Underwater rescue robot with telescopic airbag and rescue method

Abstract

An underwater rescue robot with a telescopic airbag and a rescue method relate to the technical field of underwater rescue equipment. The underwater rescue robot with a telescopic airbag comprises a main cabin, a telescopic mechanism and a strip airbag connected in sequence, the telescopic mechanism is used to control the folding or unfolding of the strip airbag, when the strip airbag is folded, it is compressed into a straight line in the length direction, and when the strip airbag is unfolded, it is stretched into a C shape in the length direction. An underwater rescue method is based on an underwater rescue robot with a telescopic airbag, the method is as follows: 1. Search and approach a person who falls into the water; 2. The strip airbag is unfolded and inflated; 3. The strip airbag is detached and the robot returns. The advantages of the present invention are that it has high flexibility, safety, reliability and a wider range of applications.

Description

Technical Field

[0001] The invention relates to the technical field of underwater rescue equipment, in particular to an underwater rescue robot with a telescopic air bag and a rescue method. Background Art

[0002] Drowning incidents are not uncommon in all kinds of natural or artificial water bodies such as rivers, lakes, reservoirs, and swimming pools. When drowning incidents occur, it is very important to rescue the drowning person quickly and effectively. At present, the rescue methods for drowning people mostly adopt the method of manual rescue, by throwing floating objects on the water surface for the drowning person to grab, or by rescue personnel who are proficient in water jumping into the water to carry out rescue. Among them, the rescue method of throwing floating objects requires the drowning person to actively grab the floating objects, but due to the influence of wind, waves, the drowning person's own reaction speed and physical condition, there is no guarantee that the drowning person will be able to grab the floating objects. Among them, the rescue method of rescue personnel diving to rescue is affected by the rescue personnel's own physical fitness, water temperature, light and water quality. There is uncertainty in the diving depth and diving time. There is no guarantee that the rescue personnel will be able to find the drowning person and bring the drowning person out of the water.

[0003] Based on the current situation of poor reliability of manual rescue of drowning people, underwater rescue robots came into being. The invention patent with the authorization announcement number CN215752942U discloses an underwater rescue robot with an auxiliary mechanical claw structure. Its working principle is: when the robot dives underwater and approaches the search and rescue object, the steering gear drives the electromagnet and the mechanical arm to rotate to clamp the search and rescue object. After the clamping is completed, the self-locking buckle is used to lock it, and then the electromagnet is powered off to make the mechanical arm and the electromagnet separate from the robot. The mechanical arm is fixed with an automatically inflated airbag. After the robot is separated from the mechanical arm, the airbag quickly inflates to bring the search and rescue object out of the water.

[0004] The above underwater rescue robot has the following shortcomings in practical application:

[0005] 1. The flexibility needs to be improved. The four thrusters are arranged in the vertical direction. Although it can move up and down in the water and tilt the fuselage vertically, the driving force for horizontal turning and horizontal movement is weak;

[0006] 2. Safety needs to be improved. During rescue, two mechanical arms are first used to hold the waist of the drowning person, and then locked by the self-locking buckles at the ends of the two mechanical arms. Since the mechanical arms themselves are rigid components, the contact between the mechanical arms and the human body is "hard contact". When the drowning person struggles in the water, there is a possibility of physical bruises and abrasions. Since the drowning person has different body shapes, if the drowning person is fat and has a large waist, there is a possibility that the two mechanical arms cannot hold the drowning person's waist when they are closed, which may cause the self-locking buckles at the ends of the two mechanical arms to fail to lock, or the waist skin of the drowning person may be pinched when locking.

[0007] 3. The scope of application is limited. The two mechanical arms are C-shaped components arranged relatively opposite to each other. They need to occupy a certain operating space during the opening or closing process. For obese people who fall into the water, the two mechanical arms will open or close at a larger angle during rescue, and the occupied operating space will be larger, making it difficult to carry out rescue in a narrow water environment;

[0008] 4. Reliability needs to be improved. After the two robotic arms clamp the person who falls into the water, the rescue mechanism will be separated from the robot frame as a whole. The two robotic arms are meshed through a gear pair at one end and locked by a self-locking buckle at the other end. That is, both ends of the robotic arms are closed by active connection to form an "encirclement". In addition to the necessary airbags, it also contains many other components. When the person who falls into the water struggles in panic in the water, it is easy to cause the gears at the connection between the two robotic arms to be damaged or the self-locking buckle to loosen, which leads to the failure of the rescue. Summary of the invention

[0009] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an underwater rescue robot with a telescopic airbag and a rescue method, which have improved flexibility, safety, reliability and scope of application compared to the existing underwater rescue robots.

[0010] The technical solution of the present invention is: an underwater rescue robot with a telescopic airbag, comprising a main cabin, a telescopic mechanism and a strip airbag connected in sequence; a component installation cavity is provided inside the main cabin, and a thruster A for providing vertical propulsion and a thruster B for providing horizontal propulsion are provided outside the main cabin; the telescopic mechanism is directly or indirectly connected to the outer wall of the main cabin on one side, and is detachably connected to the strip airbag on the other side, and is used to control the folding or unfolding of the strip airbag. When the strip airbag is folded, it is compressed into a straight line shape in the length direction, and when the strip airbag is unfolded, it is stretched into a C shape in the length direction.

[0011] A further technical solution of the present invention is: the telescopic mechanism comprises a base, a movable plate, an inner arc rack, a motor, a gear, an axle seat A, an axle seat B and an arc-shaped scissor bracket; the base is directly or indirectly connected to the main engine room, and a slide groove with an arc-shaped trajectory is provided at the upper end of the base; a roller matching the slide groove is provided at the lower end of the movable plate, and the movable plate is slidably installed at the upper end of the slide groove through the roller, and it can move along the slide groove in an arc-shaped trajectory; the inner arc rack is fixedly installed on the base, one side of which is an inner arc edge, and the other side is an outer arc edge, and the inner arc edge of the inner arc rack faces the main engine room; the motor is fixedly installed on the movable plate; the gear is fixedly installed on the shaft of the motor and meshes with the inner arc rack, and when the gear meshes and rolls along the inner arc rack, it drives the movable plate to move along the slide groove in an arc-shaped trajectory; the axle seat A is fixedly installed on the base, and the axle seat B is fixedly installed on the base. Seat B is fixedly installed on the movable plate; the arc-shaped scissors-fork bracket includes a plurality of diamond-shaped units connected in sequence, a hinge shaft is provided between every two adjacent diamond-shaped units, an electromagnet is fixedly installed on each hinge shaft, two adjacent hinge shafts in the middle part of the arc-shaped scissors-fork bracket are hinged to shaft seat A and shaft seat B respectively, the arc-shaped scissors-fork bracket is deformed and then folded or unfolded as shaft seat A moves, when the arc-shaped scissors-fork bracket is in a folded state, it is compressed into a straight line in the length direction, and when the arc-shaped scissors-fork bracket is in an unfolded state, it is stretched into a C shape in the length direction; correspondingly, a plurality of ferromagnetic material blocks are fixedly provided on the outer wall of the strip airbag at intervals along the length direction, the strip airbag is magnetically connected to the electromagnet through the ferromagnetic material blocks, and the ferromagnetic material blocks correspond to the electromagnets one by one.

[0012] A further technical solution of the present invention is that the opening angle of the arc-shaped scissor bracket when stretched into a C shape is 30-60°, and the opening angle of the strip airbag when stretched into a C shape is 0-20°.

[0013] A further technical solution of the present invention is: a high-pressure gas cylinder is fixedly connected to the outer wall of the strip airbag, the high-pressure gas cylinder is used to inflate the interior of the strip airbag, a pull rope is connected to the bottle mouth of the high-pressure gas cylinder, and the end of the pull rope is connected to the ferromagnetic material block on the strip airbag; when the strip airbag is in a folded state, the pull rope is loose and the high-pressure gas cylinder is not deflated, and when the strip airbag is in an unfolded state, the pull rope is tightened and the high-pressure gas cylinder is triggered to deflate.

[0014] A further technical solution of the present invention is: it also includes a buffer mechanism arranged between the telescopic mechanism and the main cabin; the buffer mechanism includes an end plate A, a base, a center rod, an end plate B and a spring connected in sequence from one end to the other end; the surfaces of the end plate A and the end plate B that are opposite to each other are set as the inner surface, and the surfaces of the end plate A and the end plate B that are opposite to each other are set as the outer surface, the outer surface of the end plate A is fixedly connected to the outer wall of the main cabin, and the outer surface of the end plate B is fixedly connected to the base of the telescopic mechanism; the base is fixedly installed at the center of the inner surface of the end plate A, and a ball socket is provided therein , an opening is provided on it, and the opening is connected to the ball socket; a ball head that matches the shape of the ball socket is provided at one end of the center rod, and one end of the center rod is movably installed in the ball socket of the base through the ball head, and the other end is extended from the opening of the base and fixedly connected to the center of the inner surface of the end plate B; multiple springs are evenly distributed in a ring shape around the center rod between the end plate A and the end plate B, one end of the spring is connected to the end plate A, and the other end is connected to the end plate B. The spring uses elastic force to cause the center rod and the base to have a tendency to separate from each other, however, the ball head of the center rod cannot leave the ball socket through the opening.

[0015] A further technical solution of the present invention is: a boss A evenly distributed in a ring shape is provided on the inner surface of the end plate A, and a boss B evenly distributed in a ring shape is provided on the inner surface of the end plate B. The boss A and the boss B are arranged relatively to each other and correspond one to one. The relatively positioned boss A and boss B are respectively provided for the insertion of two ends of a spring, thereby realizing that the two ends of the spring are respectively connected to the end plate A and the end plate B.

[0016] A further technical solution of the present invention is: ear plates are fixedly provided on the two opposite side walls outside the main cabin; the number of propellers A is four, and the four propellers A are symmetrically arranged in pairs on the two ear plates; the number of propellers B is four, and the four propellers B are arranged in a rectangular shape at the bottom of the main cabin, and the propulsion forces provided by any two adjacent propellers B are perpendicular to each other.

[0017] A further technical solution of the present invention is: it also includes a visual support mechanism; the visual support mechanism includes a camera and a lighting module; the camera is installed on the upper end and / or lower end and / or side wall of the main cabin, and is used to obtain the peripheral field of view of the main cabin; the lighting module is installed on the upper end and / or lower end and / or side wall of the main cabin, and is used to illuminate the peripheral area of ​​the main cabin.

[0018] The technical solution of the present invention is: an underwater rescue method, based on an underwater rescue robot with a telescopic airbag, before executing the rescue method, the strip airbag is in a folded and uninflated state, and the arc-shaped scissor bracket is in a folded state;

[0019] Here’s how:

[0020] S01, search for and approach the person who falls into the water: put the robot into the water, use the camera and lighting module to assist in searching for the person who falls into the water, after searching for the person who falls into the water, remotely control the robot to move towards the person who falls into the water, and after approaching the person who falls into the water, adjust the robot's posture so that the strip airbag is aligned with and attached to the waist of the person who falls into the water;

[0021] S02, the strip airbag is deployed and inflated: the motor is started, the drive gear is meshed and rolled along the inner arc rack, and the movable plate and the shaft seat B are driven to move along the slide groove of the base in an arc track. The arc scissor bracket is deployed along with the movement of the shaft seat B, and then the strip airbag is driven to deploy, so that the strip airbag embraces the waist of the person who falls into the water. As the strip airbag is deployed, the pull rope changes from loose to tight. After the pull rope is tightened, the high-pressure gas cylinder is immediately triggered to inflate the inside of the strip airbag;

[0022] S03, strip airbag detachment and robot return home:

[0023] a. During the deflation of the high-pressure gas cylinder, the electromagnet is powered off, causing the strip airbag to separate from the arc-shaped scissor bracket, and the strip airbag then floats up with the person who falls into the water under the action of buoyancy;

[0024] b. After the strip airbag is separated from the arc-shaped scissor bracket, the motor is started to drive the gear to roll along the inner arc rack meshing, driving the movable plate and the shaft seat B to move along the slide groove of the base in an arc trajectory, and the arc-shaped scissor bracket is folded as the shaft seat B moves; then, with the assistance of the camera and lighting module, the remote-controlled robot moves toward the water surface, moves to the shore, and is recovered by the staff on the shore.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. High flexibility: The main cabin provides vertical propulsion through four thrusters A, enabling the robot to rise, descend and tilt vertically, and provides horizontal propulsion through four thrusters B, enabling the robot to move forward, backward and turn horizontally.

[0027] 2. High safety: Among all the parts of the robot, only the strip airbag comes into contact with the body of the drowning person. After the strip airbag is unfolded and inflated, it is stretched into a C shape in the length direction and holds the waist of the drowning person. On the one hand, the strip airbag has a "flexible contact" with the human body, so the drowning person will not be bruised or scratched when struggling in the water. On the other hand, the strip airbag will adaptively deform according to the waist circumference of the drowning person (for drowning people with smaller waist circumference, the C-shaped opening angle formed by the strip airbag after inflation and unfolding is relatively small, and for drowning people with larger waist circumference, the C-shaped opening angle formed by the strip airbag after inflation and unfolding is relatively large), so the skin and flesh of the drowning person's waist will not be pinched.

[0028] 3. The scope of application is relatively wider: When rescuing a person who has fallen into the water, the uninflated and folded strip airbag is in contact with the waist of the person who has fallen into the water. During the inflation and deployment process of the strip airbag, it can deform along the waist contour of the person who has fallen into the water until it embraces the waist of the person who has fallen into the water. The operating space required for the entire rescue process is relatively small, which is more conducive to carrying out rescue missions in narrow waters.

[0029] 4. High reliability:

[0030] 4.1. When rescuing a drowning person, after the strip airbag embraces the drowning person's waist, only the strip airbag is separated from the robot. After the strip airbag is separated from the robot, the drowning person floats up through buoyancy. There is no situation where the drowning person struggles and damages the rigid connector. Compared with existing underwater rescue robots, the floating speed and reliability have been greatly improved;

[0031] 4.2. In order to meet the design requirement that the strip airbags are completely separated from the robot after being inflated, a cylinder-drawn airbag structure is selected. The deformation of the arc-shaped scissor bracket drives the strip airbags from folding to unfolding. After the strip airbags are unfolded, the drawstring is tightened, which triggers the deflation of the gas cylinder. In other words, there is a linkage mechanism for the unfolding and inflating of the strip airbags, so there will be no situation where the strip airbags fail to unfold during inflation or fail to inflate after unfolding.

[0032] 4.3. After the strip airbag is inflated, buoyancy will be generated immediately, thereby applying an upward bending moment to the telescopic mechanism, which will cause the telescopic mechanism to tend to deflect upward relative to the main cabin. At this time, the buffer mechanism set between the telescopic mechanism and the main cabin can produce adaptive bending (spring bending and the center rod ball head rotating in the base ball socket) to offset the bending moment, thereby ensuring the reliability of the connection between the telescopic mechanism and the main cabin.

[0033] The present invention is further described below in conjunction with the figures and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the present invention;

[0035] Figure 2 This is a bottom view of the main engine room;

[0036] Figure 3 This is a top view of the main engine room;

[0037] Figure 4 The assembly diagram of the telescopic mechanism and the strip airbag when both are in the deployed state (viewing angle 1);

[0038] Figure 5 The assembly diagram of the telescopic mechanism and the strip airbag when both are in the deployed state (viewing angle 2);

[0039] Figure 6 This is a state diagram of the bar airbag after it is inflated;

[0040] Figure 7 The state diagram of the telescopic mechanism when the arc-shaped scissor bracket is folded

[0041] Figure 8 It is a state diagram of the telescopic mechanism when the arc-shaped scissor-type bracket is unfolded;

[0042] Fig. 9 It is a structural diagram of the buffer mechanism.

[0043] Legend: main cabin 1; thruster A11; thruster B12; ear plate 13; end plate A21; boss A211; base 22; center rod 23; end plate B24; boss B241; spring 25; base 31; slide groove 311; movable plate 32; roller 321; inner arc rack 33; motor 34; gear 35; shaft seat A36; shaft seat B37; arc scissor bracket 38; electromagnet 39; strip airbag 4; ferromagnetic material block 41; high-pressure gas cylinder 42; exhaust port 44. DETAILED DESCRIPTION

[0044] Embodiment 1:

[0045] like Figure 1-9 As shown, the underwater rescue robot with a telescopic airbag includes a main cabin 1, a buffer mechanism, a telescopic mechanism and a strip airbag 4 which are connected in sequence.

[0046] A component installation cavity is provided inside the main engine cabin 1, and the component installation cavity is used to provide a sealed and waterproof installation environment for various electrical components. Ear plates 13 are fixed on the two opposite side walls outside the main engine cabin 1. A propeller A11 for providing vertical propulsion and a propeller B12 for providing horizontal propulsion are provided outside the main engine cabin 1. There are four propellers A11, and the four propellers A11 are symmetrically arranged on two ear plates 13. There are four propellers B12, and the four propellers B12 are arranged in a rectangular shape at the bottom of the main engine cabin 1. The propulsion provided by any two adjacent propellers B12 is perpendicular to each other.

[0047] The telescopic mechanism includes a base 31, a movable plate 32, an inner arc rack 33, a motor 34, a gear 35, an axle seat A36, an axle seat B37 and an arc scissor bracket 38. A slide groove 311 with an arc track is provided at the upper end of the base 31. A roller 321 matching the slide groove 311 is provided at the lower end of the movable plate 32. The movable plate 32 is slidably mounted on the upper end of the slide groove 311 through the roller 321, and can move along the slide groove 311 in an arc track. The inner arc rack 33 is fixedly mounted on the base 31, one side of which is an inner arc edge and the other side is an outer arc edge. The inner arc edge of the inner arc rack 33 faces the main cabin 1. The motor 34 is fixedly mounted on the movable plate 32. The gear 35 is fixedly mounted on the shaft of the motor 34 and meshes with the inner arc rack 33. When the gear 35 meshes and rolls along the inner arc rack 33 under the drive of the motor 34, the movable plate 32 is driven to move along the slide groove 311 in an arc track. The shaft seat A36 is fixedly mounted on the base 31, and the shaft seat B37 is fixedly mounted on the movable plate 32. The arc scissor bracket 38 includes a plurality of rhombus units connected in sequence, and a hinge shaft is provided between each two adjacent rhombus units. An electromagnet 39 is fixedly mounted on each hinge shaft. Two adjacent hinge shafts in the middle of the arc scissor bracket 38 are respectively hinged with the shaft seat A36 and the shaft seat B37. The arc scissor bracket 38 is deformed with the movement of the shaft seat B37, and then folded or unfolded. When the arc scissor bracket 38 is in a folded state, it is compressed in a straight line in the length direction. When the arc scissor bracket 38 is in an unfolded state, it is stretched into a C shape in the length direction.

[0048] The buffer mechanism includes an end plate A21, a base 22, a center rod 23, an end plate B24 and a spring 25 which are connected in sequence from one end to the other end. The outer surface of the end plate A21 is fixedly connected to the outer wall of the main cabin 1, and the outer surface of the end plate B24 is fixedly connected to the base 31 of the telescopic mechanism. The surfaces of the end plate A21 and the end plate B24 facing each other are set as the inner surface, and the surfaces of the end plate A21 and the end plate B24 facing each other are set as the outer surface. The base 22 is fixedly installed at the center of the inner surface of the end plate A21, and a ball socket is provided therein, and an opening is provided on the base 22, and the opening is connected to the ball socket. A ball head that matches the shape of the ball socket is provided at one end of the center rod 23, and one end of the center rod 23 is movably installed in the ball socket of the base 22 through the ball head, and the other end extends out of the opening of the base 22 and is fixedly connected to the center of the inner surface of the end plate B24. Multiple springs 25 are evenly distributed in a ring shape around the center rod 23 between the end plate A21 and the end plate B24. One end of the spring 25 is connected to the end plate A21, and the other end is connected to the end plate B24. The spring 25 forces the center rod 23 and the base 22 to separate from each other through elastic force. However, the ball head of the center rod 23 cannot leave the ball socket through the opening.

[0049] A plurality of ferromagnetic material blocks 41 are fixedly arranged at intervals along the length direction on the outer wall of the strip airbag 4, and the strip airbag 4 is magnetically connected to the electromagnet 39 through the ferromagnetic material blocks 41, and the ferromagnetic material blocks 41 correspond to the electromagnet 39 one by one. The strip airbag 4 is folded or unfolded as the arc-shaped scissor bracket 38 is deformed. When the strip airbag 4 is in the folded state, it is compressed into a straight line in the length direction, and when the strip airbag 4 is in the unfolded state, it is stretched into a C shape in the length direction.

[0050] Preferably, a high-pressure gas cylinder 42 is fixedly connected to the outer wall of the strip airbag 4. The high-pressure gas cylinder 42 is used to inflate the inside of the strip airbag 4. A drawstring (not shown in the figure) is connected to the bottle mouth of the high-pressure gas cylinder 42, and the end of the drawstring is connected to the ferromagnetic material block 41 on the strip airbag 4. When the strip airbag 4 is in a folded state, the drawstring is loose and the high-pressure gas cylinder 42 is not deflated. When the strip airbag 4 is in an unfolded state, the drawstring is tightened and the high-pressure gas cylinder 42 triggers deflation. Based on this structure, the strip airbag 4 can be automatically inflated during the unfolding process, which fully meets the design requirement that the strip airbag 4 is completely separated from the robot after inflation.

[0051] Preferably, an exhaust port 44 is provided on the outer wall of the strip-shaped airbag 4 , and a plug is threadedly connected to the exhaust port 44 .

[0052] Preferably, the inner surface of the end plate A21 is provided with a ring-shaped evenly distributed boss A211, and the inner surface of the end plate B24 is provided with a ring-shaped evenly distributed boss B241, the boss A and the boss B are arranged opposite to each other and correspond one to one, and the relatively positioned boss A and boss B are respectively provided for the insertion of the two ends of a spring, so that the two ends of the spring 25 are respectively connected to the end plate A21 and the end plate B241.

[0053] Preferably, it also includes a posture control mechanism, which includes a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, a depth sensor and a single-chip microcomputer. The model of the single-chip microcomputer can be selected from STM32-F405F / F407, and the signal input end of the single-chip microcomputer is electrically connected to the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer and the depth sensor, respectively, and the signal output end of the single-chip microcomputer is electrically connected to the thruster A11 and the thruster B12, respectively. The three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer and the single-chip microcomputer are all installed in the component installation cavity of the main engine cabin 1, and the depth sensor is installed outside the main engine cabin 1. The working principle of the posture control mechanism is as follows: after the robot enters the water, the single-chip microcomputer obtains the raw data of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer in real time, and performs quaternion solution on the raw data to obtain real-time fusion posture, and the fusion posture includes three-axis speed (including X, Y, Z axis), three-axis angle and displacement information. The depth sensor is used to obtain depth information and z-axis speed information, and the z-axis speed information is updated to the three-axis speed information through the single-chip microcomputer. The single-chip microcomputer combines the three-axis speed information to control the thrust distribution of the four thrusters A11 to achieve the robot's ascent, descent and vertical tilt, and controls the thrust distribution of the four thrusters B12 to achieve the robot's forward, backward and horizontal steering.

[0054] Preferably, the opening angle of the arc-shaped scissors bracket when stretched into a C shape is 30-60°, and the opening angle of the strip airbag when stretched into a C shape is 0-20°. Based on this opening angle, the stretched strip airbag 4 can be roughly annular, which can better "clamp" the waist of the person who falls into the water.

[0055] Preferably, it also includes a camera, a lighting module and a battery. The camera is installed on the upper end and / or lower end and / or side wall of the main cabin 1, and is used to obtain the peripheral vision of the main cabin 1; the lighting module is installed on the upper end and / or lower end and / or side wall of the main cabin 1, and is used to illuminate the peripheral area of ​​the main cabin 1.

[0056] An underwater rescue method is based on an underwater rescue robot with a telescopic airbag. Before executing the rescue method, the strip airbag is in a folded and uninflated state, and the arc-shaped scissor-fork bracket is in a folded state.

[0057] The rescue method is as follows:

[0058] S01, search for and approach the person who falls into the water: put the robot into the water, and use the camera and lighting module to assist in searching for the person who falls into the water. After finding the person who falls into the water, the remote-controlled robot moves towards the person who falls into the water. After approaching the person who falls into the water, the robot's posture is adjusted so that the strip airbag is aligned with and sticks to the waist of the person who falls into the water.

[0059] S02, the strip airbag is unfolded and inflated: the motor 34 is started, and the driving gear 35 meshes and rolls along the inner arc rack 33, driving the movable plate 32 and the shaft seat B37 to move along the slide groove 311 of the base 31 in an arc trajectory. The arc-shaped scissors bracket 38 is unfolded along with the movement of the shaft seat B37, thereby driving the strip airbag 4 to unfold, so that the strip airbag 4 embraces the waist of the person who falls into the water. As the strip airbag 4 unfolds, the pull rope changes from loose to tight. After the pull rope is tightened, it immediately triggers the high-pressure gas cylinder 41 to inflate the inside of the strip airbag 4.

[0060] S03, strip airbag detachment and robot return home:

[0061] a. During the deflation of the high-pressure gas cylinder 41, the electromagnet 39 is powered off, so that the strip airbag 4 is separated from the arc-shaped scissor bracket 38, and the strip airbag 4 then floats up with the drowning person under the action of buoyancy;

[0062] b. After the strip airbag 4 is separated from the arc-shaped scissor bracket 38, the motor 34 is started to drive the gear 35 to mesh and roll along the inner arc rack 33, driving the movable plate 32 and the shaft seat B37 to move along the slide groove 311 of the base 31 in an arc track, and the arc-shaped scissor bracket 38 is folded as the shaft seat B37 moves; then, with the assistance of the camera and the lighting module, the remote-controlled robot moves toward the water surface, moves to the shore, and is recovered by the staff on the shore.

Claims

1. An underwater rescue method based on an underwater rescue robot with a telescopic airbag; characterized in that: An underwater rescue robot with a telescopic airbag comprises a main cabin, a telescopic mechanism and a strip airbag connected in sequence; and also comprises a visual support mechanism; A component installation cavity is provided inside the main engine cabin, and a propeller A for providing vertical propulsion and a propeller B for providing horizontal propulsion are provided outside the main engine cabin; the telescopic mechanism is directly or indirectly connected to the outer wall of the main engine cabin on one side, and is detachably connected to the strip airbag on the other side, and is used to control the folding or unfolding of the strip airbag. When the strip airbag is folded, it is compressed into a straight line in the length direction, and when the strip airbag is unfolded, it is stretched into a C shape in the length direction; The telescopic mechanism includes a base, a movable plate, an inner arc rack, a motor, a gear, an axle seat A, an axle seat B and an arc-shaped scissor bracket; the base is directly or indirectly connected to the main engine room, and a slide groove with an arc-shaped track is provided at the upper end of the base; a roller matching the slide groove is provided at the lower end of the movable plate, and the movable plate is slidably installed at the upper end of the slide groove through the roller, and can move along the slide groove in an arc-shaped track; the inner arc rack is fixedly installed on the base, one side of which is an inner arc edge, and the other side is an outer arc edge, and the inner arc edge of the inner arc rack faces the main engine room; the motor is fixedly installed on the movable plate; the gear is fixedly installed on the shaft of the motor and meshes with the inner arc rack, and when the gear meshes and rolls along the inner arc rack, it drives the movable plate to move along the slide groove in an arc-shaped track; the axle seat A is fixedly installed on the base, and the axle seat B is fixedly installed On the movable plate; the arc-shaped scissor bracket includes a plurality of rhombus-shaped units connected in sequence, a hinge shaft is provided between every two adjacent rhombus-shaped units, an electromagnet is fixedly installed on each hinge shaft, two adjacent hinge shafts in the middle of the arc-shaped scissor bracket are respectively hinged to the shaft seat A and the shaft seat B, the arc-shaped scissor bracket is deformed and then folded or unfolded as the shaft seat A moves, when the arc-shaped scissor bracket is in a folded state, it is compressed into a straight line in the length direction, and when the arc-shaped scissor bracket is in an unfolded state, it is stretched into a C shape in the length direction; correspondingly, a plurality of ferromagnetic material blocks are fixedly provided on the outer wall of the strip airbag at intervals along the length direction, the strip airbag is magnetically connected to the electromagnet through the ferromagnetic material blocks, and the ferromagnetic material blocks correspond to the electromagnets one by one; A high-pressure gas cylinder is fixedly connected to the outer wall of the strip airbag, and the high-pressure gas cylinder is used to inflate the inside of the strip airbag. A drawstring is connected to the bottle mouth of the high-pressure gas cylinder, and the end of the drawstring is connected to the ferromagnetic material block on the strip airbag. When the strip airbag is in a folded state, the drawstring is loose and the high-pressure gas cylinder is not deflated. When the strip airbag is in an unfolded state, the drawstring is tightened and the high-pressure gas cylinder is triggered to deflate. The visual support mechanism includes a camera and a lighting module; the camera is installed on the upper end and / or lower end and / or side wall of the main cabin, and is used to obtain the peripheral vision of the main cabin; The lighting module is installed on the upper end and / or lower end and / or side wall of the main cabin, and is used to illuminate the surrounding area of ​​the main cabin; Before executing the rescue method, the strip airbag is in a folded and uninflated state, and the arc-shaped scissor bracket is in a folded state; Here’s how: S01, search for and approach the person who falls into the water: put the robot into the water, use the camera and lighting module to assist in searching for the person who falls into the water, after searching for the person who falls into the water, remotely control the robot to move towards the person who falls into the water, and after approaching the person who falls into the water, adjust the robot's posture so that the strip airbag is aligned with and attached to the waist of the person who falls into the water; S02, the strip airbag is deployed and inflated: the motor is started, the drive gear is meshed and rolled along the inner arc rack, and the movable plate and the shaft seat B are driven to move along the slide groove of the base in an arc track. The arc scissor bracket is deployed along with the movement of the shaft seat B, and then the strip airbag is driven to deploy, so that the strip airbag embraces the waist of the person who falls into the water. As the strip airbag is deployed, the pull rope changes from loose to tight. After the pull rope is tightened, the high-pressure gas cylinder is immediately triggered to inflate the inside of the strip airbag; S03, strip airbag detachment and robot return home: a. During the deflation of the high-pressure gas cylinder, the electromagnet is powered off, causing the strip airbag to separate from the arc-shaped scissor bracket, and the strip airbag will then float up with the person who fell into the water under the action of buoyancy; b. After the strip airbag is separated from the arc-shaped scissor bracket, the motor is started to drive the gear to roll along the inner arc rack meshing, driving the movable plate and the shaft seat B to move along the slide groove of the base in an arc trajectory, and the arc-shaped scissor bracket is folded as the shaft seat B moves; then, with the assistance of the camera and lighting module, the remote-controlled robot moves toward the water surface, moves to the shore, and is recovered by the staff on the shore.

2. The underwater rescue method according to claim 1, characterized in that: The opening angle of the arc-shaped scissor bracket when stretched into a C shape is 30-60 degrees, and the opening angle of the strip airbag when stretched into a C shape is 0-20 degrees.

3. The underwater rescue method according to claim 2, characterized in that: The underwater rescue robot with a telescopic airbag also includes a buffer mechanism arranged between the telescopic mechanism and the main cabin; the buffer mechanism includes an end plate A, a base, a center rod, an end plate B and a spring connected in sequence from one end to the other end; the surfaces of the end plate A and the end plate B that are opposite to each other are set as inner surfaces, and the surfaces of the end plate A and the end plate B that are opposite to each other are set as outer surfaces, the outer surface of the end plate A is fixedly connected to the outer wall of the main cabin, and the outer surface of the end plate B is fixedly connected to the base of the telescopic mechanism; the base is fixedly installed at the center of the inner surface of the end plate A, and a ball socket is provided therein , an opening is provided on it, and the opening is connected to the ball socket; a ball head that matches the shape of the ball socket is provided at one end of the center rod, and one end of the center rod is movably installed in the ball socket of the base through the ball head, and the other end is extended from the opening of the base and fixedly connected to the center of the inner surface of the end plate B; multiple springs are evenly distributed in a ring shape around the center rod between the end plate A and the end plate B, one end of the spring is connected to the end plate A, and the other end is connected to the end plate B. The spring uses elastic force to cause the center rod and the base to have a tendency to separate from each other, however, the ball head of the center rod cannot leave the ball socket through the opening.

4. The underwater rescue method according to claim 3, characterized in that: The inner surface of the end plate A is provided with a ring-shaped evenly distributed boss A, and the inner surface of the end plate B is provided with a ring-shaped evenly distributed boss B. The boss A and the boss B are arranged opposite to each other and correspond to each other one by one. The relatively positioned boss A and boss B are respectively provided for the insertion of the two ends of a spring, so that the two ends of the spring are respectively connected to the end plate A and the end plate B.

5. The underwater rescue method according to claim 4, characterized in that: Ear plates are fixed on the two opposite side walls outside the main cabin; there are four thrusters A, which are symmetrically arranged in pairs on the two ear plates; there are four thrusters B, which are arranged in a rectangular shape at the bottom of the main cabin, and the propulsion forces provided by any two adjacent thrusters B are perpendicular to each other.

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