Sea-air three-dimensional unmanned rescue equipment

Abstract

The invention relates to sea and air three-dimensional unmanned rescue equipment which comprises a large-load unmanned aerial vehicle platform, a sea life rescue platform, a suspension assembly and a flexible buoyancy platform which are connected in sequence. The heavy-load unmanned aerial vehicle platform is fixed to the upper portion of the offshore life rescue platform in a rigid connection mode. The suspension assembly comprises a main ship body and a multi-body buffer structure connected with the main ship body and the flexible buoyancy platform. The multi-body buffering structure comprises a front arch, a first rear arch, a second rear arch, a first rigid sliding plate, a second rigid sliding plate, a first rocker arm type spring damping vibration attenuation module and a second rocker arm type spring damping vibration attenuation module. The first rigid sliding plate and the second rigid sliding plate are connected with the flexible buoyancy platform. Compared with the prior art, cooperation of safe take-off and landing from a mother ship, hovering search, high sea condition stable operation and flexible rescue is achieved through the four-module integrated design; rescue equipment can be quickly replaced, diversified rescue requirements are met, operation is flexible, and taking-off and landing are safe and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of the design and application of marine equipment, and in particular to an air-sea three-dimensional unmanned rescue equipment. Background Art

[0003] The main existing methods for waterborne life rescue include helicopter rescue, large rescue ship rescue, and fast rescue boat rescue. Helicopters are fast, flexible, and can hover in the air to rescue people or quickly transport the wounded and sick. However, helicopters are significantly affected by their endurance, and their deployment sites are also very limited. Large rescue ships have large hulls, strong endurance, and strong ability to resist wind and waves, but they also limit the ship's ability to directly rescue people on the water surface. Fast rescue boats are usually moored in port waters and can also be loaded on large rescue ships. Fast rescue boats are small in shape, flexible in operation, have low freeboard, and are easy to rescue people in the water. They are the most widely used waterborne life rescue equipment. However, small fast rescue boats also have inherent problems. Generally, their hulls are small, and their natural ability to resist wind and waves is poor. They cannot be dispatched for rescue in severe sea conditions. Even if they are carried on a large rescue ship to reach the accident area, they cannot ensure safe launching and recovery, and cannot carry out effective life rescue. Therefore, developing an air-sea three-dimensional rescue equipment that has both the hovering search ability of helicopter rescue, the ability to be carried on a large rescue mother ship to high-sea accident areas for safe and effective takeoff, landing, launching, and recovery operations, and can also give play to the flexible operation performance of small rescue boats has become an urgent need in the field of waterborne life rescue.

[0004] Patent CN202111530606.2 discloses a small catamaran rescue boat applicable to various sea conditions, including: a first variable stiffness buoy and a second variable stiffness buoy arranged in parallel to provide buoyancy for the hull. A first rigid skateboard is fixedly connected to the upper surface of the first variable stiffness buoy, and a second rigid skateboard is fixedly connected to the upper surface of the second variable stiffness buoy. A left front arch and a left rear arch are fixedly connected to the first rigid skateboard, and a right front arch and a right rear arch are fixedly connected to the second rigid skateboard. A main hull is connected to the left front arch, the left rear arch, the right front arch, and the right rear arch. A control unit with a waterproof design is arranged on the main hull. This device enables the small rescue boat to effectively reduce roll in different sea conditions, thereby improving the riding comfort and safety of small rescue vessels. This patent does not consider the problem of launching and retrieving operations on the mother ship, which to a certain extent limits its popularization and application. Patent CN201711374618.4 discloses a wave adaptive emergency rescue boat, including a main hull, a front arch and a rear arch supporting the main hull. Buoys are arranged on both sides of the bottom of the rescue boat, and the buoys are fixedly connected to the rigid skateboard. A suspension system is arranged on the front side of the rigid skateboard, and the front arch is connected to the suspension system through a spherical bearing. A rear connecting part is arranged on the rear side of the rigid skateboard, and the rear connecting part is hinged to the rear arch. The propulsion nacelle is connected to the rear end of the rigid skateboard through a pin shaft. The main hull is connected to the front arch through a spherical bearing, and the main hull is fixedly connected to the rear arch. However, there are limitations in dynamic stability. In transverse waves or complex multi-directional sea conditions, the hull may produce non-vertical swings, and in high sea conditions, it is impossible to perform launching and retrieving operations on the mother ship, which severely limits the application range of this type of wave adaptive rescue boat. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the existing technologies in the process of maritime life-saving emergency rescue operations, such as insufficient special equipment, limited voyage and deployment positions, poor economy, and difficult launching and retrieving operations in severe sea conditions. A sea-air stereo unmanned rescue equipment is provided. Through the integrated design of four modules, the coordination of aerial hovering search, stable operation in high sea conditions, flexible rescue, and safe and effective launching and retrieving operations from the mother ship is achieved; it can quickly replace rescue equipment, meet diverse rescue needs, is flexible in operation, and is safe and convenient for takeoff and landing.

[0006] The combination of a large payload unmanned aerial vehicle and a maritime life-saving rescue platform has the ability of aerial hovering and rapid search and rescue, and has the rapidity and good vision of helicopter rescue; using a large payload unmanned aerial vehicle can take off and land on the mother ship quickly and safely, solving the problem of difficult launching and recovery of small fast rescue boats in severe sea conditions; a suspension system and a flexible buoyancy platform are designed between the maritime life-saving rescue platform and the waves, which can effectively weaken the influence of wave excitation on the maritime life-saving rescue platform, solving the problem of difficult implementation of maritime life-saving rescue operations in severe sea conditions.

[0007] The present invention provides a sea-air three-dimensional unmanned rescue equipment, including: a large-load drone platform, a sea-life rescue platform, a suspension assembly, and a flexible buoyancy platform, which are connected in sequence;

[0008] The large-load drone platform is fixedly mounted on the upper part of the sea-life rescue platform by a rigid connection method; an antenna is provided on the top of the large-load drone platform;

[0009] The suspension assembly includes a main hull and a multi-body buffer structure connecting the main hull and the flexible buoyancy platform; the sea-life rescue platform is located on the main hull;

[0010] The multi-body buffer structure includes: a front arch, a first rear arch, a second rear arch, a first rigid slide plate, a second rigid slide plate, a first rocker-type spring-damper vibration reduction module, and a second rocker-type spring-damper vibration reduction module; the first rigid slide plate and the second rigid slide plate are connected to the flexible buoyancy platform;

[0011] One end of the first rocker-type spring-damper vibration reduction module is connected to the front arch, and the other end is connected to the first rigid slide plate; one end of the second rocker-type spring-damper vibration reduction module is connected to the front arch, and the other end is connected to the second rigid slide plate; the first rocker-type spring-damper vibration reduction module and the second rocker-type spring-damper vibration reduction module adopt a multi-stage buffer structure.

[0012] The front arch and the main hull are connected by a first ball joint, the front arch and the first rocker-type spring-damper vibration reduction module are connected by a second ball joint, and the front arch and the second rocker-type spring-damper vibration reduction module are connected by a third ball joint;

[0013] One end of the first rear arch is connected to the main hull, and the other end is connected to the first rigid skateboard. The first rear arch and the first rigid skateboard are connected by a first multi-degree-of-freedom linkage structure. The first multi-degree-of-freedom linkage structure allows rotational movement about the vertical axis and rotational movement about the horizontal axis between the first rear arch and the first rigid skateboard. One end of the second rear arch is connected to the main hull, and the other end is connected to the second rigid skateboard. The second rear arch and the second rigid skateboard are connected by a second multi-degree-of-freedom linkage structure. There is rotational movement about the vertical axis and rotational movement about the horizontal axis between the second rear arch and the second rigid skateboard. After the aerial search module takes off from the mother ship, it conducts autonomous planning or manual remote control search operations. After receiving the positioning information of the distressed personnel, it launches an aerial search to further determine the precise location of the distressed personnel. When the sea-air stereo unmanned rescue equipment determines the precise location of the distressed personnel and lands near the distressed personnel, the waterborne life rescue module remotely operates the unmanned rescue equipment to sail from the downwind side to above the distressed personnel, then lowers professional life rescue equipment such as a hanging basket, ropes, and slings to carry out life rescue operations, lift the distressed personnel above the water surface, then sail to near the mother ship or land, and then the large-load drone retrieves the unmanned rescue equipment and the distressed personnel together to the mother ship or land. The wireless communication device is responsible for the real-time communication and control channel of the sea-air stereo unmanned rescue equipment, transmits the operation images to the control room of the mother ship in real time, and at the same time can establish a communication line and transmit control signals between the rescue personnel and the distressed rescued personnel.

[0014] Further, the large-load drone platform is a single-rotor drone or a multi-rotor drone, with the ability of six-degree-of-freedom movement in space and the function of remote control hovering. It realizes the functions of the sea-air stereo unmanned rescue equipment taking off from the mother ship, landing near the distressed personnel to carry out rescue operations, and carrying the distressed personnel to land on the mother ship together, and realizes hovering search and safe takeoff and landing operations in the accident area.

[0015] Further, the rigid connection method is bolt connection.

[0016] Further, the marine life rescue platform includes: an aerial search module, a waterborne life rescue module, and a wireless communication module. The wireless communication module is arranged in the main hull cabin.

[0017] Further, the aerial search module includes: an infrared search unit or a thermal imaging unit.

[0018] Further, the waterborne life rescue module includes: a liftable hanging basket, ropes, or slings.

[0019] Further, the wireless communication module includes: a wireless voice communication unit and a wireless video unit.

[0020] Furthermore, the flexible buoyancy platform includes: a first flexible buoy and a second flexible buoy; a first rigid skateboard and a second rigid skateboard are detachably connected to the first flexible buoy and the second flexible buoy respectively, and the irregular motion of the flexible buoyancy platform under wave excitation is transmitted to the suspension assembly through the first rigid skateboard and the second rigid skateboard. Such a multi-body connection mechanism can buffer and absorb the irregular impact of sea waves, thereby enhancing the stability of the offshore life-saving platform, enabling it to perform rescue operation tasks in high sea states.

[0021] Furthermore, the first flexible buoy and the second flexible buoy are made of PVC-coated fabric or rubber, and an outboard propulsion mechanism with differential control is installed at the rear.

[0022] When the flexible buoy encounters wave impact, instead of colliding violently with the waves, it can change the shape of the buoy to a certain extent to conform to the wave impact, thereby buffering the impact force of the irregular wave motion on the air-sea unmanned rescue equipment. When the wave excitation amplitude is small, the buoy can absorb the high-frequency components in the waves. In addition, when the unmanned rescue equipment lands on the mother ship or on land, it also plays a role in buffering and absorbing the impact.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] (1) Through the integrated design of four modules, the coordination of aerial hovering search, stable operation in high sea states, flexible rescue, and safe deployment and recovery from the mother ship is achieved. The multi-rotor UAV platform provides six-degree-of-freedom motion capabilities to ensure rapid takeoff and landing deployment between the mother ship and the accident site; the multi-body buffer mechanism reduces the wave excitation acceleration, effectively enhancing the platform stability; the flexible buoy material can absorb the high-frequency components of the waves, ensuring the stability of the rescue platform; the differential propulsion mechanism realizes rudderless steering, enhancing the maneuverability in complex sea conditions; the spring-damper vibration reduction mechanism reduces the amplitude of the platform's heaving response; the ball-joint connection structure enables the platform to conform to the wave angle; the multi-body buffer mechanism and the flexible buoy absorb and buffer the impact of landing on the mother ship or on land.

[0025] (2) The modular design allows for rapid replacement of rescue equipment, meeting diverse rescue needs, with flexible operation, safe and convenient takeoff and landing. It can be carried on large rescue mother ships or nearshore rescue bases. Both in terms of the number of equipment and economy, it has advantages over helicopter rescue; compared with the complex operation of large rescue mother ships during life-saving operations and the problem of being unable to lower and recover small rescue boats in severe sea conditions, the present invention has flexible operation, safe and convenient takeoff and landing; traditional small and fast rescue boats have poor seakeeping performance and are unable to perform offshore life-saving operations in severe sea conditions. The present invention is designed with a multi-body buffer mechanism and a flexible buoyancy platform, which can buffer and absorb the irregular excitation of the waves, ensuring the stability of the rescue platform and absorbing the impact during takeoff and landing, thereby enabling offshore life-saving operations to be carried out in severe sea conditions. Brief Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of a sea-air stereo unmanned rescue equipment Figure 1 ;

[0027] Figure 2 It is a schematic structural diagram of a sea-air stereo unmanned rescue equipment Figure 2 ;

[0028] Figure 3 It is a schematic diagram of the suspension rescue method;

[0029] Figure 4 It is a schematic structural diagram of the suspension assembly;

[0030] Figure 5 It is a schematic structural diagram of the flexible buoyancy platform.

[0031] Reference Numerals: 1. Large-load UAV platform; 2. Marine life rescue platform; 3. Suspension assembly; 4. Flexible buoyancy platform; 2-1. Aerial search module; 2-2. Marine life rescue module; 2-3. Distressed personnel; 3-1. Front arch; 3-2. First ball joint; 3-3. Main hull; 3-4. First rear arch; 3-5. Second rear arch; 3-6. First connection module; 3-7. Second connection module; 3-8. First rigid skateboard; 3-9. Second rigid skateboard; 3-10. First rocker-type spring-damper vibration reduction module; 3-11. Second rocker-type spring-damper vibration reduction module; 3-12. Second ball joint; 3-13. Third ball joint; 4-1. First flexible float; 4-2. Second flexible float. Detailed Description of the Preferred Embodiments

[0032] The present invention will be described in detail below with reference to the drawings and specific embodiments. Features such as component models, material names, connection structures, control methods, algorithms, etc. that are not clearly described in the present technical solution are regarded as common technical features disclosed in the prior art.

[0033] Embodiment 1

[0034] This embodiment provides a sea-air stereo unmanned rescue equipment, as Figure 1 , 2 shown, including: a large-load UAV platform 1, a marine life rescue platform 2, a suspension assembly 3, and a flexible buoyancy platform 4, which are connected in sequence;

[0035] The large-load UAV platform 1 is fixed to the upper part of the marine life rescue platform 2 by means of bolt connection; an antenna is provided on the top of the large-load UAV platform 1;

[0036] The suspension assembly 3 includes a main hull 3-3 and a multi-body buffer structure connecting the main hull 3-3 and the flexible buoyancy platform 4; the marine life-saving platform 2 is located on the main hull 3-3;

[0037] like Figure 4 As shown, the multi-body buffer structure includes: a front arch 3-1, a first rear arch 3-4, a second rear arch 3-5, a first rigid skateboard 3-8, a second rigid skateboard 3-9, a first rocker spring damping vibration reduction module 3-10, and a second rocker spring damping vibration reduction module 3-11; the first rigid skateboard 3-8 and the second rigid skateboard 3-9 are connected to the flexible buoyancy platform 4;

[0038] One end of the first rocker-arm spring damping vibration reduction module 3-10 is connected to the front arch 3-1, and the other end is connected to the first rigid slide plate 3-8; one end of the second rocker-arm spring damping vibration reduction module 3-11 is connected to the front arch 3-1, and the other end is connected to the second rigid slide plate 3-9; the first rocker-arm spring damping vibration reduction module 3-10 and the second rocker-arm spring damping vibration reduction module 3-11 adopt a multi-stage buffer structure.

[0039] The front arch 3-1 and the main hull 3-3 are connected through a first ball joint 3-2, the front arch 3-1 and the first rocker spring damping vibration reduction module 3-10 are connected through a second ball joint 3-12, and the front arch 3-1 and the second rocker spring damping vibration reduction module 3-11 are connected through a third ball joint 3-13;

[0040] One end of the first rear arch 3-4 is connected to the main hull 3-3, and the other end is connected to the first rigid skateboard 3-8. The first rear arch 3-4 and the first rigid skateboard 3-8 are connected by a first multi-degree-of-freedom link structure 3-6. The first multi-degree-of-freedom link structure 3-6 allows the first rear arch 3-4 and the first rigid skateboard 3-8 to have rotational movement around a vertical axis and a rotational movement around a horizontal axis. One end of the second rear arch 3-5 is connected to the main hull 3-3, and the other end is connected to the second rigid skateboard 3-9. The second rear arch 3-5 and the second rigid skateboard 3-9 are connected by a second multi-degree-of-freedom link structure 3-7. The second rear arch 3-5 and the second rigid skateboard 3-9 have rotational movement around a vertical axis and a rotational movement around a horizontal axis. Figure 3 As shown, after the aerial search module 2-1 is launched from the mother ship, it conducts autonomous planning or manual remote control search operations, and after receiving the positioning information of the person in distress 2-3, it launches an aerial search to further determine the precise location of the person in distress 2-3. After the sea-air three-dimensional unmanned rescue equipment determines the precise location of the person in distress 2-3 and lands near the person in distress, the remote-controlled unmanned rescue equipment sails from the leeward side to above the person in distress, and then lowers the basket, ropes, slings and other professional life-saving equipment to carry out life-saving operations, such as Figure 3The wireless communication equipment is responsible for the real-time communication and control channel of the three-dimensional sea and air unmanned rescue equipment, transmitting the operation screen to the mother ship control room in real time, and at the same time can build a call line and transmit control signals between the rescuers and the rescued people in distress.

[0041] In a specific embodiment, the large-load UAV platform 1 is a multi-rotor UAV with six-degree-of-freedom motion capability and remote control hovering function, so as to realize the sea-air three-dimensional unmanned rescue equipment taking off from the mother ship and landing with the rescued personnel, and realize the hovering search and take-off and landing operations in the accident sea area.

[0042] In a specific embodiment, the marine life-saving platform 2 includes: an air search module 2-1, a water life-saving module 2-2 and a wireless communication module, and the wireless communication module is arranged in the main hull 3-3 compartment. The air search module 2-1 includes: an infrared search unit or a thermal imaging unit. The water life-saving module 2-2 includes: a liftable hanging basket, a rope or a sling. The wireless communication module includes: a wireless voice communication unit and a wireless video unit.

[0043] like Figure 5 As shown, in a specific embodiment, the flexible buoyancy platform 4 includes: a first flexible buoy 4-1, a second flexible buoy 4-2; a first rigid slide plate 3-8, a second rigid slide plate 3-9 are detachably connected to the first flexible buoy 4-1, the second flexible buoy 4-2, respectively, and the irregular motion of the flexible buoyancy platform 4 under wave excitation is transmitted to the suspension component 3 through the first rigid slide plate 3-8, the second rigid slide plate 3-9. This multi-body connection mechanism can buffer and absorb the irregular impact of waves, thereby improving the stability of the marine life rescue platform 2, so that it can perform rescue operations in high sea conditions.

[0044] The first flexible buoy 4-1 and the second flexible buoy 4-2 are made of PVC mesh or rubber, and a differential-controlled outboard propulsion mechanism is installed at the rear. When the flexible buoy encounters wave impact, it does not collide violently with the wave, but can change the buoy shape to a certain extent to adapt to the wave impact, thereby buffering the impact of irregular wave movement on the three-dimensional unmanned sea and air rescue equipment. When the wave excitation amplitude is small, the buoy can absorb the high-frequency components in the wave. In addition, when the unmanned rescue equipment lands on the mother ship or land, it also plays a role in buffering and absorbing impact.

[0045] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0046] The above description of the embodiments is provided to enable those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present invention is not limited to the above embodiments, and all improvements and modifications made by those skilled in the art without departing from the scope of the present invention as disclosed should fall within the protection scope of the present invention.

Claims

1. A sea-air stereo unmanned rescue equipment, characterized in that Comprising, connected in sequence: a large-load drone platform (1), a maritime life-saving platform (2), a suspension assembly (3), and a flexible buoyancy platform (4); The large-load drone platform (1) is fixedly mounted on the upper part of the maritime life-saving platform (2) by a rigid connection method; an antenna is provided on the top of the large-load drone platform (1); The suspension assembly (3) includes a main hull (3-3) and a multi-body buffer structure connecting the main hull (3-3) and the flexible buoyancy platform (4); the maritime life-saving platform (2) is located on the main hull (3-3); The multi-body buffer structure includes: a front arch (3-1), a first rear arch (3-4), a second rear arch (3-5), a first rigid sliding plate (3-8), a second rigid sliding plate (3-9), a first rocker-type spring-damper vibration reduction module (3-10), and a second rocker-type spring-damper vibration reduction module (3-11); the first rigid sliding plate (3-8) and the second rigid sliding plate (3-9) are connected to the flexible buoyancy platform (4); One end of the first rocker-type spring-damper vibration reduction module (3-10) is connected to the front arch (3-1), and the other end is connected to the first rigid sliding plate (3-8). One end of the second rocker-type spring-damper vibration reduction module (3-11) is connected to the front arch (3-1), and the other end is connected to the second rigid sliding plate (3-9); The front arch (3-1) and the main hull (3-3) are connected by a first ball joint (3-2). The front arch (3-1) and the first rocker-type spring-damper vibration reduction module (3-10) are connected by a second ball joint (3-12). The front arch (3-1) and the second rocker-type spring-damper vibration reduction module (3-11) are connected by a third ball joint (3-13); One end of the first rear arch (3-4) is connected to the main hull (3-3), and the other end is connected to the first rigid sliding plate (3-8). The first rear arch (3-4) and the first rigid sliding plate (3-8) are connected by a first multi-degree-of-freedom linkage structure (3-6). The first multi-degree-of-freedom linkage structure (3-6) allows rotational movement about a vertical axis and rotational movement about a horizontal axis between the first rear arch (3-4) and the first rigid sliding plate (3-8). One end of the second rear arch (3-5) is connected to the main hull (3-3), and the other end is connected to the second rigid sliding plate (3-9). The second rear arch (3-5) and the second rigid sliding plate (3-9) are connected by a second multi-degree-of-freedom linkage structure (3-7). There is rotational movement about a vertical axis and rotational movement about a horizontal axis between the second rear arch (3-5) and the second rigid sliding plate (3-9).

2. The seaborne and airborne three-dimensional unmanned rescue equipment according to claim 1, characterized in that The large-load drone platform (1) is a single-rotor drone or a multi-rotor drone, and has the ability of six-degree-of-freedom movement in space and a remote control hovering function.

3. The seaborne and airborne three-dimensional unmanned rescue equipment according to claim 1, characterized in that, The rigid connection method is bolt connection.

4. The seaborne and airborne three-dimensional unmanned rescue equipment according to claim 1, characterized in that, The maritime life-saving platform (2) includes: an aerial search module (2-1), a maritime life-saving module (2-2), and a wireless communication module. The wireless communication module is arranged in the cabin of the main hull (3-3).

5. The seaborne and airborne three-dimensional unmanned rescue equipment according to claim 4, characterized in that, The aerial search module (2-1) includes: an infrared search unit or a thermal imaging unit.

6. The air-sea three-dimensional unmanned rescue equipment according to claim 4, characterized in that, The above-mentioned marine life-saving module (2-2) includes: a liftable basket, ropes or slings.

7. The air-sea three-dimensional unmanned rescue equipment according to claim 4, characterized in that, The above-mentioned wireless communication module includes: a wireless voice communication unit, a wireless video unit.

8. The seaborne and airborne three-dimensional unmanned rescue equipment according to claim 1, characterized in that The above-mentioned flexible buoyancy platform (4) includes: a first flexible buoy (4-1), a second flexible buoy (4-2); a first rigid skateboard (3-8) and a second rigid skateboard (3-9) are detachably connected to the first flexible buoy (4-1) and the second flexible buoy (4-2) respectively. The irregular movement of the flexible buoyancy platform (4) under wave excitation is transmitted to the suspension assembly (3) through the first rigid skateboard (3-8) and the second rigid skateboard (3-9).

9. The seaborne and airborne three-dimensional unmanned rescue equipment according to claim 8, wherein, The first flexible buoy (4-1) and the second flexible buoy (4-2) are made of PVC-coated fabric or rubber, and an outboard propulsion mechanism with differential control is installed at the rear.

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