Bionic multi-purpose offshore unmanned rescue boat for mayfly naiad and control method

Abstract

The invention discloses a bionic multi-purpose offshore unmanned rescue ship for mayfly naiad. The ship comprises a ship body, a driving device, an energy system, a lifting device, a positioning sensing system and bionic mayfly naiad legs. Wherein the lifting device comprises a steel cable, a steel wire mesh, a pulley and a motor driving unit; the bionic mayfly naiad of the offshore unmanned rescue ship adopts a modularized hemispherical floating body structure, and a main body part is designed to be free of water immersion. The driving device adopts a pneumatic propelling system, so that a person falling into water is prevented from being hurt by a traditional propeller; the positioning sensing system integrates a GPS module and a machine vision positioning technology, and provides support for rescue path planning and personnel detection. The solar array panel can supply power to the battery; through cooperative work of all the assemblies, the personnel falling into water without action ability can be rapidly and accurately positioned and safely rescued, and the offshore rescue efficiency and safety are effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering technology, specifically relating to a mayfly-inspired multipurpose near-shore unmanned rescue vessel and its control method, which is suitable for the rapid location and rescue of 2-3 people who have fallen into the water in near-shore areas. Background Technology

[0002] Maritime search and rescue is a crucial aspect of responding to maritime accidents. Compared to land-based search and rescue, it is more susceptible to the influence of the marine environment, exhibits greater unpredictability, and is significantly more challenging. While my country's near-shore rescue industry is currently in a phase of equipment and technology upgrades, it still faces two core challenges: First, equipment updates are lagging behind. Traditional rescue vessels are mostly propeller-driven, posing a risk of underwater injury to those in the water, and are prone to collisions and hull damage when approaching reefs or shore. Second, there is a shortage of specialized rescue forces. Existing equipment relies on traditional energy sources for endurance, resulting in weak continuous operation capabilities. Furthermore, its positioning accuracy is limited, making it difficult to quickly locate targets in the water, severely restricting the timeliness and success rate of near-shore rescue operations.

[0003] To strengthen maritime search and rescue emergency response capabilities and develop towards intelligence, unmanned operation, and specialization, there is an urgent need to design a safe, efficient, and long-endurance near-shore unmanned rescue equipment to address the shortcomings of existing technologies. Summary of the Invention

[0004] To address the aforementioned issues, this invention discloses a mayfly-inspired biomimetic multipurpose nearshore unmanned rescue vessel and its control method, achieving propeller-free rescue, long endurance, high stability, and precise positioning, thereby improving the rescue efficiency for 2-3 people who have fallen into the water in nearshore waters and reducing the risk of casualties.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A mayfly-inspired multipurpose near-shore unmanned rescue vessel includes a hull, a drive unit, an energy system, a lifting device, a positioning and sensing system, and mayfly-inspired legs. The safety unit is located in the middle of the hull, the drive unit is located at the stern of the hull, the energy system is located on the upper surface of the hull, the lifting device is located in the lower middle part of the hull, the positioning and sensing system is located above the hull, and the mayfly-inspired legs are located at the four corners of the hull. The hull is made of lightweight alloy, and the bow bottom has a gently sloping structure with anti-collision rubber on its surface. The drive device adopts a pneumatic drive structure and is installed at the stern of the hull. It includes a vector propulsion fan, a bevel gear transmission mechanism, and a servo control system. The bevel gear transmission mechanism includes a driving bevel gear and a driven bevel gear. The driving bevel gear is connected to the output shaft of the servo motor of the servo control system, and the driven bevel gear is connected to the vector propulsion fan to form an orthogonal transmission pair. The energy system includes a solar array panel and a lithium-ion energy storage system; the solar array panel is laid on the ship's deck and is electrically connected to the lithium-ion energy storage system through a controller. The lifting device is installed in the middle of the ship's hull and is a pulley-cable structure, comprising a cable, wire mesh, pulleys, and a motor drive unit. The upper end of the cable is connected to the pulley block, and the lower end is connected to the wire mesh. The motor drive unit is linked to the positioning and sensing system. The positioning and sensing system includes a GPS module, a deck panoramic camera, an underwater pressure-resistant camera, and a bracket. The bracket is fixed to the upper surface of the hull, the GPS module and the deck panoramic camera are fixed to the bracket, and the underwater pressure-resistant camera is fixed to the lower part of the stern of the hull. The biomimetic mayfly leg includes a hemispherical float, corner brackets, an oil tank, a hydraulic cylinder, a shock absorber, a V-frame, and a front leg. The front leg is connected to the side of the hull. The V-frame connects the front leg, shock absorber, and hydraulic cylinder together with bolts. The front leg and shock absorber are connected together with bolts. The bottom of the shock absorber is connected to the corner bracket with bolts. The hydraulic cylinder is connected to one side of the corner bracket with bolts. The corner bracket is fixed to the hemispherical float with bolts. The oil tank is welded to the hemispherical float and supplies hydraulic oil to the hydraulic cylinder through oil pipes.

[0006] As a supplement to the present invention, the slope of the gentle slope is 15-20°, and the thickness of the anti-collision rubber is 5mm-8mm.

[0007] As a supplement to the present invention, the surface of the solar array panel is provided with an impact-resistant glass encapsulation layer, which constitutes a three-proof protection structure against salt spray, ultraviolet rays and mechanical wear.

[0008] As a supplement to the present invention, the outer side of the hull body is also provided with a circumferentially distributed rope structure, the surface of which is provided with anti-slip texture and is ergonomically laid out.

[0009] As a supplement to the present invention, the servo control system is signal-connected to the remote control module.

[0010] As a supplement to the present invention, the solar array panel uses monocrystalline silicon solar cells with a conversion efficiency of ≥22%.

[0011] As a supplement to the invention, the upper surface and sides of the hemispherical float have handrails.

[0012] As a supplement to the present invention, the underwater pressure-resistant camera has a waterproof rating of ≥IP68.

[0013] The beneficial effects of this invention are as follows: High safety: It uses a pneumatic vector propulsion fan instead of a traditional propeller, completely eliminating the risk of underwater injury to people who fall into the water; The bottom of the hull features anti-collision rubber and a gently sloping deck design, which reduces the probability of hull collision damage and injuries to those who fall into the water and board the vessel. The design is novel: four biomimetic mayfly legs are positioned at the four corners of the main body of the boat. When the boat is in motion, the four hemispherical floats on the water surface, and the hull is suspended in the air, which makes it easy for the lifting device to retrieve people. 4. Good stability: The omnidirectional design of the hemispherical float improves maneuverability, and the buffer device and motor device can suppress the hull roll, ensuring stable navigation in waves, while improving adaptability to complex shorelines; 5. Strong endurance: The combination of solar array panels and lithium-ion energy storage system extends the endurance by 18%-25% under standard sunshine conditions, meeting the needs of long-term near-shore rescue operations; 6. High rescue efficiency: GPS + dual-modal vision system achieves precise positioning, motor-driven lifting device quickly lifts people who have fallen into the water, and the combination of unmanned autonomous driving and remote control can seize the golden rescue time and improve the success rate of search and rescue. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 This is an overall sectional view of the present invention.

[0016] Figure 3 This is an enlarged view of the driving device of the present invention.

[0017] Figure 4 This is an enlarged view of the lifting device of the present invention.

[0018] Figure 5 This is an enlarged view of the legs of the mayfly released in this invention.

[0019] Figure 6 This is a diagram of the positioning and sensing system of the present invention.

[0020] List of identifiers in attached diagrams: 1. Hull; 101. Lightweight alloy; 102. Anti-collision rubber; 103. Ropes; 2. Drive unit; 201. Vector propulsion fan; 202. Active bevel gear; 203. Driven bevel gear; 204. Servo motor; 3. Energy system; 301. Solar array panel; 302. Lithium-ion energy storage system; 4. Lifting device; 401. Steel cable; 402. Steel wire mesh; 403. Pulley; 404. Motor drive unit; 5. Positioning and sensing system; 501. GPS module; 502. Panoramic camera; 503. Underwater pressure-resistant camera; 504. Support frame; 6. Bionic mayfly legs; 601. Hemispherical float; 602. Angle seat; 603. Fuel tank; 604. Hydraulic cylinder; 605. Shock absorber; 606. V-frame; 607. Forelegs; 7. Safety unit. Detailed implementation manners

[0021] The present invention will be further clarified below in conjunction with the attached drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention.

[0022] As shown in the figure, a mayfly bionic multi-purpose offshore unmanned rescue ship according to the present invention includes a hull main body 1, a driving device 2, an energy system 3, a lifting device 4, a positioning and sensing system 5, and bionic mayfly legs 6. The structures and connection relationships of each component are as follows: The hull main body 1 is composed of a lightweight alloy 101 and an anti-collision rubber 102. The lightweight alloy is welded to form a rigid side wall. The driving device 2 is located at the tail of the hull main body 1, the energy system 3 is located on the upper surface of the hull main body 1, the lifting device 4 is located below the middle of the hull main body 1, the positioning and sensing system 5 is located below the hull main body 1, and the four bionic mayfly legs 6 are arranged at the four corners of the hull main body 1. The middle of the hull main body 1 is a safety area 7 where the rescued person fished up from the lifting device below stays. The overall structure of the hull is similar to a "hui" character structure, with a safest place separated in the middle to place the rescued person; A circumferentially distributed rope 103 structure is also provided on the outer side of the hull main body 1. The surface of the rope 103 structure is provided with anti-slip textures and is arranged according to ergonomics (a rope end is provided every about 1 m, and at least one rope can be grabbed when the rescued person spreads his arms). The bottom of the bow adopts a gentle slope structure, and the surface of the gentle slope structure is provided with an anti-collision rubber 102, and the anti-collision rubber 102 surrounds the bottom of the bow; it is convenient for landing on the island, reducing the probability of hull collision damage and injury to the rescued person when boarding the ship; The driving device 2 adopts a pneumatic driving structure and is installed at the tail of the hull main body 1. It consists of a vector propulsion fan 201, a bevel gear transmission mechanism, and a servo control system. The vector propulsion fan 201 drives the fan blades to rotate through a built-in rotating motor, converting electrical energy into thrust. The bevel gear transmission mechanism includes a driving bevel gear 202 and a driven bevel gear 203. The driving bevel gear 202 is connected to the output shaft of the servo motor 204 of the servo control system, and the driven bevel gear 203 is connected to the vector propulsion fan 201, forming an orthogonal transmission pair. The servo control system adjusts the pitch angle and yaw angle of the propulsion fan in real time by controlling the meshing movement of the bevel gears, realizing precise adjustment of the hull traveling direction, and at the same time eliminating the risk of underwater damage of the propeller; Energy system 3 includes a solar array panel 301 and a lithium-ion energy storage system 302. The solar array panel 301 uses monocrystalline silicon solar cells with a conversion efficiency of ≥22%, which are laid on the hull deck. The surface of the solar array panel 301 is covered with an impact-resistant glass encapsulation layer, forming a three-proof protection structure against salt spray, ultraviolet rays, and mechanical wear. The solar array panel is electrically connected to the lithium-ion energy storage system 302 through an MPPT maximum power point tracking controller, which efficiently stores the captured solar energy into lithium batteries, extending the hull's cruising range by 18%-25% under standard sunlight conditions. The lifting device 4 is installed in the middle of the main body 1 of the ship. It is a pulley 403-steel cable 401 structure, consisting of pulley 403, high-strength steel cable 401, wire mesh 402, and motor drive unit 404. The upper end of the steel cable 401 is connected to the pulley 403 group, and the lower end is fixed to the wire mesh 402. The motor drive unit 404 is linked with the positioning and sensing system 5. When the positioning system confirms the target falling into the water, it can automatically drive the lifting platform to perform vertical movements, and realize the rapid and safe lifting of the person falling into the water through closed-loop control. The positioning and perception system 5 consists of a GPS module 501 and a dual-modal vision system. The GPS module enables precise positioning of the ship's own position. The dual-modal vision system includes a deck-based panoramic camera 502 and an underwater pressure-resistant camera 503, with a waterproof rating of ≥IP68. These are used for wide-area target tracking on the sea surface and detection in low-light underwater environments, respectively. Combined with a real-time target recognition algorithm, it can achieve full-dimensional rescue situational awareness and improve the accuracy of target acquisition. The GPS module 501 and the deck-based panoramic camera 502 are fixed on a bracket 504, which is fixed on the upper surface of the main body 1 of the ship. The underwater pressure-resistant camera 503 is fixed below the stern of the main body 1 of the ship. The biomimetic mayfly leg 6 includes a hemispherical float 601, a corner seat 602, an oil tank 603, a hydraulic cylinder 604, a shock absorber 605, a V-frame 606, and a foreleg 607. The foreleg is connected to the side of the hull. The V-frame 606 connects the foreleg 607, the shock absorber 605, and the hydraulic cylinder 604 together with bolts. The foreleg 607 and the shock absorber 605 are connected together with bolts. The bottom end of the shock absorber 605 is connected to the corner seat 602 with bolts. The hydraulic cylinder 604 is connected to one side of the corner seat 602 with bolts. The corner seat 602 is fixed to the hemispherical float 601 with bolts. The oil tank 603 is welded to the hemispherical float 601 and supplies hydraulic oil to the hydraulic cylinder 604 through oil pipes. The upper surface and sides of the hemispherical float 601 have handrails for easy grabbing by people falling into the water.

[0023] The unmanned rescue vessel of this invention is designed to rescue conscious individuals who have fallen into the water and can cooperate with the vessel for self-rescue. The specific operation method of the unmanned rescue vessel includes the following steps: Step 1: Positioning Start-up: GPS module 501 starts up to obtain the initial position of the distressed hull. The dual-modal vision system is activated simultaneously. The deck panoramic camera 502 scans the sea surface target, and the underwater pressure-resistant camera 503 detects the underwater environment. The data is transmitted to the controller in real time. Step Two: Autonomous Navigation: Based on the target position identified by the vision system or input via remote commands, the controller drives the bevel gear transmission mechanism through the servo control system to adjust the pitch and yaw angles of the vector propulsion fan 201, enabling the ship to sail at full speed along the planned path towards the target area, reaching speeds of up to 5 m / s. When the ship is in motion, the four hemispherical floats 601 float on the water surface, and the hull is suspended in the air. Step 3: Target Approach: When the hull is ≤10m away from the target in the water, the controller reduces the propulsion speed to 1m / s and accurately locks onto the target through the dual-modal vision system. At the same time, the internal fuel tank 603 of the bionic mayfly leg 6 is activated to adjust the vertical height of the hull, so that the hull descends close to the water surface and the float handles approach the person in the water. Step 4: Rescue of the person in the water: After the person in the water grabs the handle or the circumferential rope 103, the controller drives the motor drive unit 404 of the lifting device 4 to lower the lifting platform (wire mesh) to the water surface through the pulley 403-steel cable 401 system. After the person in the water enters the platform, the motor pump works in reverse to raise the platform to a height of 500mm above the ship's deck. The person in the water enters the safety section 7, and the rescue is completed. Step 5: Rescue Closure: If manual intervention is required, the remote operator can take over the control of the vessel via remote control and drive the vessel to the shore or a professional rescue vessel; the solar array panels charge the lithium-ion battery in real time to ensure the return journey; after reaching the target location, the person in the water can disembark via the gentle slope deck or be transferred to a professional rescue vessel, and the rescue is completed.

[0024] It should be noted that the above content merely illustrates the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, various improvements and modifications can be made without departing from the principle of the present invention, and all such improvements and modifications fall within the scope of protection of the claims of the present invention.

Claims

1. A mayfly-inspired biomimetic multipurpose near-shore unmanned rescue vessel, characterized in that: It includes a hull body (1), a drive unit (2), an energy system (3), a lifting device (4), a positioning and sensing system (5), and biomimetic mayfly legs (6). The hull body (1) has a safety unit (7) in the middle, the drive unit (2) is located at the stern of the hull body (1), the energy system (3) is located on the upper surface of the hull body (1), the lifting device (4) is located below the middle of the hull body (1), the positioning and sensing system (5) is located above the hull body (1), and the biomimetic mayfly legs (6) are located at the four corners of the hull body (1). The main body of the ship (1) is made of lightweight alloy, and the bottom of the bow adopts a gentle slope structure. The surface of the gentle slope structure is provided with anti-collision rubber (102). The drive device (2) adopts a pneumatic drive structure and is installed at the stern of the hull body (1). It includes a vector propulsion fan (201), a bevel gear transmission mechanism and a servo control system. The bevel gear transmission mechanism includes an active bevel gear (202) and a driven bevel gear (203). The active bevel gear (202) is connected to the output shaft of the servo motor (204) of the servo control system, and the driven bevel gear (203) is connected to the vector propulsion fan (201) to form an orthogonal transmission pair. The energy system (3) includes a solar array panel (301) and a lithium-ion energy storage system (302); the solar array panel (301) is laid on the deck of the ship and is electrically connected to the lithium-ion energy storage system (302) through a controller; The lifting device (4) is installed in the middle of the hull (1) and is a pulley (403)-cable (401) structure, including a cable (401), a wire mesh (402), a pulley (403) and a motor drive unit (404). The upper end of the cable (401) is connected to the pulley (403) and the lower end is connected to the wire mesh (402). The motor drive unit (404) is linked with the positioning sensing system (5) by signal. The positioning and sensing system (5) includes a GPS module (501), a deck panoramic camera (502), an underwater pressure-resistant camera (503), and a bracket (504). The bracket (504) is fixed on the upper surface of the hull body (1). The GPS module (501) and the deck panoramic camera (502) are fixed on the bracket (504). The underwater pressure-resistant camera (503) is fixed below the stern of the hull body (1). The biomimetic mayfly leg (6) includes a hemispherical float (601), a corner seat (602), an oil tank (603), a hydraulic cylinder (604), a shock absorber (605), a V-frame (606), and a foreleg (607). The foreleg (607) is connected to the side of the hull (1). The V-frame (606) connects the foreleg (607), the shock absorber (605), and the hydraulic cylinder (604) together with bolts. The foot (607) and the shock absorber (605) are connected together by bolts. The bottom end of the shock absorber (605) is connected to the corner seat (602) by bolts. The hydraulic cylinder (604) is connected to one side of the corner seat (602) by bolts. The corner seat (602) is fixed to the hemispherical float (601) by bolts. The oil tank (603) is welded to the hemispherical float (601) and hydraulic oil is supplied to the hydraulic cylinder (604) through the oil pipe.

2. The mayfly-inspired biomimetic multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The slope of the gentle slope is 15-20°, and the thickness of the anti-collision rubber (102) is 5mm-8mm.

3. The mayfly-inspired multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The surface of the solar array panel (301) is provided with an impact-resistant glass encapsulation layer, which constitutes a three-proof protection structure against salt spray, ultraviolet rays and mechanical wear.

4. The mayfly-inspired multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The outer side of the main body (1) of the ship is also provided with a circumferentially distributed rope (103) structure. The surface of the rope (103) structure is provided with anti-slip texture and is ergonomically laid out.

5. The mayfly-inspired multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The servo control system is connected to the remote control module via signal transmission.

6. The mayfly-inspired multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The solar array panel (301) uses monocrystalline silicon solar cells with a conversion efficiency of ≥22%.

7. The mayfly-inspired multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The hemispherical float (601) has handrails on its upper surface and sides.

8. The mayfly-inspired biomimetic multipurpose near-shore unmanned rescue vessel according to claim 1, characterized in that: The underwater pressure-resistant camera (503) has a waterproof rating of ≥IP68.

9. A method for controlling the mayfly-inspired multipurpose near-shore unmanned rescue vessel as described in claim 1, characterized in that: Includes the following steps: Step 1: Positioning Startup: The GPS module (501) is started to obtain the initial position of the distressed hull. The dual-modal vision system is turned on simultaneously. The deck panoramic camera (502) scans the sea surface target, and the underwater pressure camera (503) detects the underwater environment. The data is transmitted to the controller in real time. Step 2: Autonomous navigation: The controller, based on the target position identified by the vision system or input by remote command, drives the bevel gear transmission mechanism through the servo control system to adjust the pitch and yaw angles of the vector propulsion fan (201), so that the hull sails at full speed towards the target area along the planned path, reaching a speed of 5m / s; Step 3: Target Approach: When the hull is ≤10m away from the target in the water, the controller reduces the propulsion speed to 1m / s, accurately locks onto the target through the dual-modal vision system, and at the same time the motor device starts, adjusts the vertical height of the hull, so that the hull descends close to the water surface, and the float handles approach the person in the water. Step 4: Rescue of the person in the water: After the person in the water grabs the handle or the circumferential rope (103), the controller drives the motor drive unit (404) of the lifting device (4) to lower the lifting platform to the water surface through the pulley (403) - steel cable (401) system. After the person in the water enters the platform, the motor pump works in reverse to lift the platform to a height of 500mm above the ship's deck. The person in the water enters the safety section (7) and the rescue is completed. Step 5: Rescue Closure: If manual intervention is required, the remote operator can take over the control of the vessel via remote control and drive the vessel to the shore or a professional rescue vessel; the solar array panels charge the lithium-ion battery in real time to ensure the return journey; after reaching the target location, the person in the water can disembark via the gentle slope deck or be transferred to a professional rescue vessel, and the rescue is completed.

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