance between robot and the drowned personnel is more accurate. And the accuracy of judging the distance between the robot and the drowning person can be further improved by combining the arrangement of the vision sensor. The two groups of detection cameras and the thermal imaging sensor are both arranged in a sealed cabin 11 in the robot, so that the cameras can be effectively protected; wherein the arrangement of the vision window 12 facilitates the detection of the surroundings outside the gantry 1 by the detection camera.

In this embodiment, when the robot is when off-working condition, the robot can carry out wireless charging at aquatic charging station, stands by at any time, receives alarm information after the quick travel to drowned personnel below, open with on the pipe 33 of gas holder 31 intercommunication the on-off switch, gasbag 34 is aerifyd and is expanded, breaks away from after being full of gas the holder, will drowned personnel at last hold up.

Further, the robot for underwater rescue also comprises a timer arranged on the duct 33, a gas detection device arranged on the air bag 34 and a clamp arranged on the supporting base 32; the timer is used for counting the inflation time of the air storage tank 31 on the air bag 34, the gas detection device is used for detecting the inflation amount of the air bag 34, the clamp is used for clamping the air bag 34, and when the air bag 34 needs to be released, the clamp is controlled to be opened through the control mechanism, so that the air bag 34 is released.

A control method of a robot for underwater rescue includes the following steps:

s10: monitoring the activity condition of personnel in the whole water area through a monitoring system arranged on the ground, and judging whether the personnel are drowned according to the action of the personnel in the whole water area; if so, the monitoring system generates control information and initial position information of drowning personnel and sends the control information and the initial position information to the wireless communication device;

s20: the control mechanism controls the horizontal moving mechanism 21 and the vertical moving mechanism 22 to work according to the control information and the initial position information, so that the robot approaches to drowning people;

s30: in the process that the robot approaches to a drowning person, real-time position information of the drowning person is monitored in real time through a visual sensor; the control mechanism controls the robot to approach to the position below the drowning person according to the real-time position information, and simultaneously controls the air storage tank 31 to inflate the air bag 34 and time;

s40, the robot submerges below a drowning person, when the air inflation time of the air bag 34 by the air storage tank 31 reaches a set time or the air inflation amount of the air bag 34 reaches a set threshold value, the control mechanism controls the bearing base 32 to release the air bag 34, the air bag 34 floats upwards, and the drowning person is supported to finish rescue work.

Further, the step S10 further includes: the monitoring system sends the initial position information to the control holder and the rescue workers; the control cloud platform controls the alarm device to give an alarm, and controls the spotlight to irradiate the area where drowning people are located.

Further, the step S30 further includes: when the distance between the vision sensor and the drowning person is less than the set position threshold value, the control mechanism controls the conduction switch to be switched on, and the air bag 34 starts to inflate.

Further, the step S30 further includes: monitoring a first depth H1 of a drowned person from the water surface in real time through a visual sensor; and measuring a second depth H2 of the robot under the water through the pressure sensor 5, wherein H2 is more than H1. Preferably, the difference between the second depth H2 and the first depth H1 is greater than the total height of the robot and the airbag 34 at the point of release.

The working principle is as follows: when drowning people occur, the monitoring system arranged on the ground sends the monitored initial position information of the drowning people to workers, wherein the monitoring system identifies the actions of the people through an intelligent camera to distinguish whether the drowning people are drowned or not, and the image is used for feeding back the initial position information of the drowning people; the staff sends the initial position information and the control information to the wireless communication device of the robot in the water, and the control mechanism controls the robot to float to the water surface and move along the approximate direction of the initial position information according to the control information to enter the preset range of drowning people; the robot floats to the water surface to move, so that the resistance of water to the robot is reduced, the power consumption of the robot is reduced, the robot can reach a preset range quickly, the rescue efficiency is improved, and the safety of drowned personnel is improved. After the rescue robot enters a preset range, the control mechanism controls the two groups of detection cameras and the thermal imaging sensor in the sealed cabin 11 to work, and real-time position information of drowning people is monitored in real time; the robot is controlled to sink by the control mechanism; meanwhile, the depth information of the robot under water is judged in real time according to the pressure sensor 5 arranged at the bottom of the rack 1; the control mechanism controls the robot to submerge to a position right below drowning personnel according to the real-time position information and the underwater depth information of the robot; meanwhile, when the robot submerges from a preset range to a position right below a drowning person, the control mechanism controls the conduction switch to be switched on, the air storage tank 31 is used for inflating the air bag 34 and controlling the timer to start timing, the inflation waiting time is shortened, and the rescue efficiency is further improved. The robot removes behind drowning personnel below, if gas holder 31 arrives the time of settlement to gasbag 34 inflation time, or when gasbag 34 inflation volume reachd the settlement threshold value, control mechanism control sets up holder on the bearing base 32 loosens gasbag 34, gasbag 34 come-up to hold up drowning personnel, accomplish rescue work. In this embodiment, the vision sensor determines whether there is an obstacle in front of the robot during the travel of the robot, and the control mechanism controls the power unit 2 to steer or lift the robot to avoid the obstacle when there is an obstacle.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A robot for underwater rescue, comprising: the rescue system comprises a rack (1), a power device (2) arranged on the rack (1), a sealed cabin (11) arranged inside the rack, a visual window (12) arranged on the sealed cabin (11), and a rescue mechanism (3) arranged on the rack (1); a vision sensor, a wireless communication device and a control mechanism are arranged in the sealed cabin (11), and the vision sensor is arranged at the vision window (12); rescue mechanism (3) are in including setting up gas holder (31), the setting on frame (1) are in bearing base (32) at frame (1) top and setting are in on bearing base (32) and with gasbag (34) that gas holder (31) pass through pipe (33) intercommunication, be equipped with the switch that switches on pipe (33), gasbag (34) air inlet department is equipped with the check valve.

2. Robot for underwater rescue according to claim 1, characterized in that the power means (2) comprise a horizontal movement mechanism (21) arranged at the bottom of the frame (1) and a vertical movement mechanism (22) passing through the frame (1).

3. The robot for underwater rescue of claim 2, wherein the control mechanism is used for controlling the horizontal movement mechanism (21) to drive the robot to move quickly to a predetermined range of drowning people on the water surface according to control information.

4. A robot for underwater rescue according to claim 3, characterized in that the predetermined range is 5-10 m.

5. Robot for underwater rescue according to claim 2, characterized in that the horizontal movement means (21) are four groups and are equally spaced at the bottom of the frame (1); the traveling directions of the two adjacent horizontal moving mechanisms (21) are vertical.

6. The robot for underwater rescue of claim 1, further comprising several sets of restraining mechanisms (4) disposed on the supporting base (32), wherein the restraining mechanisms (4) comprise two restraining belts (41) oppositely disposed at two ends of the supporting base (32), and the two restraining belts (41) are connected by an absorption member (42).

7. Robot for underwater rescue according to claim 1, characterized in that it further comprises a gyroscope arranged inside the capsule (11), a position indicator light arranged inside the capsule (11), and a pressure sensor (5) arranged at the bottom of the frame (1).

8. Robot for underwater rescue according to claim 1, characterized in that it further comprises a timer arranged on the duct (33), a gas detection device arranged on the airbag (34), and a gripper arranged on the resting base (32).

9. Robot for underwater rescue according to claim 1, characterized in that the outer edge of the balloon (34) is provided with an annular protuberance (341); the air bag (34) is provided with at least one through groove (342) and at least one handle (343).

10. Robot for underwater rescue according to claim 1, characterized in that the visual sensors comprise two groups of detection cameras and thermal imaging sensors arranged inside the capsule (11).

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