CN-121990139-A - Unmanned rescue device on water surface

CN121990139ACN 121990139 ACN121990139 ACN 121990139ACN-121990139-A

Abstract

The invention relates to the field of rescue equipment, in particular to a water surface unmanned rescue device with high stability, full-time sensing capability and accurate active rescue function, which comprises a hull assembly, a sensing and navigation system, a power propulsion assembly, a rescue execution assembly and a communication module, wherein the hull assembly comprises a main floating body and auxiliary floating pontoons arranged at two sides of the main floating body, a sealed cabin is arranged inside the main floating body, the ship body is characterized in that a battery pack and a main control unit are arranged in the sealed cabin, the gravity center position of the ship body component is lower than the floating center position, a balancing weight is arranged at the top of the main floating body through an adjusting mechanism, so that when the capsizing angle of the ship body component exceeds a preset threshold value, a restoring moment is generated by utilizing a gravity moment to realize automatic righting, and the power propulsion component is arranged on the ship body component and used for driving the ship body component to move on the water surface.

Inventors

GUO HUA
ZHOU FANGJIAN
YANG JINCHEN
WANG YONGCHUN

Assignees

湖南科技学院

Dates

Publication Date: 20260508
Application Date: 20260331

Claims (9)

1. The unmanned water surface rescue device is characterized by comprising a hull assembly, a perception and navigation system, a power propulsion assembly, a rescue execution assembly and a communication module, wherein the hull assembly comprises a main floating body and auxiliary floating pontoons arranged on two sides of the main floating body, a sealed cabin is arranged in the main floating body, a battery pack and a main control unit are arranged in the sealed cabin, the gravity center position of the hull assembly is lower than the floating center position, a balancing weight is arranged at the top of the main floating body through an adjusting mechanism, so that when the capsizing angle of the hull assembly exceeds a preset threshold value, a restoring moment is generated by utilizing a gravity moment to realize automatic righting, and the power propulsion assembly is arranged on the hull assembly and is used for driving the hull assembly to move on the water surface; The sensing and navigation system comprises an environment sensor group arranged on the ship body component and an auxiliary control unit electrically connected with the main control unit, wherein the environment sensor group is used for collecting surrounding environment data and water falling target information, the auxiliary control unit is used for generating a navigation path according to the collected surrounding environment data and water falling target information and controlling the power propulsion component to operate, and the environment sensor group comprises a camera for identifying the human body characteristics of a person falling into water, an infrared thermal imager for identifying body temperature signals at night or in a low-visibility environment, a millimeter wave radar for detecting water surface obstacles and measuring the distance between the water surface obstacles and the person falling into water, a GPS module for measuring the position and speed information of the ship body component in real time and an inertia measurement unit for measuring the posture of the ship body component in real time; the rescue execution assembly comprises a throwing mechanism, wherein the throwing mechanism is provided with an air storage tank and an inflatable life buoy, and after the main control unit confirms that the main control unit is close to a person falling into water by a preset distance, an electric switch valve on the air storage tank is triggered to work to release air, and the inflatable life buoy is ejected to the vicinity of the person falling into water.
2. The unmanned rescue device of surface of water of claim 1, wherein the guiding mechanism comprises a guide rail, a screw rod and a driving motor, the guide rail is arranged at the top of the main floating body, the screw rod is rotationally connected to the guide rail along the length direction of the main floating body, the balancing weight is in threaded connection with the screw rod, a sliding block is arranged at the bottom of the balancing weight, the sliding block is embedded into a sliding groove of the guide rail, a wear-resistant layer is arranged on the matching surface of the sliding block and the sliding groove, an output shaft of the driving motor is connected with one end of the screw rod, and the screw rod is driven to rotate by the driving motor, so that the balancing weight is driven to move along the axial direction of the screw rod.
3. The unmanned rescue device on the water surface of claim 2, wherein the guide rail is internally provided with a position sensor, the position sensor is used for detecting the real-time position of the balancing weight on the screw rod and feeding back a position signal to the main control unit, and the main control unit controls the rotation direction and the angle of the driving motor according to the gesture information acquired by the sensing and navigation system so as to accurately adjust the position of the balancing weight.
4. The unmanned water surface rescue apparatus of claim 3, wherein the adjusting means comprises: s1) presetting an automatic righting threshold value and a safety threshold value; S2) the inertial measurement unit in the sensing and navigation system acquires the roll angle and the pitch angle of the hull assembly in real time and transmits angle data to the main control unit; s3) the main control unit compares the real-time roll angle and the pitch angle with a preset automatic righting threshold value; S4) when the overturning angle is detected to exceed a preset automatic righting threshold value, the main control unit generates a counterweight adjusting instruction according to the overturning direction and sends the counterweight adjusting instruction to the driving motor; S5) the driving motor drives the screw rod to rotate according to the instruction, and drives the balancing weight to move in a direction away from the overturning side until the gravity center of the hull assembly generates a restoring moment which is enough to overcome the overturning moment relative to the floating center; S6) when the inclination angle of the hull assembly is smaller than the safety threshold value, the main control unit sends a stop instruction, and the balancing weight keeps the current position.
5. The unmanned water surface rescue apparatus of claim 4, wherein in step S4), the main control unit calculates a movement speed and an acceleration required by the weight according to the magnitude of the capsizing angle, and the larger the capsizing angle is, the larger the output power of the driving motor is, and the faster the movement speed of the weight is.
6. The unmanned water surface rescue device of claim 5, wherein the main control unit is provided with a nonlinear mapping function module, and the nonlinear mapping function module is used for establishing a capsizing angle Acceleration of movement with the counterweight Positive correlation between them when the angle of overturning Satisfy 0 DEG < ≤ When the main control unit outputs the first reference power Driving the driving motor and balancing weight at uniform speed Moving when the angle is turned over Satisfy the following requirements < ≤ When the main control unit controls the output power of the driving motor In linear proportion Increase, i.e With acceleration of the balancing weight Accelerating movement, when the angle of overturning Satisfy the following requirements <θ≤ When the main control unit controls the driving motor to output the maximum emergency power The balancing weight is at maximum acceleration The full speed is moved to the travel limit position to generate the maximum restoring torque.
7. The unmanned water surface rescue device of claim 4, wherein the main control unit monitors the actual position of the balancing weight fed back by the position sensor in real time while driving the balancing weight to move, and eliminates mechanical transmission errors.
8. The unmanned water surface rescue apparatus according to any one of claims 1 to 7, wherein the control mode of the sensing and navigation system comprises the steps of: A1 The auxiliary control unit synchronously receives visual image data from a camera, thermal radiation data of an infrared thermal imager, obstacle point cloud and distance data of a millimeter wave radar, position and speed data of a GPS module and attitude data of an inertial measurement unit; a2 Meanwhile, millimeter wave radar data are utilized to remove fixed obstacles on the water surface, and the confirmed target position information and GPS data are subjected to coordinate alignment through a data fusion algorithm to generate a local environment map containing target positions and obstacle distribution; a3 The auxiliary control unit plans an optimal navigation path which avoids the obstacle and points to the position of the person falling into the water according to the local environment map, the current gesture and the current movement speed of the ship body component; A4 The auxiliary control unit converts the generated navigation path into a speed and course control instruction and sends the speed and course control instruction to the power propulsion component to drive the ship body component to move towards the target position.
9. The unmanned water surface rescue device of claim 8, wherein the auxiliary control unit automatically switches an identification mode according to ambient lighting conditions and visibility, performs target identification based on visual images acquired by a camera when the unmanned water surface rescue device is in a daytime or high-visibility environment, automatically enhances data weight of an infrared thermal imager when the unmanned water surface rescue device is in a night or low-visibility environment, combines contour detection data of a millimeter wave radar, and locks a person falling into the water by matching a thermal signal with contour features.

Description

Unmanned rescue device on water surface Technical Field The invention relates to the field of rescue equipment, in particular to an unmanned rescue device on a water surface. Background Currently, some unmanned rescue boats exist in the market, for example, china patent application number 201620350458.4 discloses a portable water surface rapid rescue device, which comprises a floating body, a hugging type clamping device, a propelling device, a control device, a touch switch and a pull-back rope, wherein the device adopts the mode that the pull-back rope drags a drowner to rescue, however, rescue personnel are required to wear the rescue device to rescue, and great potential safety hazards exist. Some unmanned automatic rescue devices are used, and when the unmanned rescue boat is in heavy stormy waves or is impacted, the existing unmanned rescue boat is prone to overturning. In addition, most devices only rely on a visual camera or GPS to position, the recognition precision is greatly reduced in low-visibility environments such as night, heavy fog, heavy rain and the like, the targets of people falling into water are difficult to be accurately locked, and misjudgment or missed judgment is easy to be caused. Disclosure of Invention Therefore, the invention provides the unmanned water surface rescue device with high stability, full-time sensing capability and accurate active rescue function. In order to achieve the above purpose, the present invention adopts the following technical scheme: The unmanned water surface rescue device comprises a hull assembly, a sensing and navigation system, a power propulsion assembly, a rescue execution assembly and a communication module, wherein the hull assembly comprises a main floating body and auxiliary floating pontoons arranged on two sides of the main floating body, a sealed cabin is arranged in the main floating body, a battery pack and a main control unit are arranged in the sealed cabin, the gravity center position of the hull assembly is lower than the floating center position, a balancing weight is arranged at the top of the main floating body through an adjusting mechanism, so that when the capsizing angle of the hull assembly exceeds a preset threshold value, a restoring moment is generated by utilizing the gravity moment to realize automatic righting, and the power propulsion assembly is arranged on the hull assembly and used for driving the hull assembly to move on the water surface; The sensing and navigation system comprises an environment sensor group arranged on the ship body component and an auxiliary control unit electrically connected with the main control unit, wherein the environment sensor group is used for collecting surrounding environment data and water falling target information, the auxiliary control unit is used for generating a navigation path according to the collected surrounding environment data and water falling target information and controlling the power propulsion component to operate, and the environment sensor group comprises a camera for identifying the human body characteristics of a person falling into water, an infrared thermal imager for identifying body temperature signals at night or in a low-visibility environment, a millimeter wave radar for detecting water surface obstacles and measuring the distance between the water surface obstacles and the person falling into water, a GPS module for measuring the position and speed information of the ship body component in real time and an inertia measurement unit for measuring the posture of the ship body component in real time; the rescue execution assembly comprises a throwing mechanism, wherein the throwing mechanism is provided with an air storage tank and an inflatable life buoy, and after the main control unit confirms that the main control unit is close to a person falling into water by a preset distance, an electric switch valve on the air storage tank is triggered to work to release air, and the inflatable life buoy is ejected to the vicinity of the person falling into water. Further, guiding mechanism includes guide rail, lead screw and driving motor, the top of main body is located to the guide rail, the lead screw rotates along the length direction of main body and connects on the guide rail, balancing weight and lead screw threaded connection, the bottom of balancing weight is equipped with the slider, in the spout of slider embedding guide rail, the cooperation face of slider and spout is equipped with the wearing layer, driving motor's output shaft is connected with the one end of lead screw, drives the lead screw through driving motor and rotates to drive the balancing weight and remove along the axial direction of lead screw. Further, a position sensor is arranged in the guide rail and is used for detecting the real-time position of the balancing weight on the screw rod and feeding back a position signal to the main control unit, and the main control unit controls the