An underwater rescue robot based on radar identification and neural network algorithm

Abstract

The application relates to the technical field of underwater rescue robots, in particular to an underwater rescue robot based on radar identification and a neural network algorithm, which comprises a deformation supporting mechanism, a power mechanism, an extension mechanism and a first-aid device; a plurality of power mechanisms are installed on the deformation supporting mechanism; the extension mechanism is fixedly installed at the upper middle part of the deformation supporting mechanism; and the first-aid device is fixedly installed below the deformation supporting mechanism. The overall structure of the rescue robot is changed to realize two states, the volume is reduced for a narrow environment, and thus the optimal path can be selected for rescue; the volume is also reduced to enable detection and preliminary first-aid work in an environment where many rescuers cannot directly rescue; intelligent path calculation is carried out through radar identification and a neural network algorithm; the volume of the deformation supporting mechanism is increased, the contact area of the power mechanism and water is increased, the moving speed is increased, and the rescue time is further shortened.

Description

Technical Field

[0001] This invention relates to the field of underwater rescue robot technology, specifically to an underwater rescue robot based on radar recognition and neural network algorithms. Background Technology

[0002] Underwater rescue is extremely important. Drowning victims often struggle, experience difficulty breathing, and suffer a rapid increase in heart rate and blood pressure due to panic and fear. Most people are in danger of dying within five minutes of drowning, and death is almost certain once the drowning time exceeds 25 minutes. Therefore, ensuring oxygen supply to the drowning victim and buying time for rescue are the top priorities. Currently, drowning rescue operations face greater challenges in complex environments, such as urban sewers, natural culverts, and mountain streams. In these situations, rescuers need more preparation time to ensure their own safety and the success rate of the rescue. Furthermore, the longer a drowning victim struggles to breathe underwater, the more difficult it becomes to guarantee their life.

[0003] At this point, underwater rescue robots can play a crucial role. They can enter the water first to provide initial oxygen and first aid to the drowning victim, and also further explore the underwater environment to ensure the success rate of subsequent rescues. Because they need to carry detection equipment, power units, and first aid supplies, rescue robots are often quite large, which makes it difficult for them to navigate complex underwater environments and reach the drowning victim via the fastest route, thus delaying the golden rescue time.

[0004] In view of the above, in order to overcome the aforementioned technical problems, this invention designs an underwater rescue robot based on radar recognition and neural network algorithms, thus solving the above technical problems. Summary of the Invention

[0005] The technical problem to be solved by this invention is that in the process of drowning rescue, when faced with some complex and narrow underwater environments, rescuers cannot immediately carry out rescue through the shortest route and need more preparation time to find the best path. However, the rescue time for drowning victims cannot be wasted, and it is urgent to provide initial first aid and oxygen supply assistance to drowning victims.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The present invention provides an underwater rescue robot based on radar recognition and neural network algorithm, comprising a deformable support mechanism, a power mechanism, a telescopic mechanism, and a first aid device; the deformable support mechanism is used to facilitate entry into narrow environments and reduce rescue time by changing its own shape and size; the deformable support mechanism is configured with two states, namely an extended type for obtaining greater power to increase speed and a retracted type for quickly passing through narrow paths to shorten rescue time.

[0008] The deformable support mechanism is equipped with multiple power mechanisms. These power mechanisms utilize the principle of fluid dynamics—different flow velocities—to generate thrust and propel the underwater rescue robot. Propellers are common propulsion devices for ships and aircraft in modern society. They generate thrust based on the principles of liquid or gas motion. By rotating the propeller, the surrounding liquid is moved. When the propeller rotates, the blades push the fluid backward. According to Newton's third law, the force pushing the fluid backward will generate an equal but opposite thrust on the propeller, thus enabling the deformable support mechanism to move rapidly to a designated position under the propulsion of the power mechanisms. The power mechanisms, set at different angles, achieve arbitrary directional movement of the underwater rescue robot through rotation at different speeds. Each power mechanism has two functions: vertical propulsion and horizontal / backward adjustment. Each power mechanism has an independent drive function, ensuring operational stability even in complex and confined underwater environments where individual power mechanisms may fail.

[0009] Radar identification requires a wider field of view to ensure the integrity of the exploration. The telescopic mechanism is fixedly installed in the upper middle part of the deformable support mechanism, and the installation method is welding and bonding. The telescopic mechanism uses radar identification in conjunction with neural network algorithms to analyze the complex underwater environment and select a relatively optimal movement scheme. When working underwater, the radar identification function can be used for ranging and positioning to help determine the position and distance of the target object. By sending pulse signals and receiving the returned signals, the round-trip time of the signal is calculated by the neural network algorithm to determine the distance between the target object and the radar. The neural network algorithm is a kind of algorithm that imitates the connection and information transmission between neurons in a biological nervous system. It learns and processes data through multi-layered neural networks. These algorithms usually use optimization methods such as gradient descent to train the neural network and minimize the loss function by adjusting the weights and biases of the network. Neural network algorithms have significant applications in image recognition, natural language processing, and speech recognition. In underwater rescue operations, they can rapidly process signals from radar identification units, enabling quick calculations and command issuance. The emergency rescue device is fixedly installed below the deformable support mechanism using a snap-fit ​​and magnetic installation method. It's worth noting that this device provides basic oxygen to drowning victims to ensure their safety and buy more rescue time. Therefore, the device should be installed in a way that allows for easy disassembly, ensuring that it can be easily removed underwater, allowing the drowning victim to use the device as quickly as possible and guarantee their safety.

[0010] The transformation from an expanded to a reduced form relies primarily on a deformable support mechanism. This mechanism includes a mounting plate, a fixing rod, positioning holes, overflow holes, rotating holes, rotating pins, movable elements, and mounting rods. Two mounting plates are arranged in parallel, and the fixing rod is fixedly installed between them. The fixing rod is installed using welding and bolting. Positioning holes, with a radius of 10-12 cm, are formed on the mounting plate and are used to install the power mechanism. Multiple overflow holes are provided on the mounting plate to allow water to enter and exit during the rescue robot's operation, reducing water flow resistance. The overflow holes are either circular or polygonal in shape, which helps to rationally allocate mounting plate space and strengthens the mounting plate structure. The overflow holes are arranged in a mesh topology, which offers high redundancy, ensuring sufficient stability of the entire structure. This mesh topology helps stabilize the whole structure during underwater impacts, ensuring the normal operation of internal precision parts. The rotating holes are located at the bottom of both sides of the mounting plate, with a radius of 3-4 cm to accommodate the rotating pin. Since the rotating pin has a large rotation range, a larger radius is needed for support. The surface roughness Ra of the rotating holes is set to 1.2-0.8. During rotation, the friction between the rotating pin and the rotating holes is significant, easily causing wear and damage to the parts. The solution is to increase the surface roughness of the rotating holes to reduce friction; a surface roughness of Ra 1.2-0.8 is sufficient for daily wear during this type of rotation. The rotating pin is rotatably mounted within the rotating holes, and its side is provided with a rectangular protrusion. This rectangular protrusion enhances the installation stability of the rotating pin. The sides of the protrusion are serrated to restrict lateral displacement between the protrusion and the rotating hole, thereby providing greater torque during rotation to overcome fluid resistance in water. The movable element is rotatably mounted at the other end of the rotating pin, and the mounting rod is fixedly mounted within the movable element. The mounting methods are clamping and bolting.

[0011] The design of the movable element is the key to the entire deformable support mechanism. The inner side of the movable element is set in an arc shape. The arc shape helps to improve the stability of the movable element during rotation and shrinkage. In the unfolded working state, the arc shape can avoid further collisions when in contact with debris in the water. The rotation angle of the movable element is set to 0-120°. Within this range, the movable element can complete the transformation of the deformable support mechanism into two forms. The movable element has a through hole for cooperating with the rotating pin. The diameter of the through hole is 1 / 4 of the length of the movable element. With this length setting, the movable mechanism can avoid further affecting the movable plate during rotation, thus ensuring that the rotation process of the movable element is simpler and faster.

[0012] The power mechanism provides power support for the rescue robot in complex underwater environments. The power mechanism includes a forward mounting element, an oblique mounting element, mounting slots, a thruster housing, mounting protrusions, a brushless motor, and a helical element. The forward and oblique mounting elements are fixedly mounted on the deformable support mechanism using clamping and threaded mounting methods. The forward mounting element has a parallel mounting slot on its upper surface, while the oblique mounting element has a mounting slot at a 45° angle on its upper surface. These two different mounting slots correspond to the thruster housing, which serves different functions. The thruster housing is fixedly mounted on the forward and oblique mounting elements using clamping and bolt mounting methods, and is installed through the mounting slots. The rear side of the thruster housing has a cross-shaped structure. The cross-shaped structure offers reliable strength and provides four areas for water ingress, maximizing the water ingress area while ensuring structural strength to guarantee motion efficiency. The mounting protrusion is fixedly installed under the propeller housing using welding and integral casting methods. The side of the mounting protrusion is curved with a radius of curvature of 3cm. This curvature results in a smooth connection between the mounting protrusion and the propeller housing, eliminating gaps and preventing water ingress into internal electronic components that could cause malfunction. The brushless motor is fixedly installed in the middle of the propeller housing using adhesive and snap-fit ​​methods. A hollow spiral element is fixedly installed on the brushless motor, encasing it for waterproof protection.

[0013] The functions of the forward mounting elements and the oblique mounting elements are different. Four to six forward mounting elements are symmetrically installed on the mounting rod that mates with the positioning holes. This symmetrical design improves the stability of the entire rescue robot's movement, ensuring even force distribution and more accurate movement direction. The mounting positions are set at 2 / 5 and 3 / 5 of the way up the mounting rod. Positioning the forward mounting elements closer to the center helps concentrate power, achieving a better pushing effect. The rotation angle of the forward mounting elements around the mounting rod is set to 0-70°. This rotation is to coordinate with the movable element. The component deforms to pass through narrow environments; four oblique mounting elements are set, which are exactly opposite to the four diagonal directions. The oblique mounting elements are mirror-symmetrically mounted on the mounting rod that cooperates with the movable element. The mirror-symmetrical oblique mounting elements can achieve multi-angle and multi-directional adjustment. The mounting positions are set at 1 / 5 and 4 / 5 of the mounting rod. In order to avoid affecting the thruster shell on the positive mounting element during deformation and to achieve better directional adjustment, the openings of the two oblique mounting elements on the same side face opposite directions, thereby satisfying 360° directional adjustment.

[0014] In complex underwater environments, radar identification combined with neural computing networks is required for analysis. The telescopic mechanism includes a radar unit, a telescopic rod, a rectangular sliding block, a propulsion motor, a trigger rod, a rectangular slide groove, and a telescopic sleeve. The telescopic sleeve is fixedly installed at the upper 1 / 3 of the deformable support mechanism. Positioning it at this 1 / 3 location helps to expand the detection range of the radar unit. The telescopic rod is slidably installed within the telescopic sleeve, and its length is set to 0.8-0.9 times that of the telescopic sleeve. This ensures that sufficient space is left on both sides during the telescopic rod's extension and retraction, preventing it from touching the inner wall of the telescopic sleeve. To avoid damage; the rectangular sliding block is fixedly installed on the telescopic rod, and the trigger rod is slidably installed on the telescopic rod. The length of the trigger rod is set to 2-2.5 times the diameter of the telescopic rod, so that the trigger rod can drive the telescopic rod to extend and retract by moving up and down; a rectangular groove is opened on the trigger rod, and the rectangular groove is adapted to the rectangular sliding block; the propulsion motor is fixedly installed on the trigger rod, and the propulsion motor pushes the trigger rod up and down to move the trigger rod; the radar unit is fixedly installed at one end of the telescopic rod, and the installation method is bolt installation and snap-fit ​​installation.

[0015] The rectangular sliding block is a crucial component of the telescopic mechanism. It is positioned on the telescopic rod at approximately 1 / 3 to 2 / 3 of its length from the radar unit. This relatively central location minimizes its impact on the overall telescopic rod, preventing it from becoming impassable in confined spaces due to extension. The rectangular sliding block's tilt angle to the horizontal plane is set at 30-45°, allowing for rapid extension and retraction of the telescopic rod simply by lowering the trigger rod. The length-to-width ratio of the rectangular sliding block is set at 6-8, enhancing its structural stability and improving its torsional strength during movement in conjunction with the rectangular sliding groove.

[0016] The emergency rescue device is equipped with an oxygen mask to provide oxygen support to drowning victims, thus buying precious rescue time. The device includes a mounting hole, a housing, an air supply tube, and an oxygen mask. The housing is fixed to the mounting rod at one-third of its length via the mounting hole, using welding and bonding methods. The housing has a hollow internal structure. The oxygen mask is detachably installed inside the housing using magnetic and snap-fit ​​methods, with a disassembly trigger force of 200-300N. One end of the air supply tube is fixed to the oxygen mask using threaded and snap-fit ​​methods. The oxygen mask features a three-point elastic strap for enhanced stability and support. By fixing the object at three points, the weight and force distribution are effectively balanced, preventing the oxygen mask from tilting or shifting and potentially detaching, thus endangering the drowning victim's life. The other end of the air supply tube is fixed inside the housing.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. This invention, by setting up a deformable support mechanism, enables the rescue robot to change between two states. In confined environments, the size is reduced to allow for the selection of the optimal path for rescue. The reduced size also allows for detection and initial first aid in environments where lifeguards cannot directly provide assistance. In wide-open environments, intelligent path calculation is performed using radar recognition combined with neural network algorithms. The increased size of the deformable support mechanism leads to a larger contact area between the power mechanism and the water, resulting in faster movement and further shortening rescue time.

[0019] 2. This invention improves the flexibility of the rescue robot by setting up a power mechanism and a telescopic mechanism, and by using forward mounting elements and oblique mounting elements in conjunction with a spiral element to achieve movement in different directions at different speeds. The telescopic mechanism can enhance the range and accuracy of radar identification, enabling it to issue accurate commands in complex environments and easily complete changes of direction, acceleration, and emergency stops in conjunction with the power mechanism. It can reach the drowning person as quickly as possible while avoiding damage from debris in the water, thus buying time for subsequent rescue work. Attached Figure Description

[0020] The above and other aspects of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

[0021] Figure 1 This is an overall schematic diagram of the invention;

[0022] Figure 2 This is a schematic diagram of the shrinkage of the present invention;

[0023] Figure 3 This is a side view of the present invention;

[0024] Figure 4 This is a schematic diagram showing the location of the emergency rescue device of the present invention;

[0025] Figure 5 This is a schematic diagram of the mounting plate of the present invention;

[0026] Figure 6 This is a schematic diagram of the mounting rod of the present invention;

[0027] Figure 7 This is a schematic diagram of the rotating pin of the present invention;

[0028] Figure 8 This is a schematic diagram of the power mechanism of the present invention;

[0029] Figure 9 This is a schematic diagram of the power mechanism components of the present invention;

[0030] Figure 10 This is a schematic diagram of the forward-mounted component of the present invention;

[0031] Figure 11 This is a schematic diagram of the oblique mounting element of the present invention;

[0032] Figure 12 This is a schematic diagram of the telescopic mechanism of the present invention;

[0033] Figure 13 This is a schematic diagram of the telescopic rod of the present invention;

[0034] Figure 14 This is a schematic diagram of the trigger lever of the present invention;

[0035] Figure 15 This is a schematic diagram of the emergency rescue device of the present invention;

[0036] Figure 16 This is a schematic diagram of the oxygen mask of the present invention;

[0037] Figure 17 This is a schematic diagram illustrating the principle of the neural network algorithm of this invention.

[0038] In the diagram: 1. Deformable support mechanism; 11. Mounting plate; 12. Fixing rod; 13. Positioning hole; 14. Overflow hole; 15. Rotating hole; 16. Rotating pin; 17. Moving element; 18. Mounting rod; 2. Power mechanism; 21. Forward mounting element; 22. Oblique mounting element; 23. Mounting slot; 24. Thruster housing; 25. Mounting protrusion; 26. Brushless motor; 27. Helical element; 3. Telescopic mechanism; 31. Radar unit; 32. Telescopic rod; 33. Rectangular sliding block; 34. Thrusting motor; 35. Trigger rod; 36. Rectangular slide; 37. Telescopic sleeve; 4. First aid device; 41. Mounting hole; 42. Device housing; 43. Gas supply pipe; 44. Oxygen mask. Detailed Implementation

[0039] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0040] Example 1: As Figure 1 , Figure 2 , Figure 3 and Figure 17 As shown, an underwater rescue robot based on radar recognition and neural network algorithms includes a deformable support mechanism 1, a power mechanism 2, a telescopic mechanism 3, and a first aid device 4. The deformable support mechanism 1 is used to easily enter narrow environments and reduce rescue time by changing its shape and size. The deformable support mechanism 1 is configured with two states: an unfolded type to obtain greater power and increase speed, and a shrinking type to quickly pass through narrow paths and shorten rescue time. The volume of the unfolded type is about 1 / 2 of the shrinking type. In the shrinking state, the shape of the underwater rescue robot is approximately rectangular, with its four sides set as arcs. This ensures that the internal parts of the mechanism will not be damaged by impact when passing through narrow environments. Furthermore, to protect the underwater rescue robot, sponge pads can be set around it for shock absorption.

[0041] The deformable support mechanism 1 is equipped with multiple power mechanisms 2. These power mechanisms 2 are used to generate thrust through high-speed rotating blades, utilizing the principle of fluid dynamics to drive the underwater rescue robot. Propellers are a common propulsion device for modern ships and aircraft. They generate thrust based on the motion principle of liquids or gases. By rotating the propeller, the surrounding liquid is moved. When the propeller rotates, the blades push the fluid backward. According to Newton's third law, the force pushing the fluid backward will generate an equal but opposite thrust acting on the propeller, thus enabling the deformable support mechanism 1 to move rapidly to the designated position under the propulsion of the power mechanisms 2. Positioning; the power mechanisms 2, set at different angles, enable the underwater rescue robot to move in any direction by rotating at different speeds. The power mechanisms 2 are configured with two functions: four auxiliary propulsion mechanisms in the up-down direction and four auxiliary adjustment mechanisms in the forward, backward, left, and right directions. The power mechanism 2 responsible for adjusting the direction is located at the midpoint of the diagonal segment of the deformable support mechanism 1, and the orientation of the power mechanism 2 is set at 45° to meet the function of rapid turning. Each power mechanism 2 has an independent driving function, which can ensure the working status even in the face of possible damage to individual power mechanisms 2 in complex and narrow underwater environments, thereby ensuring the stability of operation.

[0042] The telescopic mechanism 3 is fixedly installed at the upper middle part of the deformable support mechanism 1, and the installation method is welding. The telescopic mechanism 3 uses radar identification combined with neural network algorithms to analyze the complex underwater environment and select a relatively optimal movement scheme. When working underwater, the radar identification function can be used for ranging and positioning to help determine the position and distance of the target object. By sending pulse signals and receiving returned signals, the round-trip time of the signal is calculated by the neural network algorithm to determine the distance between the target object and the radar. The neural network algorithm is a kind of algorithm that imitates the connection and information transmission between neurons in a biological nervous system. It learns and processes data through multi-layered neural networks. These algorithms usually use optimization methods such as gradient descent to train the neural network and minimize the loss function by adjusting the weights and biases of the network. Neural network algorithms have significant applications in image recognition, natural language processing, and speech recognition. In underwater rescue operations, they can rapidly process signals from radar recognition units, enabling quick calculations and command issuance. The emergency rescue device 4 is fixedly installed below the deformable support mechanism 1 using a magnetic installation method. It's worth noting that the emergency rescue device 4 provides basic oxygen to the drowning victim to ensure their safety and buy more rescue time. Therefore, the installation method of the emergency rescue device 4 should be easily detachable. In an underwater environment, the electromagnetic installation method ensures that the emergency rescue device 4 detaches when it reaches the drowning victim, avoiding the potential jamming and operational difficulties of mechanical installation methods like snap-fit ​​installations. It should be noted that although the electromagnetic installation has extremely high stability, rescue operations cannot tolerate any mistakes. The magnetic force should be designed to be overcome by an adult to forcibly detach the emergency rescue device 4. Under normal use, the electromagnetic installation allows for easy disassembly, ensuring that the drowning victim can use the emergency rescue device 4 as quickly as possible to ensure their safety.

[0043] like Figures 4 to 7As shown, the deformable support mechanism 1 includes a mounting plate 11, a fixing rod 12, a positioning hole 13, an overflow hole 14, a rotating hole 15, a rotating pin 16, a movable element 17, and a mounting rod 18. Two mounting plates 11 are provided, arranged in parallel. Two fixing rods 12 are fixedly installed between the two parallel mounting plates 11. The length of each fixing rod 12 is 60cm, and the installation method is welding. The positioning hole 13 is formed on the mounting plate 11, with a radius of 10cm. The positioning hole 13 is used to install the power mechanism 2. The mounting plate 11 has... There are multiple overflow holes 14, which allow water to enter and exit during the operation and movement of the rescue robot, thereby reducing water flow resistance. The overflow holes 14 are designed in circular and polygonal shapes. The circular and polygonal shapes help to allocate the space of the mounting plate 11 more rationally and strengthen the structure of the mounting plate 11. The overflow holes 14 are designed with a mesh topology. The advantage of the mesh topology is that it has high redundancy, ensuring that the entire structure is stable enough. When subjected to impacts during underwater movement, it can stabilize the whole and ensure the normal operation of internal precision parts. The rotating holes 15 are opened at the bottom of both sides of the mounting plate 11, and the radius of the rotating holes 15 is set to... The radius is 3-4 cm to accommodate the rotating pin 16. Since the rotating pin 16 has a large rotation range, a larger radius is needed for support. The surface roughness of the rotating hole 15 is set to Ra1.2. During rotation, the friction between the rotating pin 16 and the rotating hole 15 is significant, easily causing wear and damage to the parts. The solution is to increase the surface roughness of the rotating hole 15 to reduce friction; a surface roughness of Ra1.2 is sufficient for daily wear during this type of rotation. The rotating pin 16 is rotatably mounted within the rotating hole 15, and a rectangular protrusion is provided on its side. The length of the rectangular protrusion is set to the length of the mounting hole 15. The mounting plate 11 has a uniform thickness. The rectangular protrusion is used to enhance the installation stability of the rotating pin 16. The two sides of the protrusion are serrated to reinforce the limitation of lateral displacement between the protrusion and the rotating hole 15, thereby providing a greater torque during rotation to overcome the fluid resistance in the water. The movable element 17 is rotatably mounted on the other end of the rotating pin 16. The movable element 17 rotates through the rotating pin 16 to realize the local deformation of the deformation support mechanism 1. The mounting rod 18 is fixedly mounted in the movable element 17. The installation method is set to clamp installation. The mounting rod 18 is used to install the power mechanism 2 to realize power drive.

[0044] During operation, the mounting plate 11 is supported and fixed by the fixing rod 12. The power mechanism 2 on the mounting rod 18 drives the deformable support mechanism 1 to move. The overflow hole 14 is used to increase the flow area of ​​the liquid, thereby reducing fluid resistance, reducing energy consumption and increasing speed. The rotating pin 16 on the rotating hole 15 drives the movable element 17 to rotate at a certain angle to achieve deformation, reducing the volume of the overall deformable support mechanism 1. The power mechanism 2 fixedly installed on the mounting rod 18 rotates at a certain angle to adapt to the deformation, thereby ensuring volume reduction and increasing the passability in narrow spaces.

[0045] like Figure 5 As shown, the inner side of the movable element 17 is configured as an arc shape, specifically an outer arc shape with a curvature of 5cm. This outer arc shape enhances the stability of the movable element 17 during rotation and reduction. In its unfolded working state, the arc shape prevents further collisions with debris in the water. The rotation angle of the movable element 17 is set from 0 to 120°. Within this range, the movable element 17 can transform between the two forms of the deformable support mechanism 1. When the rotation angle is 0°, the deformable support mechanism 1 is in its unfolded state; when the rotation angle is 120°... At °, the deformable support mechanism 1 is in a reduced state, which is beneficial to increase the passability in narrow environments; the movable element 17 has a through hole, which is used to cooperate with the rotating pin 16 for rotation. The diameter of the through hole is 1 / 4 of the length of the movable element 17. With this length setting, the movable mechanism can avoid further affecting the movable plate during rotation, thereby ensuring that the rotation process of the movable element 17 is simpler and faster; since the application scenarios are mostly underwater, it is necessary to coat the surface of the movable element 17, especially the through hole, to ensure its corrosion resistance and wear resistance.

[0046] like Figures 6 to 11As shown, the power mechanism 2 includes a forward mounting element 21, an oblique mounting element 22, a mounting slot 23, a thruster housing 24, a mounting protrusion 25, a brushless motor 26, and a helical element 27. The forward mounting element 21 and the oblique mounting element 22 are fixedly mounted on the deformable support mechanism 1, and the mounting method is threaded installation. The forward mounting element 21 has a parallel mounting slot 23 on its upper surface, and the oblique mounting element 22 has a mounting slot 23 at a 45° angle on its upper surface. The two different mounting slots 23 are for different functions. The actuator housing has a parallel mounting slot 23, above which the actuator housing 24 faces vertically, enabling upward or downward propulsion. The actuator housing 24, tilted at 45°, is primarily for adjusting direction while providing auxiliary propulsion. The actuator housing 24 is fixedly mounted on the forward mounting element 21 and the oblique mounting element 22 using a snap-fit ​​installation method through the mounting slot 23. The rear side of the actuator housing 24 features a cross structure, which provides reliable strength and has four zones. The area can be used for water intake, and the water intake area is set as large as possible while ensuring structural strength to ensure motion efficiency. The mounting protrusion 25 is fixedly installed under the thruster housing 24, and the installation method is set as one-piece casting. The side of the mounting protrusion 25 is set as a curved surface with a radius of curvature of 3cm. Under this curvature, the connection surface between the mounting protrusion 25 and the thruster housing 24 is relatively smooth and there are no gaps at the connection, which helps to prevent water from entering the internal electronic components and causing them to malfunction. The brushless motor 26 is fixedly installed in the middle of the thruster housing 24 and is installed by adhesive bonding. The brushless motor 26 can realize rapid forward and reverse switching and can achieve a speed of 2000r / min to meet the complex underwater environment. The spiral element 27 is fixedly installed on the brushless motor 26. The spiral element 27 is set as a hollow structure with the same volume as the brushless motor 26. The sides of the spiral element 27 and the brushless motor 26 can be further strengthened by adhesive bonding. The hollow structure is used to wrap the brushless motor 26 to achieve waterproof protection.

[0047] like Figures 12 to 14As shown, the telescopic mechanism 3 includes a radar unit 31, a telescopic rod 32, a rectangular sliding block 33, a propulsion motor 34, a trigger rod 35, a rectangular sliding groove 36, and a telescopic sleeve 37. The telescopic sleeve 37 is fixedly installed at the upper 1 / 3 of the deformable support mechanism 1. Positioning it at the 1 / 3 position helps to expand the detection range of the radar unit 31. The telescopic sleeve 37 is used for installing other parts of the telescopic mechanism 3 and restricts the range of motion of the telescopic rod 32. The telescopic rod 32 is slidably installed in the telescopic sleeve 37. The telescopic rod 32 is used to drive the radar unit 31 to extend and retract. It retracts when passing through narrow environments to ensure passage, and extends normally to maximize the detection range of the radar unit 31. The length of the telescopic rod 32 is set to 0.8 times the length of the telescopic sleeve 37, thus ensuring sufficient space on both sides during the extension and retraction of the telescopic rod 32, preventing it from touching the inner wall of the telescopic sleeve 37 and causing damage. A rectangular sliding block 33 is fixedly installed on the telescopic rod 32. The rectangular sliding block 33 is used to drive the telescopic rod 32 to slide. A trigger rod 35 is slidably installed on the telescopic rod 32. The length of the trigger rod 35 is set to twice the diameter of the telescopic rod 32, so that the trigger rod 35 can drive the telescopic rod 32 to extend and retract by moving up and down. A rectangular groove 36 is opened on the trigger rod 35, and the rectangular groove is adapted to the rectangular sliding block 33. The propulsion motor 34 is fixedly installed on the trigger rod 35. The propulsion motor pushes the trigger rod 35 up and down to move it. The radar unit 31 is fixedly installed at one end of the telescopic rod 32 by bolt installation. The radar unit 31 uses radar recognition combined with neural network calculation to quickly and accurately record the underwater situation and promptly feed it back to the rescue team on the shore so that the rescue team can determine the relatively optimal rescue plan in the shortest possible time.

[0048] like Figure 13 As shown, the rectangular sliding block 33 is located on the telescopic rod 32 near the radar unit 31 at 1 / 3 to 2 / 3 of its length. This area is in a relatively central position, having a minimal impact on the entire telescopic rod 32. It will not be unable to pass through certain confined spaces due to its extension. The rectangular sliding block 33 has a 30° tilt angle with the horizontal plane. This angle allows the trigger rod 35 to descend a certain length to achieve half the extension / retraction of the telescopic rod 32. The rectangular sliding block 33 has a length-to-width ratio of 6, which, combined with the 30° tilt angle, provides significant torque resistance. In complex underwater environments, equipment stability is paramount. This design enhances the structural stability of the rectangular sliding block 33 and improves torque resistance during its sliding motion in conjunction with the rectangular sliding groove 36.

[0049] During operation, the motor accelerates the trigger rod 35 downward, and the sliding groove and rectangular sliding block 33 work together to make the telescopic rod 32 move forward. The radar unit 31 on the telescopic rod 32 gains a larger exploration range to explore the environment. When it is necessary to deform to pass through a narrow environment, the propulsion motor 34 rises and drives the trigger rod 35 upward, so that the telescopic rod 32 retracts into the telescopic sleeve 37, obtains a smaller volume, and enhances the equipment's passability.

[0050] like Figure 15 and 16 As shown, the emergency rescue device 4 includes a mounting hole 41, a device housing 42, an air supply tube 43, and an oxygen mask 44. The device housing 42 is fixedly installed on the upper 1 / 3 of the mounting rod 18 through the mounting hole 41, and the installation method is welding. The device housing 42 has a hollow internal structure. The oxygen mask 44 is detachably installed inside the device housing 42, and the installation method is magnetic installation. The magnetic device is electromagnetic, and its removal trigger force is set to 200N. Generally, the average grip strength of an adult woman is usually 245-340N. While the suction installation avoids the risk of mechanical jamming, it still cannot prevent electrical system malfunctions from causing the oxygen mask 44 to become unremovable and endangering the drowning victim's life. Setting the torque to 200N allows the drowning victim to forcibly remove the oxygen mask 44 in case of a malfunction. One end of the air supply pipe 43 is fixedly installed on the oxygen mask 44 using a threaded and snap-fit ​​installation method. The oxygen mask 44 is equipped with a three-point elastic strap, which improves stability and provides greater support. By fixing the object at three points, the weight and force distribution are effectively balanced, preventing the oxygen mask 44 from tilting or moving and falling off, thus endangering the drowning victim's life. The other end of the air supply pipe 43 is fixedly installed inside the device housing 42.

[0051] During operation, the radar unit 31 in the telescopic mechanism 3 extends a certain distance under the drive of the telescopic rod 32 to achieve the largest possible detection range. Combined with the neural network algorithm, it detects and analyzes the complex underwater environment. The power mechanism 2 provides power to the rescue robot, enabling it to move quickly to the drowning person's side. In the event of a narrow environment, the propulsion motor 34 moves upward, causing the telescopic rod 32 to retract. The moving mechanism rotates 120°, and the power mechanism 2 adjusts the angle to achieve a smaller size, thereby increasing its passability. When it moves to the waters surrounding the drowning person, the emergency rescue device 4 is activated, the oxygen mask 44 is deployed, and emergency oxygen supply is provided.

[0052] If present, the corresponding structures, materials, actions, and equivalents of all means or steps plus functional elements in the following claims are intended to include any structure, material, or action for performing a function in combination with other claimed elements specifically claimed. The invention has been described for purposes of illustration and description, but this description is not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the invention. The embodiments were chosen and described in order to best explain the principles and practical application of one or more aspects of the invention and to enable others skilled in the art to understand one or more aspects of the invention for various embodiments with various modifications suitable for the particular intended use.

Claims

1. An underwater rescue robot based on radar recognition and neural network algorithms, characterized in that; The system includes a deformable support mechanism (1), a power mechanism (2), a telescopic mechanism (3), and a first-aid device (4). The deformable support mechanism (1) is used to facilitate entry into narrow environments by changing its shape and size, thereby reducing rescue time. Multiple power mechanisms (2) are installed on the deformable support mechanism (1). The power mechanisms (2) are used to generate propulsion force by using high-speed rotating blades to drive the underwater rescue robot by utilizing the different flow velocities in fluid mechanics. The power mechanisms (2) set at different angles can move the underwater rescue robot in any direction by rotating at different speeds. The telescopic mechanism (3) is fixedly installed in the middle of the upper part of the deformable support mechanism (1). The telescopic mechanism (3) analyzes the complex underwater environment by using radar recognition and neural network algorithms to select a relatively optimal solution for movement. The first-aid device (4) is fixedly installed below the deformable support mechanism (1). The first-aid device (4) is used to provide the drowning person with the most basic oxygen supply to ensure their life safety, thereby further gaining more rescue time. The deformable support mechanism (1) includes a mounting plate (11), a fixing rod (12), a positioning hole (13), an overflow hole (14), a rotating hole (15), a rotating pin (16), a movable element (17), and a mounting rod (18); there are two mounting plates (11), the fixing rod (12) is fixedly installed between the two parallel mounting plates (11), the positioning hole (13) is opened on the mounting plate (11), and the radius of the positioning hole (13) is set to 10-12cm; multiple overflow holes (14) are opened on the mounting plate (11), and the shape of the overflow hole (14) is set to The overflow hole (14) is configured as a mesh topology, and the overflow hole (15) is set at the bottom of both sides of the mounting plate (11). The radius of the rotating hole (15) is set to 3-4cm, and the surface roughness Ra of the rotating hole (15) is set to 1.2-0.

8. The rotating pin (16) is rotatably installed in the rotating hole (15), and a rectangular protrusion is provided on its side. The two sides of the protrusion are set as serrations. The movable element (17) is rotatably installed at the other end of the rotating pin (16), and the mounting rod (18) is fixedly installed in the movable element (17). The telescopic mechanism (3) includes a radar unit (31), a telescopic rod (32), a rectangular sliding block (33), a propulsion motor (34), a trigger rod (35), a rectangular groove (36), and a telescopic sleeve (37). The telescopic sleeve (37) is fixedly installed at the upper 1 / 3 of the deformable support mechanism (1). The telescopic rod (32) is slidably installed in the telescopic sleeve (37). The length of the telescopic rod (32) is set to 0.8-0.9 times that of the telescopic sleeve (37). The rectangular sliding block (33) is fixedly installed on the telescopic rod (32). The trigger rod (35) is slidably installed on the telescopic rod (32). The length of the trigger rod (35) is set to 2-2.5 times that of the diameter of the telescopic rod (32). A rectangular groove (36) is opened on the trigger rod (35). The propulsion motor (34) is fixedly installed on the trigger rod (35). The radar unit (31) is fixedly installed at one end of the telescopic rod (32).

2. The underwater rescue robot based on radar recognition and neural network algorithm according to claim 1, characterized in that: The inner side of the movable element (17) is set to be arc-shaped, the rotation angle of the movable element (17) is set to 0-120°, and the movable element (17) has a through hole with a diameter of 1 / 4 of the length of the movable element (17).

3. The underwater rescue robot based on radar recognition and neural network algorithm according to claim 2, characterized in that: The power mechanism (2) includes a forward mounting element (21), an oblique mounting element (22), a mounting slot (23), a thruster housing (24), a mounting protrusion (25), a brushless motor (26), and a helical element (27). The forward mounting element (21) and the oblique mounting element (22) are fixedly mounted on the deformable support mechanism (1). The forward mounting element (21) has a parallel mounting slot (23) above it, and the oblique mounting element (22) has a mounting slot (23) at an angle of 45° above it. The thruster housing ( 24) The thruster housing (24) is fixedly installed on the forward mounting element (21) and the oblique mounting element (22). The rear side of the thruster housing (24) is configured as a cross structure. The mounting protrusion (25) is fixedly installed under the thruster housing (24). The side of the mounting protrusion (25) is configured as a curved surface with a radius of curvature of 3cm. The brushless motor (26) is fixedly installed in the middle of the thruster housing (24). The spiral element (27) is fixedly installed on the brushless motor (26). The spiral element (27) is configured as a hollow structure.

4. The underwater rescue robot based on radar recognition and neural network algorithm according to claim 3, characterized in that: The forward mounting element (21) is set to 4-6, and the forward mounting element (21) is symmetrically installed on the mounting rod (18) that cooperates with the positioning hole (13). The installation position is set at 2 / 5 and 3 / 5 of the mounting rod (18), and the angle of rotation of the forward mounting element (21) around the mounting rod (18) is set to 0-70°.

5. The underwater rescue robot based on radar recognition and neural network algorithm according to claim 3, characterized in that: The oblique mounting element (22) is set to 4, and the oblique mounting element (22) is mirror-symmetrically mounted on the mounting rod (18). The mounting positions are set at 1 / 5 and 4 / 5 of the mounting rod (18), and the openings of the two oblique mounting elements (22) on the same side face opposite directions.

6. The underwater rescue robot based on radar recognition and neural network algorithm according to claim 1, characterized in that: The rectangular sliding block (33) is located on the telescopic rod (32) at 1 / 3 to 2 / 3 of the distance from the radar unit (31). The tilt angle between the rectangular sliding block (33) and the horizontal plane is set to 30-45°. The length-to-width ratio of the rectangular sliding block (33) is set to 6-8.

7. The underwater rescue robot based on radar identification and neural network algorithm according to claim 1, characterized in that: The emergency rescue device (4) includes a mounting hole (41), a device housing (42), an air supply tube (43), and an oxygen mask (44). The device housing (42) is fixedly installed on the deformable support mechanism (1) through the mounting hole (41). The inside of the device housing (42) is a hollow structure. The oxygen mask (44) is detachably installed inside the device housing (42). One end of the air supply tube (43) is fixedly installed on the oxygen mask (44). The oxygen mask (44) is provided with a three-point fixed elastic strap. The other end of the air supply tube (43) is fixedly installed inside the device housing (42).

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