Self-rescue system based on power life jacket and intelligent self-rescue method

Abstract

The invention relates to the technical field of life-saving equipment, in particular to a self-rescue system based on a power life jacket and an intelligent self-rescue method.The self-rescue system comprises a life jacket body, a main control module, a power module and a battery module, and the power module comprises a propeller body and two pump spraying propelling units; the two pump spraying propelling units are arranged on the two sides of the propeller body respectively, the main control module and the battery module are both arranged on the propeller body, and the life jacket body is provided with a plurality of attitude sensors. According to the system, whether abnormal or dangerous postures such as face downward, rolling and handstand occur or not is accurately judged, when the abnormal postures are detected, the system automatically adjusts the thrust magnitude and direction of the two pump spraying propulsion units, posture correction torque is generated, a wearer is helped to recover to a safe posture, and the safety of the wearer is improved. The system can make a quick response when rescue workers are collided, unbalanced or exhausted, and it is guaranteed that the rescue workers are always in a breathable safe posture.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lifesaving equipment, in particular to a self-rescue system based on a powered life jacket and an intelligent self-rescue method. BACKGROUND

[0002] With the intensification of global climate change, extreme weather events occur frequently, and natural disasters such as floods, typhoons, and landslides are increasing, posing a serious threat to people's life and property safety. In various disaster emergency rescue, water rescue is the difficulty and focus of rescue operation due to its complex environment, high risk and large physical consumption. As the core equipment for water rescue and self-rescue, the performance of life jacket is directly related to the life safety of rescuers and fallen people.

[0003] At present, the traditional life jacket mainly relies on buoyancy material to provide positive buoyancy, so that the wearer can maintain a floating state in water. However, such life jackets have single function and can only passively provide buoyancy support, and cannot actively intervene or adjust the posture of the wearer in water. In actual rescue process, especially in complex water areas with strong current, dark current, vortex or dense obstacles, rescuers are prone to body imbalance due to water flow impact, collision with obstacles, etc., resulting in dangerous postures such as face down, rolling, upside down, causing water choking, breathing difficulty and even drowning accidents. In addition, in long-term continuous rescue tasks, the physical strength of rescuers is quickly consumed, and once exhausted, it will be difficult to adjust the body position independently. The traditional life jacket lacks effective response mechanism for such situations, and it is difficult to guarantee the safety of life.

[0004] Further, in the process of underwater or near-water rescue, rescuers often need to move and rescue against strong water flow resistance, which greatly increases the physical burden. The existing life-saving equipment does not have the power propulsion capability, and the rescuers must rely on their own swimming ability to complete the displacement, resulting in low rescue efficiency and high risk. Especially when facing multiple fallen people or multi-point rescue tasks, rescuers may be unable to complete the task due to physical exhaustion, and even themselves are in danger. SUMMARY

[0005] The present application aims to at least solve the technical problems existing in the prior art. To this end, the present application proposes a self-rescue system based on a powered life jacket and an intelligent self-rescue method, which helps to improve the survival ability of rescuers in complex water environment.

[0006] According to some embodiments of the first aspect of the present application, a self-help system based on a powered life jacket comprises a life jacket body, a main control module, a power module, and a battery module, the power module comprises a propeller body and two pump jet propulsion units, the two pump jet propulsion units are respectively arranged on both sides of the propeller body, the propeller body is arranged at the rear end of the life jacket body, the main control module and the battery module are arranged on the propeller body, the life jacket body is provided with a plurality of posture sensors, the shoulder, back and waist of the life jacket body are provided with the posture sensors, and the posture sensors are electrically connected with the main control module.

[0007] According to some embodiments of the first aspect of the present application, a self-help system based on a powered life jacket has at least the following beneficial effects: The present application can monitor the body posture of the wearer in real time by arranging a plurality of posture sensors on the shoulder, back and waist of the life jacket body. The main control module analyzes the sensor data to accurately determine whether abnormal or dangerous postures such as face down, rolling, handstand, etc. occur. The system adopts a propeller body integrated at the rear end of the life jacket and two pump jet propulsion units on both sides to form an efficient and stable power output structure. Through the cooperative work of the main control module, posture sensors and power module, when an abnormal posture is detected, the system automatically adjusts the thrust size and direction of the two pump jet propulsion units to generate a posture correction moment to help the wearer recover to a safe body position. After the posture is recovered, the system automatically stops adjusting to avoid excessive intervention. The whole process does not require manual operation, and is particularly suitable for emergency situations where rescue personnel are confused, exhausted or unable to respond independently. The system can quickly respond when the rescue personnel encounter a collision, imbalance or exhaustion, ensuring that they are always in a safe posture that can breathe. At the same time, it provides power support to escape from danger, solving the problem of insufficient function of traditional life-saving equipment in extreme conditions.

[0008] According to some embodiments of the first aspect of the present application, a self-help system based on a powered life jacket comprises an induction bracelet, a heart rate detection module is arranged on the induction bracelet, and the heart rate detection module is signal connected with the main control module.

[0009] According to some embodiments of the first aspect of the present application, the pump jet propulsion unit comprises a motor driving module, a double-shaft motor, a connecting plate, an outer ring cover and two propellers. The outer side of the connecting plate is connected with the outer wall of the outer ring cover. A position avoiding groove is arranged on the end of the connecting plate close to the outer ring cover. The top of the double-shaft motor is located in the position avoiding groove. The two output shafts of the double-shaft motor are located in the outer ring cover. A connecting shaft sleeve is arranged on each of the two output shafts. A one-way bearing is sleeved on the outer periphery of each of the connecting shaft sleeves. The two propellers are connected with the two one-way bearings one by one. The propellers are located at the front and rear ends of the outer ring cover. The front and rear ends of the outer ring cover are penetrated by the outer side. A plurality of through holes are arranged on the outer periphery of the outer ring cover. The motor driving module is electrically connected with the double-shaft motor.

[0010] According to some embodiments of the first aspect of the present application, the life jacket body is provided with a groove at the shoulders, back and waist. The posture sensor is arranged in the groove.

[0011] According to some embodiments of the first aspect of the present application, the main control module fuses and processes the data detected by the plurality of posture sensors by a complementary filtering algorithm to calculate the angular displacement. The formula of the complementary filtering algorithm for calculating the angular displacement is as follows: wherein, is the fused and processed angular displacement, is the fused angle at time t-1, is the fused angle at time t, is the angular velocity measured by the gyroscope at time t, is the sampling time, is the angle calculated by the accelerometer at time k, is the filter coefficient, is a value between 0 and 1.

[0012] According to some embodiments of the first aspect of the present application, the posture sensor outputs a quaternion to the main control module. The unit quaternion is as follows: = is the unit quaternion of rotation: ; is a direction vector in three-dimensional space; is a unit vector representing the direction of the rotation axis.​​ The angle of rotation required.

[0013] According to some embodiments of the first aspect of the present application, a self-help system based on a power life jacket, the master module calculates Euler angles according to quaternions, and the calculation formula of the Euler angles is as follows: Roll (Roll, ): ; Pitch (Pitch, ): ; Yaw (Yaw, ): .

[0014] According to some embodiments of the second aspect of the present application, an intelligent self-help method, the self-help method is based on the self-help system of the first aspect of the embodiment, and the intelligent self-help method comprises the following steps: S100, the attitude sensor collects data of the attitude sensor in real time, and sends the collected data to the master module; S200, the master module analyzes the data, judges whether the posture of the wearer is in an abnormal state, if yes, executes step S300, otherwise returns to step S100; S300, adjusting the driving parameters of the pump jet propulsion unit to change the posture of the life jacket main body; S400, the master module judges whether the posture of the wearer is in an abnormal state, if yes, stops adjusting, otherwise returns to step S300.

[0015] According to some embodiments of the second aspect of the present application, an intelligent self-help method has the following beneficial effects: The method can continuously monitor the three-dimensional posture of the wearer in the water through the master module continuously collecting data of the shoulder, back and waist attitude sensors, trigger the response mechanism at the first time of accidental imbalance, greatly improve the reaction speed and reliability of the system, the master module can accurately identify whether it is really in the risk posture of water inhalation through the fusion analysis of the multi-point attitude data, effectively distinguish the normal swimming action from the dangerous state, prevent unnecessary power start caused by system misjudgment, improve the intelligent level and operation efficiency of the control strategy, when detecting the abnormal posture, generate a directional posture correction moment by dynamically adjusting the thrust size and direction of the two pump jet propulsion units, actively drive the life jacket and the wearer's body to change to a safe posture, can optimize the driving parameters in real time according to the change of the posture, ensure the posture adjustment to be stable, accurate and efficient, and significantly enhance the safety protection of the rescue personnel in high-intensity operation.

[0016] According to the intelligent self-help method of some embodiments of the second aspect of the present application, the S100 further comprises: the inductive bracelet collects the heart rate of the wearer, and the host module receives the data of the inductive bracelet in real time; and the S200 further comprises: the host module judges whether the heart rate of the wearer is in an abnormal state.

[0017] According to the intelligent self-help method of some embodiments of the second aspect of the present application, the adjustment of the driving parameters of the pump-jet propulsion unit specifically comprises: the host module compares the real-time calculated attitude angle with the preset balanced attitude, and if there is a deviation, according to the size and direction of the deviation, the host module outputs a control signal to the motor drive module according to the predetermined control strategy, and the PID controller of the motor drive module controls and outputs a signal to the double-shaft motor.

[0018] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein: Figure 1 It is a structural schematic diagram of an embodiment of the present application.

[0020] Figure 2 It is a structural schematic diagram of a life jacket body of an embodiment of the present application.

[0021] Figure 3 It is a principle block diagram of an embodiment of the present application.

[0022] Figure 4 It is a structural schematic diagram of a pump-jet propulsion unit of an embodiment of the present application.

[0023] Figure 5 It is a flowchart of an embodiment of the present application.

[0024] Reference signs: 1, life jacket body; 2, host module; 3, power module; 4, battery module; 5, propeller body; 6, pump-jet propulsion unit; 7, attitude sensor; 8, inductive bracelet; 9, rectifier sheet; 10, double-shaft motor; 11, connecting plate; 12, outer ring cover; 13, propeller; 14, position-avoiding groove; 15, connecting shaft sleeve; 16, one-way bearing; 17, groove. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explaining the present application, and should not be understood as a limitation of the present application.

[0026] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, left, right, front, back, etc. is based on the orientation or position relationship shown in the drawings, which is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the modules or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0027] In the description of the present application, if the first, second, etc. are described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying the relative importance of the technical features indicated or implying the number of technical features indicated or implying the order of the technical features indicated.

[0028] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0029] As shown in FIG. 1, the first aspect of the present application provides a self-help system based on a powered life jacket. Figures 1-4

[0030] A self-help system based on a powered life jacket, comprising a life jacket main body 1, a main control module 2, a power module 3 and a battery module 4, the power module 3 comprising a propeller main body 5 and two pump jet propelling units 6, the two pump jet propelling units 6 being arranged on both sides of the propeller main body 5, the propeller main body 5 being arranged at the rear end of the life jacket main body 1, the main control module 2 and the battery module 4 being arranged on the propeller main body 5, the life jacket main body 1 being provided with a plurality of attitude sensors 7, the shoulder, back and waist of the life jacket main body 1 being provided with the attitude sensors 7, the attitude sensors 7 being electrically connected with the main control module 2.

[0031] ​The application can monitor the body posture of the wearer in real time by setting multiple posture sensors 7 on the shoulders, back and waist of the life jacket body 1. The main control module 2 analyzes the sensor data to accurately determine whether abnormal or dangerous postures such as face down, rolling, handstand, etc. occur. The system adopts a propeller body 5 integrated in the back end of the life jacket and two pump jet propulsion units 6 on the sides to form an efficient and stable power output structure. Through the cooperative work of the main control module 2, the posture sensor 7 and the power module 3, when an abnormal posture is detected, the system automatically adjusts the thrust size and direction of the two pump jet propulsion units 6 to generate a posture correction moment to help the wearer recover to a safe body position. After the posture is restored, the adjustment is automatically stopped to avoid excessive intervention. The whole process does not require manual operation and is particularly suitable for emergency situations where rescue personnel are confused, exhausted or unable to respond independently. The system can quickly respond when the rescue personnel encounter a collision, imbalance or exhaustion to ensure that they are always in a safe posture that can breathe. At the same time, it provides power support to escape danger, solving the problem of insufficient function of traditional life-saving equipment in extreme conditions.

[0032] The posture sensor 7 used in the embodiment is an IMU posture sensor 7, and the main control module 2 uses an MCU.

[0033] In some embodiments, the battery module 4 is equipped with a battery management system that can output different power supply voltages to stably power all modules. The multiple posture sensors 7 each integrate a three-axis accelerometer and a three-axis gyroscope. The accelerometer can measure the acceleration of the human body in water to detect changes in posture and the direction of gravity. The gyroscope can measure angular velocity to obtain human body rotation information to help determine the rate of change in posture. The posture sensor 7 located in the waist is also equipped with a barometer that can detect changes in water depth and assist in determining the vertical position and posture of the human body in the water. It can also be used to detect the airtightness of the device.

[0034] The self-rescue system based on a powered life jacket described in the embodiment includes a sensing bracelet 8 provided with a heart rate detection module, which is signal connected with the main control module 2. Specifically, by setting the sensing bracelet 8 with the heart rate detection module and signal connecting with the main control module 2, real-time monitoring of the physiological state of the wearer is realized, which can timely trigger an early warning or automatically start a rescue mode when the heart rate of the personnel is abnormal due to drowning, panic or low temperature, thereby enhancing the intelligent judgment ability and life safety protection level of the system.

[0035] It can be understood that the sensing bracelet 8 is provided with a control button, and the user can send left balance or right balance instructions through the control button. Then the instructions are transmitted to the main control module 2, and after the main controller successfully receives the instructions, the life jacket posture and output power can be adjusted.

[0036] The pump jet propulsion unit 6 comprises a motor driving module, a double-shaft motor 10, a connecting plate 11, an outer ring cover 12 and two propellers 13. The outer side of the connecting plate 11 is connected with the outer wall of the outer ring cover 12. The end of the connecting plate 11 close to the outer ring cover 12 is provided with an avoiding groove 14. The top of the double-shaft motor 10 is located in the avoiding groove 14. The two output shafts of the double-shaft motor 10 are located in the outer ring cover 12. The two output shafts are provided with connecting shaft sleeves 15. The outer periphery of the connecting shaft sleeve 15 is provided with a one-way bearing 16. The two propellers 13 are connected with the two one-way bearings 16. The propellers 13 are located at the front and rear ends of the outer ring cover 12. The front and rear ends of the outer ring cover 12 are penetrated with the outer side. The outer periphery of the outer ring cover 12 is provided with a plurality of through holes. The motor driving module is electrically connected with the double-shaft motor 10. Specifically, the two pump jet propulsion units 6 on the two sides are driven by the double-shaft motor 10. Each pump jet unit is provided with two independently working propellers 13, which can provide stronger and more stable thrust. Under the control of the motor driving module, the torque of the propeller 13 can be increased or reduced to adjust the posture of the life jacket. The device can not only be applied to dangerous self-rescue in automatic mode, but also can be applied to posture adjustment demand in manual control mode. Compared with the traditional underwater propeller and the common floating type design, the device is driven by the double-shaft motor 10 and the one-way bearing 16, which can provide bidirectional power for the propeller and easily adjust various postures to calmly cope with complex rescue challenges. The plurality of through holes in the outer ring cover 12 can not only help to reduce resistance and improve propulsion efficiency, but also help to remove the sundries that may enter the inside of the outer ring cover 12 to ensure the stability of the equipment in long-time operation. One end of the outer ring cover 5 is provided with a fairing 9.

[0037] It can be understood that the main control module 2 is the core of the whole system, which is responsible for receiving the signals of the sensor module, the heart rate detection module and the manual control module, processing and analyzing the signals. For example, in automatic mode, it is judged whether the human body is in a state of drowning (such as posture inclination > 45°, continuous floating on back, or heart rate > 150 times / min, < 50 times / min, etc.); in manual mode, the bracelet instruction is received, and then the processing result is converted into a control signal and transmitted to the motor driving module.

[0038] It can be understood that the main control module 2 compares the real-time calculated posture angle with the preset balanced posture. If there is a deviation, according to the deviation size and direction, the control signal is output to the motor driving module according to the predetermined control strategy. The PID controller in the motor driving module will control and output the signal to the double-shaft motor 10 (including control motor torque or PWM signal). The signal is composed of proportional (P), integral (I) and differential (D) parts. Taking the roll angle as an example (the pitch angle is the same), the control formula is as follows: P is the proportional gain (roll angle); I is the integral gain (roll angle); D is the differential gain (roll angle).

[0039] Specifically, when the roll angle is greater than , it indicates that the human body is tilted to one side, and the main control module 2 will control the pump jet propulsion unit 6 on the corresponding side to increase the thrust to adjust the posture to restore balance, while the system continues to monitor the posture in real time, forming a closed loop control. After performing the action, the posture sensor 7 will detect the new posture change in real time, and the data will be fed back to the main control module 2 again, and the main control module 2 will continue to adjust the control signal according to the new data until the human body reaches a balanced state. When the rescuer is in a fainting and drowning state, the sensing bracelet 8 detects abnormal heart rate of the rescuer, triggers the intelligent self-rescue system, sends a signal to the main control module 2, and the main control module 2 adjusts the thrust of the two double-shaft motors 10 through the posture solving and balance control algorithm (mainly through the gyroscope sensor signal transmission to the main control unit for judgment comparison and feedback signal transmission to the motor driver PID controller to control the corresponding pump jet propeller to adjust the posture of the power life jacket), to ensure that the rescuer restores a safe posture.

[0040] The self-rescue system based on the power life jacket described in the embodiment is provided with a recess 17 on both shoulders, the back and the waist of the life jacket body 1, and the posture sensor 7 is arranged in the recess 17. Specifically, the posture sensor 7 is embedded in the recess 17 of the shoulder, the back and the waist, which ensures that the sensor accurately fits the key parts of the human body to obtain real posture information, and improves the practicality and stability of the sensor data acquisition.

[0041] The self-rescue system based on the power life jacket described in the embodiment is provided with a recess 17 on both shoulders, the back and the waist of the life jacket body 1, and the posture sensor 7 is arranged in the recess 17. Specifically, the posture sensor 7 is embedded in the recess 17 of the shoulder, the back and the waist, which ensures that the sensor accurately fits the key parts of the human body to obtain real posture information, and improves the practicality and stability of the sensor data acquisition. wherein, is the fused and processed angular displacement, is the fused angle at time -1, is the angular velocity measured by the gyroscope at time k, is the sampling time, is the angle calculated by the accelerometer at time k, is the sampling time, is the angle calculated by the accelerometer at time k, These are the filter coefficients. The value ranges from 0 to 1.

[0042] Specifically, by using a complementary filtering algorithm to fuse data from the gyroscope and accelerometer, the integral drift error of the gyroscope and the dynamic noise of the accelerometer are effectively suppressed, improving the accuracy and real-time performance of angular displacement calculation. This provides a reliable basis for subsequent attitude judgment and control, and enhances the system's attitude recognition accuracy in violent motion or turbulent environments.

[0043] In this embodiment, a self-rescue system based on a powered life jacket is described, wherein the attitude sensor 7 outputs a quaternion. For main control module 2, unit quaternion The formula is shown below: = Rotational unit quaternion : ; It is a direction vector in three-dimensional space; This is a unit vector representing the direction of the rotation axis; The angle to be rotated.

[0044] Specifically, the attitude sensor 7 outputs a unit quaternion to represent the rotation state in three-dimensional space, ensuring the continuity and mathematical stability of attitude calculation across the entire attitude range, thus providing fundamental support for high-precision attitude tracking.

[0045] In this embodiment, a self-rescue system based on a powered life jacket is described. The main control module 2 calculates Euler angles using quaternions. The formula for calculating Euler angles is as follows: Roll angle ): ; Pitch angle ): ; Yaw angle ): .

[0046] The quaternions are converted into intuitive Euler angle parameters such as roll, pitch, and yaw, which facilitates the system's specific analysis and classification of the wearer's body posture, thereby accurately identifying abnormal postures and providing a clear basis for automatically activating the correction mechanism.

[0047] like Figure 5As shown, the second aspect embodiment of the present application provides an intelligent self-help method, which is based on the self-help system of the first aspect embodiment, and comprises the following steps: S100, the attitude sensor 7 collects data of the attitude sensor 7 in real time, and sends the collected data to the main control module 2; S200, the main control module 2 analyzes the data, judges whether the posture of the wearer is in an abnormal state, if yes, executes step S300, otherwise returns to step S100; S300, adjusting the driving parameters of the pump jet propulsion unit 6 to change the posture of the life jacket main body 1; S400, the main control module 2 judges whether the posture of the wearer is in an abnormal state, if yes, stops adjusting, otherwise returns to step S300.

[0048] The method can continuously monitor the three-dimensional posture of the wearer in the water through the main control module 2 continuously collecting data of the shoulder, back and waist attitude sensors 7, trigger the response mechanism at the first time of accidental imbalance, greatly improve the reaction speed and reliability of the system, the main control module 2 can accurately identify whether it is really in the risk posture of choking water through the fusion analysis of the multi-point attitude data, effectively distinguish normal swimming action from dangerous state, prevent unnecessary power start caused by system misjudgment, improve the intelligent level and operation efficiency of the control strategy, when detecting abnormal posture, generate directional posture correction moment by dynamically adjusting the thrust size and direction of the two pump jet propulsion units 6, actively drive the life jacket and the wearer's body to change to a safe posture, can optimize the driving parameters in real time according to the change of posture, ensure the posture adjustment to be stable, accurate and efficient, and significantly enhance the safety protection of the rescuer in high-intensity operation.

[0049] The intelligent self-help method of the present example, the S100 further comprises: the sensing bracelet 8 collects the heart rate of the wearer, and the main control module 2 receives the data of the sensing bracelet 8 in real time; the S200 further comprises: the main control module 2 judges whether the heart rate of the wearer is in an abnormal state. The physiological indicator of heart rate is introduced as a double determination condition on the basis of posture judgment, the rescue action is triggered when detecting abnormal conditions such as sudden increase or decrease of heart rate, avoiding misjudgment caused by temporary posture change, improving the scientificity and humanization level of system decision, especially suitable for sudden disease or panic drowning scene.

[0050] It can be understood that, in some embodiments, step S300 further comprises buzzer alarm and red LED flashing. The buzzer and red LED are not necessarily arranged on the life jacket, and the signal can be transmitted to other devices through wireless connection to prompt other rescuers.

[0051] The intelligent self-help method described in the example further comprises a step S010 before the step S100: selecting an automatic mode or a manual control mode, selecting the automatic mode to execute the steps S100-S400, and selecting the manual mode to execute the steps S500-S800. In step S500, the user manually controls through the control button of the inductive bracelet 8, the inductive bracelet 8 receives the user instruction and sends the instruction to the main control module 2. In step S600, the main control module 2 analyzes the instruction and transmits the control signal to the motor driving module. In step S700, the control power module 3 adjusts the life jacket posture. In step S800, the posture sensor 7 feeds back whether the posture is in the target posture in real time, if yes, the manual mode control is completed, otherwise, the step S600 is returned.

[0052] The intelligent self-help method described in the example, the adjustment of the driving parameters of the pump jet propulsion unit 6 specifically comprises: the main control module 2 compares the real-time calculated posture angle with the preset balanced posture, if there is a deviation, according to the deviation size and direction, the main control module 2 outputs the control signal to the motor driving module according to the predetermined control strategy, and the PID controller of the motor driving module controls and outputs the signal to the double-shaft motor 10. Specifically, by comparing the real-time posture angle with the preset balanced posture, the output power and direction of the double-shaft motor 10 are dynamically adjusted by using the PID control strategy, the precise closed-loop control of the propulsion force is realized, the life jacket can quickly and smoothly correct the tilting or overturning posture, and the response speed, control accuracy and energy utilization efficiency of the system are significantly improved.

[0053] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A self-rescue system based on a powered life jacket, characterized in that: The life jacket includes a main body, a main control module, a power module, and a battery module. The power module includes a thruster body and two pump-jet propulsion units, which are respectively located on both sides of the thruster body. The thruster body is located at the rear end of the life jacket body. The main control module and the battery module are both located on the thruster body. The life jacket body is equipped with multiple attitude sensors, which are located on the shoulders, back, and waist of the life jacket body. The attitude sensors are electrically connected to the main control module.

2. The self-rescue system based on a powered life jacket according to claim 1, characterized in that: The device includes a sensor wristband, which is equipped with a heart rate detection module and is signal-connected to the main control module.

3. The self-rescue system based on a powered life jacket according to claim 1, characterized in that: Each pump-jet propulsion unit includes a motor drive module, a dual-axis motor, a connecting plate, an outer ring cover, and two propellers. The outer side of the connecting plate is connected to the outer wall of the outer ring cover. A clearance groove is provided at one end of the connecting plate near the outer ring cover. The top of the dual-axis motor is located in the clearance groove. Both output shafts of the dual-axis motor are located inside the outer ring cover. A connecting bushing is provided on each of the two output shafts. A one-way bearing is fitted on the outer circumference of each connecting bushing. The two propellers are connected to the two one-way bearings one by one. The propellers are located at the front and rear ends of the outer ring cover. Both the front and rear ends of the outer ring cover are open to the outside. Multiple through holes are provided on the outer circumference of the outer ring cover. The motor drive module is electrically connected to the dual-axis motor.

4. A self-rescue system based on a powered life jacket according to claim 1, characterized in that: The life jacket body has grooves on both shoulders, back, and waist, and the posture sensor is installed in each of the grooves.

5. A self-rescue system based on a powered life jacket according to claim 1, characterized in that: The main control module fuses and processes data detected by multiple attitude sensors using a complementary filtering algorithm to calculate angular displacement. The formula for the complementary filtering algorithm for angular displacement calculation is shown below: in, For the angular displacement after fusion and processing, for The fusion angle at time -1 for Angular velocity measured by the gyroscope at any given moment. Sampling time, The angle calculated by the accelerometer at time k. These are the filter coefficients. The value ranges from 0 to 1.

6. A self-rescue system based on a powered life jacket according to claim 1, characterized in that: The attitude sensor outputs a quaternion. For the main control module, unit quaternion The formula is shown below: = Rotational unit quaternion : ; It is a direction vector in three-dimensional space; This is a unit vector representing the direction of the rotation axis; The angle to be rotated.

7. A self-rescue system based on a powered life jacket according to claim 6, characterized in that: The main control module calculates Euler angles based on quaternions. The formula for calculating Euler angles is as follows: Roll angle ): ; Pitch angle ): ; Yaw angle ): .

8. A smart self-rescue method, characterized in that, The self-rescue method is based on the self-rescue system according to any one of claims 1-7, and the intelligent self-rescue method includes the following steps: S100: The attitude sensor collects attitude sensor data in real time and sends the collected data to the main control module; S200: The main control module analyzes the data and determines whether the wearer's posture is in an abnormal state. If so, it executes step S300; otherwise, it returns to step S100. S300: Adjust the drive parameters of the pump-jet propulsion unit to change the posture of the life jacket body; S400: The main control module determines whether the posture of the person wearing the device is in an abnormal state. If so, it stops adjusting; otherwise, it returns to step S300.

9. The intelligent self-rescue method according to claim 8, characterized in that, S100 further includes: the sensing wristband collects the wearer's heart rate, and the main control module receives the data from the sensing wristband in real time; S200 further includes: the main control module determines whether the wearer's heart rate is in an abnormal state.

10. The intelligent self-rescue method according to claim 8, characterized in that, The adjustment of the driving parameters of the pump-jet propulsion unit specifically includes: the main control module compares the attitude angle calculated in real time with the preset balance attitude. If there is a deviation, the main control module outputs a control signal to the motor drive module according to the magnitude and direction of the deviation and the predetermined control strategy. The PID controller of the motor drive module controls and outputs a signal to the dual-axis motor.

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