Vector pump jet propulsion robot for underwater rescue and rescue method

Abstract

The invention discloses a vector pump jet propulsion robot for underwater rescue and a rescue method. The robot comprises an underwater robot body, an electric control system and a lifesaving device. The robot body comprises a multi-section body shell and two vector nozzles which are arranged at the tail part of the body shell in a bilateral symmetry manner; the electric control system comprises a control system core element, a pump spraying module, a visual module and a power supply module which are arranged in the body shell; the control system core element is used for controlling the robot to act; the pump spraying module comprises two pump spraying propellers which are symmetrically arranged left and right and is used for driving the robot to advance underwater; the visual module is used for collecting surrounding environment image information; the power supply module is used for supplying power to each electric device of the robot; the lifesaving device comprises an inflatable lifesaving air bag, a high-pressure carbon dioxide storage tank and an inflation excitation device. The underwater rescue method comprises a single-machine rescue mode and a double-machine rescue mode, and a more efficient, safer and more economical underwater rescue solution is provided.

Description

Technical Field

[0001] The invention relates to the field of underwater rescue robots, and in particular to a vector pump-jet propulsion robot for underwater rescue and a rescue method thereof. Background Art

[0002] From the accident statistics in recent years, it can be seen that drowning accidents in inland lakes or offshore areas occur frequently and increase year by year, so it is very important to search and rescue drowning people quickly and accurately. At present, the rescue methods mainly adopt the rescue boat rescue on the shore, water rescue, rope rescue and other methods, but most of the above methods rely on professionals who have received special training or are proficient in water. In addition, the underwater conditions in unknown waters are complex and changeable, and interference such as undercurrents, whirlpools, and residual fishing nets is difficult to avoid. Even personnel who specialize in diving operations are at risk of drowning.

[0003] To solve the above problems, underwater rescue robots came into being. Its basic principle is to use proprietary detection and rescue tools to accurately locate drowning people and carry out rescue work. Currently, common underwater rescue robots mainly include towed remote-controlled underwater robots and cable-free autonomous underwater robots. Among them, the towed remote-controlled underwater robot is connected to the ground base station through an optoelectronic composite cable and exchanges information. The operator remotely controls the robot according to the terminal information to carry out rescue work. The cable-free autonomous underwater robot uses wireless communication to interact with the shore, and has an integrated autonomous control and planning algorithm to achieve autonomous rescue tasks.

[0004] Both the towed remote-controlled underwater robot and the cable-free autonomous underwater robot have high costs. In addition, the towed remote-controlled underwater robot mainly relies on manual operation. The operator's control ability directly affects the rescue speed, and the reliability needs to be improved. The work of the cable-free autonomous underwater robot depends on the hardware and software level. Both suitable hardware and efficient and robust algorithms are indispensable.

[0005] In addition, most underwater rescue robots currently in practical use use manipulators for rescue operations. Such robots are often large in size and have limited flexibility. In addition, as a rigid structure, the manipulator requires more accurate control during the grasping process. Due to the different body shapes of drowning people, the grasping process may fail to clamp or clamp too tightly, resulting in low safety and fault tolerance. Summary of the invention

[0006] In view of the many problems existing in the current underwater rescue field, such as poor safety, high risks, and the shortcomings of existing underwater rescue robots such as large size, low flexibility, poor adaptability, and high cost, the present invention proposes a vector pump-jet propelled underwater rescue robot and a rescue method thereof. The invention aims to provide a more efficient, safe and economical underwater rescue solution.

[0007] The vector pump-jet propulsion robot for underwater rescue of the present invention comprises an underwater robot body, an electric control system and a life-saving device; the robot body comprises a multi-section body shell and two left-right symmetrically arranged vector nozzles arranged at the tail of the body shell;

[0008] The electronic control system includes a control system core component, a pump-spray module, a vision module and a power module arranged in the main body shell; the control system core component is used to control the robot movement; the pump-spray module is two pump-spray propellers arranged symmetrically on the left and right, used to push water to be discharged from the vector nozzle so that the robot can move underwater; the vision module is used to collect image information of the surrounding environment; the power module is used to supply power to various electrical components of the robot; the life-saving device includes an inflatable life-saving airbag, a high-pressure carbon dioxide storage tank and an inflation excitation device.

[0009] Furthermore, the main body shell includes a transparent front cover, a capsule-shaped main body shell and a streamlined rear shell. The front cover is a transparent front cover and is designed as a spherical crown structure. The capsule-shaped main body shell, the streamlined rear shell and the tail vector nozzle are all made of waterproof plastic, which not only reduces the total weight and water resistance of the robot, but also ensures good waterproof performance. In addition, the body as a whole presents a capsule-shaped design, which can effectively reduce the water flow resistance during movement, thereby improving the movement efficiency and stability of the robot. Independent water inlet channels are opened on both sides of the front end of the main body shell, and the water inlet channel is connected to the water inlet of the pump spray module. The water inlet channel is isolated from the installation space inside the main body shell. The water flow entering the water inlet channel is accelerated in the pump spray module and flows out through the tail vector nozzle. The opening at the front end of the water inlet channel has a reinforcing rib, which can prevent foreign matter from entering while strengthening the channel strength. This design can ensure that the water inlet is sufficient, and the power is increased by arranging the low-pressure water inlet at the front end.

[0010] Furthermore, the joint surfaces between the transparent front cover and the capsule-shaped main body shell, between the capsule-shaped main body shell and the streamlined rear shell, and between the streamlined rear shell and the tail vector nozzle are annular inclined surfaces and are provided with a plurality of sealing rings. The use of annular inclined surfaces can ensure a sufficient number of sealing rings and a sufficient degree of compression under a limited thickness of the shell, thereby ensuring underwater waterproof performance.

[0011] Furthermore, the electric control system is installed in the main body shell through a vertical three-layer internal bracket, the upper layer of the internal bracket is installed with the core components of the control system, the middle layer is fixed with the pump-jet module and the vision module, and the lower layer is fixed with the power module. This arrangement makes the weight of the lower layer module higher than the upper and middle layer modules, ensuring the low center of gravity of the vector pump-jet propulsion robot.

[0012] Furthermore, the core components of the control system include an onboard computer, a single-chip microcomputer, an inertial measurement unit, and a temperature and humidity sensor; the visual module includes a high-definition binocular camera and an adjustable LED light; and the power module includes a lithium battery and a voltage regulator module. The onboard computer is mainly used to process visual image information, identify drowning targets, and perform motion control and decision planning. The onboard computer sends a control signal to the single-chip microcomputer, which outputs a PWM signal to control the motor speed and receive data from each sensor, and provides feedback to the onboard computer, forming a double-layer closed-loop control system.

[0013] Furthermore, the motor of the pump-jet propulsion system is installed in the middle layer of the internal bracket and isolated from water; the vector nozzle is installed at the tail of the streamlined rear shell through a rotating shaft, and the vector nozzle is driven to rotate by the steering gear kit. The two vector nozzles are fixed to each other through a connecting piece to achieve consistent change of the direction of the vector nozzles. By adjusting the speed of the motors of the two pump-jet propulsion systems, the speed of the water flow sprayed by the two vector nozzles can be changed to produce a differential speed, thereby achieving the yaw movement of the robot.

[0014] Furthermore, a steering gear is installed in the middle layer of the internal support, a rocker arm is fixed to the steering gear shaft, and the rocker arm is connected to the vector nozzle through a pull rod. The pull rod pulls the rotation of the vector nozzle to change the direction of the sprayed water flow.

[0015] Furthermore, the main shell is formed by an additive manufacturing method; a sandwich structure is integrally formed on both sides of the main shell, an independent water inlet channel is formed inside the sandwich structure and directly leads to the inside of the main shell, and a flat support plate is provided at the inner end of the water inlet channel inside the main shell, which is connected to the water inlet of the pump spray module through the flat support plate; a square sealing gasket installation groove is opened on the support plate, and it is sealed by installing a rubber sealing gasket and pouring glue, so that external water flows directly into the water inlet of the pump through the water inlet channel and is sprayed out from the nozzle, which ensures the overall sealing performance of the robot while making the structure more compact.

[0016] The present invention also discloses a method for performing rescue using the above-mentioned vector pump-jet propulsion robot for underwater rescue, comprising the following steps:

[0017] S1. Use the electromagnet carried by the robot to absorb the iron sheet at the front end of the life-saving airbag;

[0018] S2. Control a single robot to pass under the armpits of the drowning person and circle around the body;

[0019] S2. Stimulate the air tank to inflate the life-saving airbag, and the life-saving airbag will bring the drowning person up to the surface, making his head out of the water, thus realizing autonomous rescue.

[0020] The present invention also discloses another method for performing rescue using the above-mentioned vector pump-jet propulsion robot for underwater rescue, comprising the following steps:

[0021] S1. Two robots are connected to the front and rear ends of the life-saving airbag respectively;

[0022] S2. After each robot circles the human body half a circle, the two robots are attracted to each other through electromagnets to ensure that the two robots do not separate after contact, thereby forming a ring-shaped life-saving airbag;

[0023] S3. Activate the inflation device to inflate the life-saving airbag to ensure that the robot's head is above the water surface.

[0024] Beneficial effects of the present invention:

[0025] (1) The underwater robot body of the present invention adopts a capsule-shaped shell structure, which has good hydrodynamic performance and flow resistance. The shell of the underwater robot is sealed to form a cavity, and is equipped with lighting, binocular cameras and other equipment. There is enough space inside to install electronic equipment, circuit boards and other components. At the same time, the symmetrical shell design can ensure stability during movement. The robot is small in size and can reach small underwater spaces that traditional frame robots cannot reach, increasing the operating range.

[0026] (2) The shell of the underwater robot of the present invention is provided with an independent water inlet channel, which can ensure that the robot has a compact structure and good waterproof performance. The shell and the water inlet channel are designed as an integrated unit, and there are reinforcing ribs at the opening, which can prevent foreign objects from entering while strengthening the channel strength. A support plate is provided at the end of the water inlet channel to connect with the water inlet of the pump, and underwater sealant is used for bonding, so that the external water flow directly enters the water inlet of the pump through the water inlet channel and is sprayed out from the nozzle, which ensures the overall sealing performance of the robot and makes the structure more compact.

[0027] (3) The present invention adopts an embedded pump-jet propulsion method, which is not easily affected by the surrounding environment and has better durability. The pump-jet propulsion device uses a water pump as a power source. Since it is embedded inside the robot, the rotating blades will not be affected by marine organisms or other obstacles during the high-speed operation of the robot, which reduces the risk of equipment loss and increases its service life. At the same time, the built-in blades can avoid harming drowning people, thereby improving the safety of the equipment.

[0028] (4) The present invention adopts a dual-vector pump-jet propulsion method to ensure that the robot can achieve flexible movement while using two drive motors and one steering gear. The underwater rescue robot of the present invention is propelled by pumps that are symmetrically distributed on the left and right. The forward speed of the robot is changed by changing the rotation speed of the two pump-jet motors. When the rotation speeds of the two motors are different, the robot performs yaw movement. In addition, a vector nozzle is provided. The steering gear pulls the vector nozzle to rotate to change the direction of the sprayed water flow, thereby achieving the pitch movement of the robot. By controlling the rotation speed of the pump-jet motor and the angle of the steering gear, the robot can be placed in different motion states to adapt to different operating states.

[0029] (5) The life-saving airbag activation module of the present invention is easy to disassemble and expand. The rear shell of the robot can be equipped with different types of life-saving airbags to adapt to different rescue situations. In addition to the life-saving airbag activation module described in the present invention, an additional rescue rope can be configured to increase the success rate of rescue; two robots can also be used to connect the two ends of the life-saving airbag respectively for collaborative rescue. In addition, different actuators and sensors can be used to adapt to different tasks such as underwater inspection and underwater target search.

[0030] (6) The present invention adopts a life-saving airbag inflation rescue method. The buoyancy of the inflated airbag can bring the drowning person and the robot to the surface of the water, and ensure that the drowning person's head is above the water. This movement will not be interrupted by turbulence or whirlpools, thereby improving the survival rate of the drowning person. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0032] Figure 1 It is an axonometric view of the overall structure of the robot of the present invention.

[0033] Figure 2 It is a front view of the overall structure of the robot of the present invention.

[0034] Figure 3 It is a cross-sectional view of the overall structure of the robot of the present invention.

[0035] Figure 4 It is a left view of the underwater robot body of the present invention.

[0036] Figure 5 It is a top view of the underwater robot body of the present invention.

[0037] Figure 6 It is a right side view of the underwater robot body of the present invention.

[0038] Figure 7 It is a schematic diagram of the internal structure of the robot capsule-shaped shell of the present invention.

[0039] Figure 8 Schematic diagram of the underwater robot electric control system of the present invention.

[0040] Fig. 9 It is an axonometric view of the internal support of the present invention.

[0041] Fig.10 It is a left side view of the internal support of the present invention.

[0042] Fig.11 It is an axonometric view of the visual module fixing plate of the present invention.

[0043] Fig.12 It is a top view of the dual-vector pump-jet propulsion module of the present invention.

[0044] Fig.13 It is the right view of the electric control system of the present invention.

[0045] Fig.14 It is an axonometric view of the visual module of the present invention.

[0046] Fig.15 It is a top view of the lifesaving device of the present invention.

[0047] Fig.16 It is a front view of the lifesaving device of the present invention.

[0048] Fig.17 It is a schematic diagram of the installation of the lifesaving device of the present invention.

[0049] Fig.18 It is a schematic diagram of a single-machine rescue of the present invention.

[0050] Fig.19 It is a schematic diagram of the dual-machine rescue of the present invention. DETAILED DESCRIPTION

[0051] Embodiment 1

[0052] like Figure 1 As shown, a vector pump-jet propulsion robot for underwater rescue in this embodiment is as follows: Figure 1-3 As shown, it includes an underwater robot body 1, an electric control system 2 and a life-saving device 3 mounted on the tail of the robot body.

[0053] like Figure 4-7 As shown, the underwater robot body 1 includes a multi-section body shell and two left-right symmetrically arranged vector nozzles 14 arranged at the tail of the body shell, wherein the body shell includes a spherical crown-shaped transparent front cover 11, a capsule-shaped shell 12 and a streamlined rear shell 13.

[0054] like Figure 8-14As shown, the electric control system 2 includes a control system core component 21, a pump spray module 22, a vision module 23 and a power module 24. The electric control system 2 is installed through a three-layer internal bracket 25 inside the robot body shell.

[0055] like Figure 15-17 The life-saving device includes a compressible life-saving airbag, a high-pressure gas tank for inflating the life-saving airbag, an excitation device arranged next to the gas tank, and a waterproof steering gear connected to the excitation pull rod.

[0056] like Figure 3-6 The figures show the overall cross-sectional view of the underwater robot of this embodiment, and the left view, top view, and right view of the underwater robot body 1. The body shell includes a transparent front cover 11, a capsule-shaped main body shell 12, and a streamlined rear shell 13. The robot's spherical crown-shaped transparent front cover 11 is made of acrylic material, which improves the light transmittance while ensuring a certain pressure resistance, ensuring the clarity of the binocular camera imaging, and the design of the spherical crown-shaped transparent front cover 11 can effectively reduce the resistance in the water. The capsule-shaped shell 12 connected to the spherical crown-shaped transparent front cover 11 is the main part of the robot, and its shape is similar to a capsule. It can reduce the resistance of water to a certain extent and ensure the stability of the robot operation. Independent water inlet channels 121 are provided on both sides of the front end of the capsule-shaped shell, so as to isolate the external water flow from the robot cabin.

[0057] The joint surfaces between the transparent front cover 11 of the robot of this embodiment and the capsule-shaped main body shell 12, between the capsule-shaped main body shell 12 and the streamlined rear shell 13, and between the streamlined rear shell 13 and the tail vector nozzle 14 are annular inclined surfaces, and an O-ring is provided on the inclined surface and coated with sealant to ensure the air tightness of the robot as a whole. The rear of the capsule-shaped main body shell 12 and the streamlined rear shell 13 are fixed to each other through the through hole 132 opened. Two sealing ring installation grooves 138 are provided on the joint surface at the rear end of the capsule-shaped main body shell 12, and sealing is achieved by installing O-rings. A life-saving device installation platform 131 is provided on the rear shell 13, and a vector nozzle 14 installation space is reserved at the tail of the rear shell 13 to ensure that the rear shell 13 will not affect the movement of the ejected water flow when the nozzle rotates. At the same time, a threaded hole is opened on the life-saving device installation platform 131 for easy fixation.

[0058] Figure 6 As shown in the figure, the installation structure of the tail vector nozzle 14 is provided at the tail of the streamlined rear shell 13. A fixed nozzle 141 is provided on the tail of the streamlined rear shell 13. A rotating shaft 143 is provided on the fixed nozzle 141. The vector nozzle 142 can rotate around the rotating shaft 143. A flexible pipeline should be used to connect the vector nozzle 143 and the fixed nozzle 141 to ensure that the water flows from the fixed nozzle 141 to the vector nozzle 142, and the vector nozzle 142 can rotate. As shown in the figure, the double vector nozzles on the left and right sides are connected by a connecting piece 144, so that the nozzles can rotate together.

[0059] Figure 7 The schematic diagram of the internal structure of the robot main shell of the present invention shows that the main shell structure is relatively complex, so it is processed by additive manufacturing. There are two independent water inlet channels 121 on the left and right, which lead directly to the inside. The flat support plate 124 is used to connect the water inlet of the pump spray module 22. A square sealing gasket installation groove 123 is opened on the support plate 124, and the sealing is achieved by installing a rubber sealing gasket and injecting glue.

[0060] Figure 8 The schematic diagram of the electric control system of the underwater robot of this embodiment is shown. The electric control system is fixed by an internal bracket 25. The visual module 23 is in front of the internal bracket, and the visual module 23 is fixed on the visual module fixing plate 26. The internal bracket is divided into three layers: upper, middle and lower. The upper layer is installed with the core component 21 of the control system, which is controlled by an integrated main control board 211, which integrates components such as an onboard computer, a single-chip microcomputer, an inertial measurement unit, and a temperature and humidity sensor. Among them, the onboard computer is mainly used to process visual image information, identify drowning targets, and perform motion control and decision planning at the same time. The onboard computer sends a control signal to the single-chip microcomputer, and the single-chip microcomputer outputs a PWM signal to control the motor speed and receive data from each sensor, and feedback is given to the onboard computer to form a double-layer closed-loop control system. The rear cover plate 27 is behind the main bracket, and the installation and positioning of the electric control system is achieved by adjusting the position of the rear cover plate.

[0061] like Figure 9-10 As shown, the bottom of the internal bracket of the three-layer structure is a battery compartment 254, which can accommodate two 4S-4200mah-35C lithium batteries at the same time; the middle layer is provided with a servo 224 and a vector pump mounting hole for positioning and installing two vector pump-jet propulsion devices, and two annular rings 255 are installed in the middle layer for fixing the pump-jet motor; the upper layer is mainly used to fix the integrated main control board 211, and the integrated main control board 211 is connected through the mounting hole 251. In addition, the upper layer also has two through holes 252 and a through hole 253, which are respectively used to distinguish the directions of the power line and the signal line to prevent signal interference.

[0062] like Fig.11 As shown, the visual module fixing plate 26 is used to fix the visual module on one side and to connect the internal bracket on the other side. The openings 262 and 261 respectively pass the signal lines of the binocular camera and the LED light, the openings 263 and 264 are used to fix the copper pillars 233 and 234, 265 is a slot, and the internal positioning is achieved through the slots at both ends, and finally the internal bracket is positioned through the bolt hole 266.

[0063] like Fig.12The figure is a top view of the robot dual-vector pump-jet propulsion module of the embodiment. The dual-vector pump-jet propulsion module is installed in the middle layer of the support frame, and the pump-jet motor is clamped by the annular ring 255 on the internal bracket to achieve positioning. The dual-vector pump-jet propulsion module includes a single pump-jet module 221 that is symmetrically distributed on the left and right. The end (drainage end) of the single pump-jet module 221 is provided with an annular inclined surface 222, and an O-ring installation groove 223 is provided on the inclined surface to achieve sealing with the fixed nozzle 141 on the rear shell 13. At the same time, a 180° servo 224 is also installed in the middle layer. The rotation of the servo 224 drives the servo rocker arm 225 to pull the 226 pull rod to move forward and backward. One end of the pull rod is connected to the servo rocker arm 225, and the other end is connected to the vector nozzle 142. The rotation of the vector nozzle is pulled by the pull rod to change the direction of the sprayed water flow. The lower layer of the electric control cabin is a power module, including two lithium batteries 241 and a module that provides 12V, 5V and 3.3V voltage regulation.

[0064] In this embodiment, the robot movement adopts a dual-pump spray propulsion method. The water flows into the pump channel through the water inlet 131 on the capsule-shaped shell. The rotation of the motor drives the blades to rotate and forms a pressure difference in the pump water inlet channel, so that the water flows in the direction of the fixed nozzle 223 and generates a forward pushing force to push the robot forward. At this time, the 180° steering gear 224 can be controlled to rotate to drive the two vector nozzles to rotate and change the direction of the water spray, thereby changing the direction of the robot's propulsion force. In addition, by adjusting the speed of the two brushless motors, the speed of the water sprayed by the two vector nozzles can be changed to produce a differential speed, thereby realizing the yaw movement of the robot. The accordion sleeve 227 in the figure is used to ensure the sealing of the pull rod when it moves.

[0065] like Figure 6 As shown in the right view of the underwater robot body, a plurality of through holes are provided on the streamlined rear shell, including an accordion cover mounting hole 135, a waterproof steering gear 33 fixing bracket mounting hole 133, a waterproof steering gear threading hole 134, three watertight joint mounting holes 136, and a power switch mounting hole 137. In addition, during use, the above mounting holes are coated with sealant to ensure sealing performance.

[0066] Fig.13 This is a rear view of the electric control system of this embodiment. In addition to the power module, the lower layer of the robot is also equipped with three watertight joints 242. The three watertight joints are used for battery charging, program downloading and image output respectively. The power switch is on the left side of the watertight joint. Fig.14 It is a vision module, which includes a binocular camera 232 and an illumination LED lamp 231 , both of which are fixed to the vision module fixing plate 26 through copper columns 233 and 234 .

[0067] Figure 15-17 It is a top view, a front view and an installation diagram of the lifesaving device of this embodiment. Fig.15 and Fig.16 The module composition is described. The compressed life-saving airbag is stored in the life-saving airbag storage box 36 and fixed on the fixing frame 37. The compressed life-saving airbag can be of different shapes and sizes according to the needs. In order to facilitate the robot to carry the life-saving airbag, an electromagnet should be set on the robot, and a patch should be set on the life-saving airbag. Below the fixing frame 37 is an excitation device 38, which is connected to the excitation rod 34. A small carbon dioxide compressed gas tank 39 is connected behind the excitation device 38. The overall operation adopts the following method: the waterproof steering engine 33 receives the start signal, pulls the excitation rod 34 through the rocker arm 32 to make the excitation device 38 work, and the carbon dioxide in the compressed gas tank is filled to compress the life-saving airbag, thereby achieving the purpose of rescue. The entire inflation process only takes 3 to 5 seconds. The module is fixed to the rear shell 13 by a support frame, and the waterproof servo fixing bracket 31 is fixed by connecting with the mounting hole 133, wherein the power supply line and signal line of the servo are connected to the inside through the hole 134, and the gas tank, the excitation device, and the compressed life-saving airbag are an integrated structure and are fixed to the rear shell through the through hole 371 on the fixing frame 37.

[0068] Embodiment 2

[0069] Figure 18-19 In the method of underwater rescue using a single robot in the first embodiment, an electromagnet should be provided on the robot, and an iron sheet should be provided at the end of the life-saving airbag. Fig.18 It is a single-machine rescue method, including the following steps: s1. The robot uses an electromagnet to absorb the iron sheet at the front end of the life-saving airbag; s2. A single robot passes through the armpits of the drowning person and quickly circles around the body; s3. The air tank is stimulated to inflate the life-saving airbag, and the life-saving airbag brings the drowning person up to the surface, so that his head is exposed to the water surface, thereby realizing autonomous rescue.

[0070] Fig.19 The method for underwater rescue using two robots in Example 1 includes the following steps: s1. The two robots are respectively connected to the head and tail ends of the life-saving airbag; s2. During the rescue process, each robot circles the human body half a circle, and the two robots are adsorbed by the electromagnets on the robots to ensure that the two robots do not separate after contact, thereby forming a life-saving airbag; s3. Finally, the inflation device is activated to inflate the life-saving airbag to ensure that the robot head is above the water surface.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. A vector pump-jet propulsion robot for underwater rescue, characterized in that: It includes an underwater robot body, an electric control system and a life-saving device; The robot body comprises a multi-section body shell and two left-right symmetrically arranged vector nozzles arranged at the tail of the body shell; The electric control system includes a control system core component, a pump-spray module, a vision module and a power module arranged in the body shell; the control system core component is used to control the robot action; the pump-spray module is two pump-spray propellers arranged symmetrically on the left and right, used to push water flow out of the vector nozzle to enable the robot to move underwater; the vision module is used to collect image information of the surrounding environment; the power module is used to supply power to various electrical components of the robot; The life-saving device comprises an inflatable life-saving airbag, a high-pressure carbon dioxide gas storage tank and an inflation excitation device.

2. The vector pump-jet propulsion robot for underwater rescue according to claim 1, characterized in that: The main body shell includes a transparent front cover, a capsule-shaped main body shell and a streamlined rear shell; independent water inlet channels are opened on both sides of the front end of the main body shell, the water inlet channels are connected to the water inlet of the pump spray module, and the water inlet channels are isolated from the installation space inside the main body shell. The water flow entering the water inlet channel is accelerated in the pump spray module and then flows out through the tail vector nozzle.

3. The vector pump-jet propulsion robot for underwater rescue according to claim 2, characterized in that: The joint surfaces between the transparent front cover and the capsule-shaped main body shell, between the capsule-shaped main body shell and the streamlined rear shell, and between the streamlined rear shell and the tail vector nozzle are annular inclined surfaces and are provided with a plurality of sealing rings.

4. The vector pump-jet propulsion robot for underwater rescue according to claim 3 is characterized in that: The electric control system is installed in the main body shell through a vertical three-layer internal bracket, the upper layer of the internal bracket is installed with the core components of the control system, the middle layer is fixedly installed with the pump spray module and the vision module, and the lower layer is fixedly installed with the power supply module.

5. The vector pump-jet propulsion robot for underwater rescue according to claim 4, characterized in that: The core components of the control system include an onboard computer, a single-chip microcomputer, an inertial measurement unit and a temperature and humidity sensor; the visual module includes a high-definition binocular camera and an adjustable LED light; and the power module includes a lithium battery and a voltage stabilization module.

6. The vector pump-jet propulsion robot for underwater rescue according to claim 5, characterized in that: The motor of the pump-jet propulsion system is installed in the middle layer of the internal bracket and isolated from water; the vector nozzle is installed at the tail of the streamlined rear shell through a rotating shaft, and the vector nozzle is driven to rotate by the servo kit. The two vector nozzles are fixed to each other by a connecting piece to achieve consistent change of the direction of the vector nozzles.

7. The vector pump-jet propulsion robot for underwater rescue according to claim 6, characterized in that: A steering gear is also installed in the middle layer of the internal bracket, a rocker arm is fixed to the steering gear shaft, and the rocker arm is connected to the vector nozzle through a pull rod.

8. The vector pump-jet propulsion robot for underwater rescue according to claim 6, characterized in that: The main shell is formed by an additive manufacturing method; a sandwich structure is integrally formed on both sides of the main shell, an independent water inlet channel is formed inside the sandwich structure, and directly leads to the inside of the main shell, and a flat support plate is provided at the inner end of the water inlet channel inside the main shell, which is connected to the water inlet of the pump spray module through the flat support plate; a square sealing gasket installation groove is opened on the support plate, and sealing is achieved by installing a rubber sealing gasket and pouring glue.

9. A method for performing rescue using the vector pump-jet propulsion robot for underwater rescue according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Use the electromagnet carried by the robot to absorb the iron sheet at the front end of the life-saving airbag; S2. Control a single robot to pass under the armpits of the drowning person and circle around the body; S3. Stimulate the air tank to inflate the life-saving airbag, and the life-saving airbag will bring the drowning person up to the surface, making his head out of the water, thus realizing autonomous rescue.

10. A method for performing rescue using the vector pump-jet propulsion robot for underwater rescue according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Two robots are connected to the front and rear ends of the life-saving airbag respectively; S2. After each robot circles the human body half a circle, the two robots are attracted to each other through electromagnets to ensure that the two robots do not separate after contact, thereby forming a ring-shaped life-saving airbag; S3. Activate the inflation device to inflate the life-saving airbag to ensure that the robot's head is above the water surface.

Images