Intelligent homing type amphibious lifesaving transportation boat

Abstract

The invention provides an intelligent homing type amphibious lifesaving transportation boat, and relates to the technical field of lifesaving equipment, double hulls are formed by splicing two independent hulls and a deck plane into a whole, a decision control system is arranged at the head of a cabin, and a quick-release limiting track for fixing a lifesaving capsule bin is arranged in the middle of a hull deck; the data acquisition system comprises a panoramic camera, a laser radar, an ultrasonic radar, a sonar and a GPS positioning module, the decision control system comprises an onboard computer, a main control board and a signal conversion module, and the amphibious power system comprises an electric propeller, a hub motor, a power module and a power driving board. The power supply system supplies power to the lifesaving capsule bin, the decision control system, the data acquisition system and the amphibious power system through the distribution plate; the system can adapt to different water areas and land environments, can automatically send the wounded back to a safe area under the condition of stabilizing the vital signs of the wounded, and improves the rescue efficiency and success rate.

Description

Technical Field

[0001] The present invention relates to the technical field of lifesaving equipment, and in particular to an intelligent homing amphibious lifesaving transport boat. Background Art

[0002] When it comes to transporting the wounded during field missions or island operations, the traditional method often requires sending a rescue team of several people to evacuate the wounded. Each transportation takes several hours, and in the process of transporting the wounded, they may also be threatened by secondary enemy fire, further increasing troop consumption and combat risks, thereby delaying the team's overall offensive rhythm, and even being forced to abandon some important combat missions or positions.

[0003] At present, there is a lack of life-saving equipment for transporting battlefield wounded, especially unmanned transportation equipment that can ensure safety and improve efficiency. In view of the lack of life-saving equipment, this scheme proposes an intelligent homing amphibious life-saving transport boat. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an intelligent homing amphibious life-saving transport boat;

[0005] An intelligent homing amphibious life-saving transport boat, comprising a double hull, a life-saving capsule cabin, a data acquisition system, a decision-making control system, an amphibious power system and a communication system;

[0006] The double hull is composed of two independent hulls spliced ​​together with a deck plane. Rubber anti-collision strips are arranged on the edge of the double hull deck, and the rescue material warehouses are arranged inside both sides of the hull; the decision-making control system is arranged at the head of the cabin.

[0007] An irregular groove is arranged in the middle of the double hull deck, and a quick-release limit track is arranged in the groove. The life-saving capsule compartment is fixed to the lifeboat deck through the quick-release limit track. A controllable cylindrical limit block is arranged in the middle of the quick-release limit track, which corresponds to the cylindrical groove arranged at the bottom of the life-saving capsule compartment and is raised after the life-saving rubber capsule compartment is installed. A travel limit block is arranged at the end of the quick-release limit track.

[0008] The bottom of the rescue capsule compartment is provided with a track matching the deck, and a cylindrical groove is provided in the middle; a temperature and humidity adjustment module and a constant oxygen protection unit are provided in the rescue capsule compartment, a life-saving capsule holding place is provided in the rescue capsule compartment, and a transparent observation cover is provided in the rescue capsule compartment;

[0009] The data acquisition system includes a panoramic camera, a laser radar, an ultrasonic radar, a sonar and a GPS positioning module. The panoramic camera is installed at the head of the cabin and has a real-time monitoring function. The laser radar is located on the top of the cabin and is responsible for collecting obstacle information in front of the hull to achieve obstacle detection and autonomous obstacle avoidance. The ultrasonic radar is evenly distributed on both sides of the hull and the stern to collect obstacle distance information around the hull. The sonar is respectively set at the head and stern of the hull at the bottom of the hull to sense the underwater distance information. The GPS positioning module collects the location information of the transport boat.

[0010] The amphibious power system includes an electric propeller, a hub motor, a power module and a power drive board. The electric propeller and the hub motor are installed on both sides of the bottom of the double hull. Eight hub motor main wheels, two impact wheels and two electric propellers are symmetrically arranged. The hub motor main wheels are located directly below the hull, and the impact wheels are located in front of the hub motor main wheels. The two are connected to the hull through a fixed seat. The hub motor main wheels and the impact wheels are equipped with a shock absorbing mechanism and an anti-sway device. A hydraulic actuator is provided inside the shock absorbing mechanism, and a shock absorbing spring is provided outside the hydraulic actuator. The anti-sway device is composed of an upper anti-sway arm and a lower anti-sway arm. The lower anti-sway arm is connected to the extended axis of the hub motor, and the upper anti-sway arm is connected to the fixed seat. The power module is composed of a lithium battery and a distribution board. The lithium battery is located in the transport boat body and is connected to the distribution board to supply power to the life-saving capsule compartment, the decision-making control system, the data acquisition system and the amphibious power system.

[0011] The decision control system includes an onboard computer, a main control board and a signal conversion module. The output ends of the panoramic camera, laser radar, ultrasonic radar, sonar and main control board are all connected to the onboard computer. The output ends of the GPS positioning module and the signal conversion module are connected to the main control board. The output end of the signal conversion module is connected to the input end of the power drive board, and the output end of the power drive board is connected to the amphibious power system. The underwater distance data collected by the sonar is sent to the main control board through the onboard computer. The main control board determines the underwater distance information to switch the electric propeller or the hub motor power instruction and transmits it to the signal conversion module. Then the signal conversion module converts it into different drive signals and inputs it to the power drive board, thereby driving the electric propeller or the hub motor to operate.

[0012] The communication system includes a high-power image data transmission device and a signal amplifier. The high-power image data transmission device is connected to the panoramic camera, laser radar and ultrasonic radar in the data acquisition system, and the collected data is sent to the remote control end through the high-power image data transmission device in real time. The signal amplifier is connected to the onboard computer and is located on the top of the cabin;

[0013] Preferably, an anti-collision guardrail is provided at the head of the double hull, searchlights are installed on both sides of the cabin, and a medical first aid kit is provided on the deck.

[0014] The beneficial effects of adopting the above technical solution are:

[0015] The present invention provides an intelligent homing amphibious life-saving transport boat. The intelligent homing amphibious life-saving transport boat has two power systems, which can make the boat adapt to different water and land environments. The electric propeller at the rear of the boat can effectively pass through water environments such as water surfaces and lakes. The wheels on both sides of the boat make it convenient for it to travel on beaches and river banks, thereby enhancing the environmental adaptability of the rescue transport boat and overcoming the defect of the traditional lifeboat having a single function.

[0016] This intelligent homing amphibious life-saving transport boat has an intelligent homing function, can achieve dynamic obstacle avoidance under complex and changeable natural conditions, and can safely return to the base or designated safe area without human intervention. Compared with traditional rescue methods, it greatly reduces human resource consumption and improves the efficiency of rescue operations.

[0017] This intelligent homing amphibious life-saving transport boat is equipped with a life-saving capsule cabin, which can stabilize the vital signs of the wounded and sick in a short time and reduce the risk of secondary injury caused by environmental changes during the transfer process. At the same time, its quick-release design makes it easy for rescue personnel to quickly transfer the wounded and sick for further treatment, significantly improving the quality of life of the wounded and sick during the rescue process and increasing the overall rescue success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the intelligent homing amphibious life-saving transport boat of the present invention;

[0019] Figure 2 It is a front view of the intelligent homing amphibious life-saving transport boat of the present invention;

[0020] Figure 3 It is a side view of the intelligent homing amphibious life-saving transport boat of the present invention;

[0021] Figure 4 A top view of the intelligent homing amphibious life-saving transport boat of the present invention;

[0022] Figure 5 A bottom view of the intelligent homing amphibious life-saving transport boat of the present invention;

[0023] Figure 6 The life-saving capsule compartment of the present invention;

[0024] Figure 7 It is the quick-release limit track of the present invention;

[0025] Figure 8 The life-saving capsule compartment track of the present invention;

[0026] Fig. 9 The decision control system of the present invention;

[0027] Fig.10 The invention provides a vibration reduction design for the hub motor;

[0028] Fig.11 This is a circuit connection diagram of the decision-making control system of the present invention;

[0029] In the figure, 1- double hull, 101- quick-release limit rail, 102- limit slide rail, 103- cylindrical limit block, 104- rescue material warehouse, 2- life-saving capsule warehouse, 201- temperature and humidity adjustment module, 202- constant oxygen guard unit, 203- transparent observation cover, 204- life-saving capsule grip, 205- cylindrical groove, 3- data acquisition system, 301- panoramic camera, 302- laser radar, 303- GPS positioning module, 304- ultrasonic radar, 305- sonar, 4- decision control system system, 401-onboard computer, 402-main control board, 403-signal conversion module, 5-amphibious power system, 501-electric propeller, 502-hub motor, 503-lower anti-sway arm, 504-shock-absorbing spring, 505-hydraulic actuator, 506-fixed seat, 507-upper anti-sway arm, 508-distribution board, 509-power drive board, 6-communication system, 601-high-power image data transmission device, 602-signal amplifier, 7-rubber anti-collision strip, 8-searchlight warning light, 9-medical first aid kit. DETAILED DESCRIPTION

[0030] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0031] An intelligent homing amphibious life-saving transport boat, such as Figure 1 As shown, its front view, side view, top view and bottom view are respectively as shown in Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, it includes a double hull 1, a life-saving capsule compartment 2, a data acquisition system, a decision control system, an amphibious power system and a communication system;

[0032] The double hull provides an installation carrier for other modules; the life-saving capsule cabin can maintain the vital signs of critically ill patients and provide a suitable transfer environment; the decision-making control system realizes the intelligent homing, autonomous obstacle avoidance and amphibious switching decisions of the amphibious life-saving transport boat; the data acquisition system collects environmental information around the transport boat to achieve its own positioning and obstacle avoidance; the amphibious power system can autonomously switch between two power modes of electric propeller or hub motor according to the environmental information sent by the onboard computer; the communication system realizes communication with the remote control console and provides remote emergency intervention function.

[0033] The double hull 1 is composed of two independent hulls and a deck plane spliced ​​together, the hull surface is smooth and conforms to the streamlined design, the deck edge of the double hull 1 is provided with a rubber anti-collision strip 7, and the rescue material warehouse 104 is provided inside both sides of the hull; the decision-making control system is provided at the head of the cabin.

[0034] An irregular groove is arranged in the middle of the deck of the double hull 1, and a quick-release limit track 101 is arranged in the groove. The life-saving capsule compartment 2 is fixed to the lifeboat deck through the quick-release limit track. Figure 7 As shown, the groove is a limit rail 102, in the middle of which is provided a controllable raised cylindrical limit block 103, corresponding to the cylindrical groove 205 provided at the bottom of the life-saving capsule compartment 2, which is raised after the life-saving rubber capsule compartment is installed to prevent the life-saving capsule 104 from sliding forward and backward during the travel of the transport boat, and a travel limit block is provided at the end of the quick-release limit rail 101 to limit the life-saving capsule compartment to be located above the raiseable cylindrical limit block during installation;

[0035] The life-saving capsule compartment 2 is as follows Figure 6 As shown, the bottom is provided with a track that matches the deck, such as Figure 8 As shown, a cylindrical groove is provided in the middle; a temperature and humidity adjustment module 201 and a constant oxygen protection unit 202 are provided in the rescue capsule compartment 2, which can automatically adjust the temperature and humidity in the compartment to ensure air circulation while providing necessary oxygen support for the wounded; the life-saving capsule compartment 2 is provided with a life-saving capsule grip 204, which is convenient for the life-saving capsule compartment to hold the wounded when transporting the wounded; the rescue capsule compartment 2 is equipped with a transparent observation cover 203, allowing medical staff to observe and treat the wounded and take necessary emergency measures.

[0036] The data acquisition system 3 includes a panoramic camera 301, a laser radar 302, an ultrasonic radar 304, a sonar 305 and a GPS positioning module 303. The panoramic camera is installed at the head of the cabin and has a real-time monitoring function. The laser radar is located at the top of the cabin and is responsible for collecting obstacle information in front of the hull to achieve obstacle detection and autonomous obstacle avoidance. The ultrasonic radar is evenly distributed on both sides of the hull and the stern to collect obstacle distance information around the hull. The sonar is respectively set at the bow and stern of the hull at the bottom of the hull to sense the underwater distance information. The GPS positioning module collects the position information of the transport boat. In this embodiment, the laser radar selects S2L from Silan, the full name of which is RPLIDAR S2L. Autonomous obstacle avoidance can be achieved by combining the existing laser radar with the main control board.

[0037] The amphibious power system 5 includes an electric propeller 501, a hub motor 502, a power module and a power drive board 509. The electric propeller and the hub motor are installed on both sides of the bottom of the double hull. Eight hub motor main wheels, two impact wheels and two electric propellers are symmetrically arranged. The hub motor 502 main wheel is located directly below the hull, and the impact wheel is located in front of the hub motor main wheel. The two are connected to the hull through a fixed seat. The hub motor 502 main wheel and the impact wheel are equipped with a shock absorbing mechanism and an anti-sway device, such as Fig.10 As shown, a hydraulic actuator 505 is provided inside the shock absorbing mechanism, and a shock absorbing spring 504 is installed outside the hydraulic actuator 505. The anti-sway device is composed of an upper anti-sway arm 507 and a lower anti-sway arm 503. The lower anti-sway arm 503 is connected to the extended axis of the hub motor, and the upper anti-sway arm 507 is connected to the fixing seat 506, which can effectively reduce the impact of vibration. The power module is composed of a lithium battery and a distribution board 508. The lithium battery is located in the transport boat body and is connected to the distribution board 508 to supply power to the life-saving capsule compartment, the decision-making control system, the data acquisition system and the amphibious power system.

[0038] The decision control system 4 is as follows Fig. 9 As shown, it includes an onboard computer 401, a main control board 402 and a signal conversion module 403. The output ends of the panoramic camera 301, the laser radar 302, the ultrasonic radar 304, the sonar 305 and the main control board 402 are all connected to the onboard computer 401. The output ends of the GPS positioning module 303 and the signal conversion module 403 are connected to the main control board 402. The output end of the signal conversion module 403 is connected to the input end of the power drive board 509, and the output end of the power drive board is connected to the amphibious power system. The underwater distance data collected by the sonar is sent to the main control board through the onboard computer. The main control board determines the underwater distance information to switch the electric propeller or hub motor power command to the signal conversion module, and then the signal conversion module converts it into different drive signals and inputs it into the power drive board, thereby driving the electric propeller or hub motor to operate. In this embodiment, the main control board is a Pixhwak6c mini control board, as shown in the figure. Fig.11 As shown;

[0039] The communication system 6 includes a high-power image data transmission device 601 and a signal amplifier 602. The high-power image data transmission device 601 is connected to the panoramic camera, laser radar and ultrasonic radar in the data acquisition system, and the collected data is sent to the remote control end through the high-power image data transmission device 601 in real time. The signal amplifier 602 is connected to the onboard computer 401 and is located on the top of the cabin, which can enhance the communication range of the onboard computer. In this embodiment, the remote control end can be the control room of a lighthouse or a medical point;

[0040] Preferably, an anti-collision guardrail is provided at the head of the double hull, searchlights 8 are installed on both sides of the cabin, and a medical first aid kit 9 ​​is provided on the deck.

[0041] Once casualties occur during field missions or island operations, in order not to affect the overall plan while ensuring sufficient manpower, an intelligent homing transport boat can be used to transport the wounded back. The specific operation is to place the wounded in the life-saving capsule compartment 2, push the life-saving capsule compartment 2 into the hull through the limiting track 101, raise the cylindrical limiting block 103 to fix the life-saving capsule compartment 2, and activate the life monitoring function of the life-saving capsule compartment 2 at the same time. At this time, the vital signs monitor in the cabin detects the vital signs of the wounded in real time and sends them to the onboard computer 401, the temperature and humidity adjustment module 201 and the constant oxygen protection unit 202 automatically adjust the temperature, humidity and oxygen balance in the cabin to provide a good transportation environment for the wounded; the cabin is equipped with a transparent observation cover 203 to ensure that medical staff can observe and treat the wounded in real time and take necessary emergency measures. After the sick and wounded are placed, the one-key return function is activated, and the intelligent homing transport boat receives the return command through the signal amplifier 602, and sends the return point and mission information to the onboard computer 401. The onboard computer 401 will prepare for automatic return in combination with the satellite map. First, the power module is started to power the data acquisition system 3 and the amphibious power system 5. The sonar 305 sends the collected underwater distance information to the onboard computer 401, and the environmental conditions are judged in combination with the satellite map. If the judgment result is land, the decision control system 4 issues a power switch for the hub motor 502 and transmits it to the main control board 402. After receiving the information, the main control board 402 converts it into a drive signal for the hub motor 502 through the signal conversion module 403 and inputs it into the power drive board 509, thereby driving the hub motor 502 to operate and control the transport boat to travel in a land environment. During the driving process, if an environmental area such as a river or lake is encountered, the onboard computer 401 autonomously determines the water area, and the decision control system 4 issues a power switch command for the electric propeller 501 and transmits it to the main control board 402. After receiving the information, the main control board 402 converts the information into a driving signal for the electric propeller 501 through the signal conversion module 403 and inputs it into the power drive board 509, thereby driving the electric propeller 501 to operate and control the transport boat to cross the water area ahead. During the driving process, if an obstacle that hinders the forward movement is encountered, the laser radar and the main control board are combined to identify the obstacle, and after fusing the data collected by the laser radar 302 and the ultrasonic radar 304, the size, distance and other information of the obstacle are comprehensively obtained, and then the GPS positioning module 303 is used to obtain its own position, and the transport boat is controlled to cross the obstacle ahead to ensure that the lifeboat reaches the destination.

[0042] In the above process, the data collected by the data acquisition system 3 and the vital signs of the injured detected by the life-saving capsule compartment 2 will be sent to the remote control end of the medical point through the high-power image data transmission device 601 for background monitoring and control. The medical first aid kit 9 ​​placed on the deck can provide necessary assistance to the injured. If the rescue occurs at night, the searchlight warning lights 8 placed on both sides of the cabin can provide light. The edge of the deck of the transport boat is equipped with a rubber anti-collision strip 7, the head of the double hull is equipped with an anti-collision guardrail, and the driving wheel of the land mode of the transport boat is equipped with a shock absorbing mechanism and an anti-sway device, all of which can reduce the secondary collision damage that the injured may suffer during transportation.

[0043] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) to form a technical solution.

Claims

1. An intelligent homing amphibious life-saving transport boat, characterized in that: It includes a double hull, a life-saving capsule cabin, a data acquisition system, a decision-making control system, an amphibious power system and a communication system; The double hull is composed of two independent hulls spliced ​​together with a deck plane, the edge of the double hull deck is provided with a rubber anti-collision strip, and the rescue material warehouse is provided inside both sides of the hull; the decision-making control system is provided at the head of the cabin; The data acquisition system includes a panoramic camera, a laser radar, an ultrasonic radar, a sonar and a GPS positioning module. The panoramic camera is installed at the head of the cabin and has a real-time monitoring function. The laser radar is located on the top of the cabin and is responsible for collecting obstacle information in front of the hull to achieve obstacle detection and autonomous obstacle avoidance. The ultrasonic radar is evenly distributed on both sides of the hull and the stern to collect obstacle distance information around the hull. The sonar is respectively set at the head and stern of the hull at the bottom of the hull to sense the underwater distance information. The GPS positioning module collects the location information of the transport boat. The amphibious power system includes an electric propeller, a hub motor, a power module and a power drive board. The electric propeller and the hub motor are installed on both sides of the bottom of the double hull. Eight hub motor main wheels, two impact wheels and two electric propellers are symmetrically arranged. The hub motor main wheels are located directly below the hull, and the impact wheels are located in front of the hub motor main wheels. The two are connected to the hull through a fixed seat. The hub motor main wheels and the impact wheels are equipped with a shock absorbing mechanism and an anti-sway device. A hydraulic actuator is provided inside the shock absorbing mechanism, and a shock absorbing spring is provided outside the hydraulic actuator. The anti-sway device is composed of an upper anti-sway arm and a lower anti-sway arm. The lower anti-sway arm is connected to the extended axis of the hub motor, and the upper anti-sway arm is connected to the fixed seat. The power module is composed of a lithium battery and a distribution board. The lithium battery is located in the transport boat body and is connected to the distribution board to supply power to the life-saving capsule compartment, the decision control system, the data acquisition system and the amphibious power system; The decision control system includes an onboard computer, a main control board and a signal conversion module; the communication system includes a high-power image data transmission device and a signal amplifier. The high-power image data transmission device is connected to the panoramic camera, laser radar and ultrasonic radar in the data acquisition system, and the collected data is sent to the remote control end in real time through the high-power image data transmission device. The signal amplifier is connected to the onboard computer and is located on the top of the cabin.

2. The intelligent homing amphibious life-saving transport boat according to claim 1 is characterized in that: The bottom of the life-saving capsule compartment is provided with a track that matches the deck, and a cylindrical groove is provided in the middle; a temperature and humidity adjustment module and a constant oxygen protection unit are provided in the rescue capsule compartment, the life-saving capsule compartment is provided with a life-saving capsule holding place, and the rescue capsule compartment is equipped with a transparent observation cover.

3. The intelligent homing amphibious life-saving transport boat according to claim 2 is characterized in that: An irregular groove is arranged in the middle of the double hull deck, and a quick-release limiting track is arranged in the groove.

4. The intelligent homing amphibious life-saving transport boat according to claim 1 is characterized in that: The life-saving capsule bin is fixed to the lifeboat deck through a quick-release limit track. A controllable raising cylindrical limit block is provided in the middle of the quick-release limit track, corresponding to the cylindrical groove provided at the bottom of the life-saving capsule bin. It is raised after the life-saving rubber capsule bin is installed. A travel limit block is provided at the end of the quick-release limit track.

5. The intelligent homing amphibious life-saving transport boat according to claim 1 is characterized in that: The output ends of the panoramic camera, laser radar, ultrasonic radar, sonar and main control board are all connected to the onboard computer, the output ends of the GPS positioning module and the signal conversion module are connected to the main control board, the output end of the signal conversion module is connected to the input end of the power drive board, and the output end of the power drive board is connected to the amphibious power system; the underwater distance data collected by the sonar is sent to the main control board through the onboard computer.

6. The intelligent homing amphibious life-saving transport boat according to claim 5 is characterized in that: The main control board determines the underwater distance information to switch the electric propeller or hub motor power command and transmits it to the signal conversion module, which then converts it into different drive signals and inputs them into the power drive board, thereby driving the electric propeller or hub motor to operate.

7. The intelligent homing amphibious life-saving transport boat according to claim 1 is characterized in that: The head of the double hull is provided with an anti-collision guardrail, searchlights are installed on both sides of the cabin, and a medical first aid kit is provided on the deck.

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