Self-righting lifesaving device

Abstract

The invention relates to the technical field of water rescue, and discloses a self-righting lifesaving device which comprises a ship body. The ship body is provided with a plurality of navigation air bags, and each navigation air bag is provided with an air leakage assembly; a plurality of righting air bags are further arranged on the side edge of the ship body, and a control module and an air pump assembly are arranged in the ship body; the control module is used for controlling the air pump assembly to inflate the plurality of navigation airbags after detecting that the ship body falls into water, and is also used for responding to the center-of-gravity shift of the ship body and determining the shift direction of the center-of-gravity of the ship body; determining the righting air bag consistent with the deviation direction in the plurality of righting air bags as a target righting air bag; determining the navigation air bag opposite to the deviation direction in the plurality of navigation air bags as a target navigation air bag; the air pump assembly is controlled to inflate the target righting air bag; and controlling a deflation assembly of the target navigation airbag to deflate the target navigation airbag. In this way, the overturning rate of the ship is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of water rescue, and in particular to a self-righting life-saving device. Background Art

[0002] Since the time of the ship capsizing is short, the effective time of preventing the ship from capsizing is even shorter. When an emergency occurs, the airbags on both sides of the ship are inflated, and the airbags cannot be fully deployed. Therefore, it is difficult for the system to prevent the ship from capsizing and slow down the sinking speed of the ship. In particular, when the ship is a life-saving device (for example, an inflatable rescue boat), if the ship capsizes, the rescued person with weak vital signs on the life-saving device is likely to die.

[0003] Based on this, how to reduce the capsizing rate of ships has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of the above problems, an embodiment of the present application provides a self-righting lifesaving device, which is used to solve the problem of high capsizing rate of ships in the prior art.

[0005] According to one aspect of an embodiment of the present application, a self-righting life-saving device is provided, which includes a hull; a plurality of navigation airbags are provided on the hull, and a deflation component is provided on each navigation airbag; a plurality of righting airbags are also provided on the side of the hull, and a control module and an air pump component are provided in the hull; the control module is used to control the air pump component to inflate the plurality of navigation airbags after detecting that the hull has fallen into water, and is also used to: determine the offset direction of the center of gravity of the hull in response to the offset of the center of gravity of the hull; determine the righting airbag in the plurality of righting airbags that is consistent with the offset direction as the target righting airbag; determine the navigation airbag in the plurality of navigation airbags that is opposite to the offset direction as the target navigation airbag; control the air pump component to inflate the target righting airbag; and control the deflation component of the target navigation airbag to deflate the target navigation airbag.

[0006] Preferably, the inflation rate of the target righting airbag by the air pump assembly is greater than the deflation rate of the target navigation airbag by the deflation assembly.

[0007] Preferably, the hull is also equipped with a wave measuring radar, which is used to detect waves within a preset range of the hull; before responding to the hull's center of gravity shift and determining the shift direction of the hull's center of gravity, the control module is also used to: obtain the detection results of the wave measuring radar on the target wave, and judge whether the target wave causes the hull's center of gravity to shift by more than a preset warning shift; in response to the hull's center of gravity shift, determine the shift direction of the hull's center of gravity, including: if the target wave causes the hull's center of gravity to shift by more than a preset warning shift, predicting the shift trajectory of the hull's center of gravity based on the detection results; and determining the shift direction based on the shift trajectory.

[0008] Preferably, the offset direction is determined according to the offset trajectory, including: determining the starting point of the offset trajectory as the first feature point; determining the latter trajectory point among the target adjacent trajectory points as the second feature point, the target adjacent trajectory points being the two trajectory points with the largest distance between adjacent trajectory points in the offset trajectory; determining a first torque vector according to the first feature point and the second feature point, the direction of the first torque vector points from the second feature point to the first feature point, and the magnitude of the first torque vector is the distance between the first feature point and the second feature point; determining a righting airbag among multiple righting airbags that is consistent with the offset direction as a target righting airbag, including: determining a righting airbag among the multiple righting airbags that is located on the reverse extension line of the direction of the first torque vector as the target righting airbag.

[0009] Preferably, determining a navigation airbag in the opposite direction to the offset direction among the plurality of navigation airbags as the target navigation airbag comprises: determining a navigation airbag in the plurality of navigation airbags that is located on the positive extension line of the direction of the first torque vector as the target navigation airbag.

[0010] Preferably, before determining the navigation airbag in the opposite direction of the offset direction among the multiple navigation airbags as the target navigation airbag, the control module is also used to: determine the end point of the offset trajectory as a third feature point; determine a second torque vector based on the second feature point and the third feature point, the direction of the second torque vector is from the third feature point to the second feature point, and the magnitude of the second torque vector is the distance between the second feature point and the third feature point; determine the navigation airbag in the opposite direction of the offset direction among the multiple navigation airbags as the target navigation airbag, including: determining the navigation airbag in the multiple navigation airbags that is located on the positive extension line of the direction of the second torque vector as the target navigation airbag.

[0011] Preferably, before controlling the deflation component of the target navigation airbag to deflate the target navigation airbag, the control module is also used to: determine the time interval between the second characteristic point and the third characteristic point; determine the deflation rate of the deflation component to deflate the target navigation airbag according to the time interval and the size of the second torque vector; controlling the deflation component of the target navigation airbag to deflate the target navigation airbag, also includes: controlling the deflation component of the target navigation airbag to deflate the target navigation airbag at the deflation rate until the deflation duration reaches the duration of the time interval, and then controlling the deflation component to stop deflation.

[0012] Preferably, before controlling the air pump assembly to inflate the target righting airbag, the control module is also used to: determine the expected inflation time for the deflation assembly to inflate the target righting airbag based on the maximum inflation rate of the air pump assembly and the size of the first torque vector; control the air pump assembly to inflate the target righting airbag, including: controlling the air pump assembly to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, and controlling the air pump assembly to inflate multiple righting airbags.

[0013] Preferably, the air pump assembly is controlled to inflate the target righting airbag at a maximum inflation rate until the inflation time reaches the expected inflation time, and the air pump assembly is controlled to inflate multiple righting airbags, including: controlling the air pump assembly to inflate the target righting airbag at a maximum inflation rate until the inflation time reaches the expected inflation time, and controlling the air pump assembly to inflate multiple righting airbags and a target navigation airbag.

[0014] Preferably, the air pump assembly is controlled to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, and the air pump assembly is controlled to inflate multiple righting airbags and the target navigation airbag, including: controlling the air pump assembly to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time and the deflation time reaches the time interval, and controlling the air pump assembly to inflate multiple righting airbags and the target navigation airbag.

[0015] In the embodiment of the present application, a righting airbag in the same direction as the deviation among multiple righting airbags is determined as a target righting airbag, and a navigation airbag in the opposite direction to the deviation among multiple navigation airbags is determined as a target navigation airbag, and by inflating the target righting airbag, the inflation amount of the air pump can be supplied to only one righting airbag instead of all the righting airbags. Therefore, the inflation rate of the righting airbag can be increased without adding an air pump, which facilitates the deployment of the target righting airbag, so as to increase the correction rate and correction effect of the center of gravity deviation of the hull, thereby reducing the probability of the hull capsizing; by deflating the target navigation airbag, the correction rate and correction effect of the center of gravity deviation of the hull can be further increased without adding any additional structure, so as to ensure the stability of the hull on the water surface, thereby reducing the probability of the hull capsizing.

[0016] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings: Figure 1 A bottom view of a lifesaving device provided in an embodiment of the present application is shown; Figure 2 A flow chart of the righting control method provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0019] The life-saving device in the embodiment of the present application can be an inflatable lifeboat, a life raft or other life-saving device.

[0020] Figure 2 The flowchart of the righting control method provided by the embodiment of the present application is shown, and the method is executed by the control module. The control module is arranged in the hull, and a plurality of navigation airbags are arranged on the hull, and each navigation airbag is provided with a deflation component; a plurality of righting airbags are also arranged on the side of the hull, and an air pump component is also arranged in the hull, and the lifesaving device is used to provide rescue for people who fall into the water.

[0021] When the lifesaving device is an inflatable lifeboat, the multiple navigation airbags are multiple inflatable airbags of the inflatable lifeboat, and the righting airbag is an airbag arranged on the side of the inflatable lifeboat.

[0022] When the lifesaving device is a life raft, the multiple navigation airbags are airbags additionally arranged on the life raft to increase the buoyancy of the life raft, and the righting airbag is an airbag arranged on the side of the life raft.

[0023] like Figure 2 As shown, the method comprises the following steps: S110, in response to the center of gravity shift of the hull, determining the shift direction of the center of gravity of the hull.

[0024] The hull's posture is monitored in real time through the inclination sensor array and center of gravity displacement sensor at the bottom of the hull. The sensor detects that the hull's left tilt angle exceeds the safety threshold (5°) and the center of gravity coordinate moves 0.8 meters to the port side. The system determines that the deviation direction is the port side.

[0025] S120: Determine a righting airbag in the same direction as the deviation direction among the plurality of righting airbags as a target righting airbag.

[0026] For example, the port side righting airbag may be selected as the target righting airbag. After being inflated, the port side righting airbag may provide additional buoyancy to counteract the left tilting moment caused by the shift in the center of gravity.

[0027] S130: Determine a navigation airbag in a direction opposite to the offset direction among the plurality of navigation airbags as a target navigation airbag.

[0028] The starboard navigation airbag can be selected as the target airbag. Deflation of the starboard navigation airbag can reduce the starboard buoyancy, causing the right side of the hull to sink slightly, thereby generating a reverse restoring moment.

[0029] Among them, when the target righting airbag is inflated, the center of gravity of the hull will move in the direction opposite to the deviation direction, thereby correcting the deviation of the center of gravity of the hull. At the same time, when the target navigation airbag is deflated, the center of gravity of the hull will move in the direction opposite to the deviation direction, thereby correcting the deviation of the center of gravity of the hull. The deflation of the target navigation airbag can assist in the correction of the deviation of the center of gravity of the hull in a short time.

[0030] S140, controlling the air pump assembly to inflate the target righting airbag.

[0031] The control module sends a command to the air pump to inflate the target righting airbag at a rate of 200 L / min for 10 seconds. After inflation, the buoyancy of the port side increases by 12%, and real-time monitoring shows that the hull tilt angle returns to 3°. S150, controlling the deflation component of the target navigation airbag to deflate the target navigation airbag.

[0032] Through the coordinated operation of inflation and deflation, the life-saving device can reduce the hull tilt angle from 5° to 1.5° in a short period of time, avoiding capsizing accidents, and only operates the airbags in the offset direction, reducing the ineffective start and stop of the air pump and valve in the air pump assembly, which can save 15% of energy.

[0033] When the lifeboat falls into the water, all the air bags are inflated quickly to provide buoyancy for the lifeboat. Figure 1 , Figure 1 The dotted arrow in the middle indicates the direction of the ship's center of gravity deviation. The righting airbag in the same direction as the deviation is determined as the target righting airbag, and the navigation airbag in the opposite direction to the deviation is determined as the target navigation airbag. Figure 1 Schematic diagram of the target righting airbag when inflated and deployed is shown in FIG. 1 . At this time, the target navigation airbag is deflated accordingly to prevent the center of gravity of the ship from shifting in this shift direction, thereby avoiding the capsizing of the ship.

[0034] Furthermore, the inflation rate of the target righting airbag by the air pump assembly is greater than the deflation rate of the target navigation airbag by the deflation assembly, so as to avoid the situation where the target navigation airbag is deflated, resulting in insufficient buoyancy of the hull, causing the hull to capsize.

[0035] Furthermore, the hull is also equipped with a wave-measuring radar, which is used to detect waves within a preset range of the hull.

[0036] The wave measuring radar scans a 120° fan-shaped area (5-meter radius) in front of the right side of the hull at a frequency of 10Hz, capturing the three-dimensional point cloud data of the target waves (including the crest position, movement speed and surge direction angle). By setting up multiple wave measuring radars, it can cover all around the hull.

[0037] Before S110, the righting control method further includes S101: S101, obtaining the detection result of the wave measuring radar on the target wave, and determining whether the target wave causes the center of gravity of the hull to shift beyond a preset warning shift.

[0038] S110 also includes sub-steps S111 to S114: S111: If the target wave causes the center of gravity of the hull to shift beyond a preset warning shift, the shift trajectory of the center of gravity of the hull is predicted based on the detection result.

[0039] The wave motion trajectory is input into the fluid-rigid body coupling dynamics model to calculate the impact of wave impact on the center of gravity of the ship: the lateral impact force and direction generated after the wave contacts the hull are predicted; the center of gravity offset is deduced based on the hull mass distribution model. When the center of gravity offset exceeds the preset warning offset, the wave threat level is determined to be an orange warning, triggering the active adjustment process.

[0040] S112: Determine the starting point of the deviation trajectory as the first feature point.

[0041] The first feature point is the initial point of the center of gravity, corresponding to the initial moment when the wave contacts the hull. The first feature point can be represented by the following coordinates (0,0,0). The first coordinate is used to represent time, and the second and third coordinates are used to represent the plane position of the center of gravity.

[0042] S113, determining the next track point in the target adjacent track points as the second feature point, where the target adjacent track points are the two track points with the largest distance between adjacent track points in the offset track.

[0043] For example, a total of 10 points P1~P10 are detected, and the trajectory segment distance difference between P5 (3.2, -0.8, 0.4) and P6 (5.1, -1.6, 0.9) is the largest (Δd=0.98 meters), then the latter time point P6 is taken as the second feature point.

[0044] S114, determining a first torque vector according to the first feature point and the second feature point, wherein the direction of the first torque vector points from the second feature point to the first feature point, and the magnitude of the first torque vector is the distance between the first feature point and the second feature point.

[0045] For example, to establish a vector equation, -( ) .

[0046] S120 includes sub-steps: S121: Determine a righting airbag located on a reverse extension line of the direction of the first torque vector among the plurality of righting airbags as a target righting airbag.

[0047] The direction of the first torque vector is Direction, the reverse extension line is Extension line of direction.

[0048] By determining the latter trajectory point among the target adjacent trajectory points as the second characteristic point, determining the first torque vector based on the first characteristic point and the second characteristic point, and determining the righting airbag located on the reverse extension line of the direction of the first torque vector among multiple righting airbags as the target righting airbag, the most drastic shift of the center of gravity can be corrected by the target righting airbag, thereby avoiding capsizing of the hull as much as possible.

[0049] Regarding the selection of the target navigation airbag, in an optional manner, the navigation airbag located on the positive extension line of the direction of the first torque vector among the multiple navigation airbags can be determined as the target navigation airbag, so that the most drastic shift of the center of gravity can be assisted by the target navigation airbag to avoid capsizing of the hull as much as possible.

[0050] Regarding the selection of the target navigation airbag, in another optional manner, before S130, the righting control method further includes S125-S126: S125: Determine the end point of the deviation trajectory as the third feature point.

[0051] For example, a total of 10 points P1 to P10 are detected, and P10 is the third feature point.

[0052] S126, determining a second torque vector according to the second feature point and the third feature point, wherein the direction of the second torque vector points from the third feature point to the second feature point, and the magnitude of the second torque vector is the distance between the second feature point and the third feature point.

[0053] For example, the second moment vector is .

[0054] S130 also includes sub-step S131: S131, determining a navigation airbag located on a positive extension line of the direction of the second torque vector among the plurality of navigation airbags as a target navigation airbag.

[0055] At this time, the second half (P6 to P10) of the center of gravity deviation can be corrected by deflation of the target navigation airbag, so that the correction moment directed from P10 to P1 is formed by the target righting airbag and the target navigation airbag to correct the deviation of the center of gravity. That is, the deflation of the target navigation airbag and the inflation of the target navigation airbag can be controlled to form a correction moment directed from P10 to P1.

[0056] Specifically, before S150, the righting control method further includes steps S141-S142: S141, determining the time interval between the second feature point and the third feature point.

[0057] S142, determining a deflation rate of the deflation component for deflation of the target navigation airbag according to the time interval and the magnitude of the second torque vector.

[0058] The target navigation airbag is deflated at this deflation rate to ensure that within the time period corresponding to the time interval between the second characteristic point and the third characteristic point, the offset of the center of gravity from the second characteristic point to the third characteristic point can be corrected to form a first correction torque pointing from the third characteristic point to the second characteristic point.

[0059] S150 also includes S151: S151, controlling the deflation component of the target navigation airbag to deflate the target navigation airbag at a deflation rate until the deflation duration reaches the time interval, and then controlling the deflation component to stop deflation.

[0060] At the same time, the target righting airbag may be inflated synchronously, that is, before S140, the righting control method further includes step S132: S132, determining an estimated inflation time for the deflation component to inflate the target righting airbag according to the maximum inflation rate of the air pump component and the magnitude of the first torque vector.

[0061] S140 includes sub-step S143: S143, controlling the air pump assembly to inflate the target righting airbag at a maximum inflation rate until the inflation time reaches the expected inflation time, and controlling the air pump assembly to inflate multiple righting airbags.

[0062] The air pump assembly is controlled to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, so that the offset of the center of gravity from the first characteristic point to the second characteristic point can be corrected to form a second correction torque pointing from the second characteristic point to the first characteristic point.

[0063] The first correction moment and the second correction moment may be combined to form a correction moment from the third feature point to the first feature point, thereby correcting the offset of the center of gravity from the first feature point to the third feature point.

[0064] After the inflation of the target righting airbag is completed, the remaining righting airbags among the plurality of righting airbags may be inflated to adapt to the subsequent changing environment on the water surface.

[0065] After completing the correction of the deviation of the center of gravity from the first characteristic point to the third characteristic point, the target navigation airbag can be inflated to improve the stability of the hull.

[0066] In an optional manner, the air pump assembly is controlled to inflate the target righting airbag at a maximum inflation rate until the inflation time reaches the expected inflation time, and the air pump assembly is controlled to inflate multiple righting airbags and the target navigation airbag.

[0067] In another optional embodiment, the air pump assembly is controlled to inflate the target righting airbag at a maximum inflation rate until the inflation time reaches the expected inflation time and the deflation time reaches the time interval, and the air pump assembly is controlled to inflate multiple righting airbags and the target navigation airbag.

[0068] In the embodiment of the present application, a righting airbag in the same direction as the deviation among multiple righting airbags is determined as a target righting airbag, and a navigation airbag in the opposite direction to the deviation among multiple navigation airbags is determined as a target navigation airbag, and by inflating the target righting airbag, the inflation amount of the air pump can be supplied to only one righting airbag instead of all the righting airbags. Therefore, the inflation rate of the righting airbag can be increased without adding an air pump, which facilitates the deployment of the target righting airbag, so as to increase the correction rate and correction effect of the center of gravity deviation of the hull, thereby reducing the probability of the hull capsizing; by deflating the target navigation airbag, the correction rate and correction effect of the center of gravity deviation of the hull can be further increased without adding any additional structure, so as to ensure the stability of the hull on the water surface, thereby reducing the probability of the hull capsizing.

[0069] An embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned embodiment of the righting control method are implemented.

[0070] An embodiment of the present application provides a computer program, which can be executed by a processor to implement the steps in the above-mentioned embodiment of the righting control method.

[0071] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps in the above-mentioned embodiment of the righting control method are implemented.

[0072] The algorithm or display provided here are not inherently related to any specific computer, virtual system or other equipment. Various general systems can also be used together with the teaching based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the present application described here, and the above description of specific languages ​​is to disclose the best mode of implementation of the present application.

[0073] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0074] Similarly, it should be understood that in order to streamline the present application and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: that the claimed application requires more features than those explicitly recited in each claim.

[0075] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and set in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and may be divided into multiple submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0076] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be constructed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A self-righting lifesaving device, characterized in that: The lifesaving device includes a hull; The hull is provided with a plurality of navigation airbags, each of which is provided with a deflation component; the side of the hull is also provided with a plurality of righting airbags, and the hull is provided with a control module and an air pump component; The control module is used to control the air pump assembly to inflate the multiple navigation airbags after detecting that the hull falls into water, and is also used to: In response to the center of gravity shift of the hull, determining the direction of the shift of the center of gravity of the hull; Determine a righting airbag among the plurality of righting airbags that is consistent with the offset direction as a target righting airbag; Determine a navigation airbag in the multiple navigation airbags that is opposite to the offset direction as a target navigation airbag; controlling the air pump assembly to inflate the target righting airbag; The deflation component of the target navigation airbag is controlled to deflate the target navigation airbag.

2. The lifesaving device according to claim 1, characterized in that: The inflation rate of the target righting airbag by the air pump assembly is greater than the deflation rate of the target navigation airbag by the deflation assembly.

3. The lifesaving device according to claim 1, characterized in that: The hull is also equipped with a wave-measuring radar, which is used to detect waves within a preset range of the hull; Before determining the offset direction of the center of gravity of the hull in response to the offset of the center of gravity of the hull, the control module is further used to: Obtaining the detection result of the wave measuring radar on the target wave, and determining whether the target wave causes the center of gravity of the hull to shift beyond a preset warning shift; The step of determining the offset direction of the center of gravity of the hull in response to the center of gravity offset of the hull comprises: If the target wave causes the center of gravity of the hull to shift beyond a preset warning shift, predicting the shift trajectory of the center of gravity of the hull according to the detection result; The deviation direction is determined according to the deviation trajectory.

4. The lifesaving device according to claim 3, characterized in that: The step of determining the offset direction according to the offset trajectory includes: Determine the starting point of the offset trajectory as the first feature point; Determine a subsequent track point in the target adjacent track points as a second feature point, wherein the target adjacent track points are two track points with the largest distance between adjacent track points in the offset track; Determine a first moment vector according to the first feature point and the second feature point, wherein the direction of the first moment vector points from the second feature point to the first feature point, and the magnitude of the first moment vector is the distance between the first feature point and the second feature point; The step of determining a righting airbag among the plurality of righting airbags that is consistent with the offset direction as a target righting airbag comprises: A righting airbag among the plurality of righting airbags that is located on a reverse extension line of the direction of the first torque vector is determined as the target righting airbag.

5. The lifesaving device according to claim 4, characterized in that: The step of determining the navigation airbag in the plurality of navigation airbags that is opposite to the offset direction as the target navigation airbag comprises: A navigation airbag located on a positive extension line of the direction of the first torque vector among the plurality of navigation airbags is determined as a target navigation airbag.

6. The lifesaving device according to claim 4, characterized in that: Before determining the navigation airbag in the plurality of navigation airbags that is opposite to the offset direction as the target navigation airbag, the control module is further used to: Determine the end point of the offset trajectory as a third feature point; Determine a second moment vector according to the second feature point and the third feature point, wherein the direction of the second moment vector points from the third feature point to the second feature point, and the magnitude of the second moment vector is the distance between the second feature point and the third feature point; The step of determining the navigation airbag in the plurality of navigation airbags that is opposite to the offset direction as the target navigation airbag comprises: A navigation airbag located on a positive extension line of the direction of the second torque vector among the plurality of navigation airbags is determined as a target navigation airbag.

7. The lifesaving device according to claim 6, characterized in that: Before the deflation component controlling the target navigation airbag deflates the target navigation airbag, the control module is further used to: Determine the time interval between the second feature point and the third feature point; Determining a deflation rate of the target navigation airbag by the deflation component according to the time interval and the magnitude of the second moment vector; The deflation component controlling the target navigation airbag to deflate the target navigation airbag further comprises: The deflation component of the target navigation airbag is controlled to deflate the target navigation airbag at the deflation rate until the deflation duration reaches the duration of the time interval, and then the deflation component is controlled to stop deflation.

8. The lifesaving device according to claim 7, characterized in that: Before controlling the air pump assembly to inflate the target righting airbag, the control module is further used to: Determining an estimated inflation time for the deflation component to inflate the target righting airbag according to the maximum inflation rate of the air pump component and the magnitude of the first torque vector; The controlling the air pump assembly to inflate the target righting airbag comprises: The air pump assembly is controlled to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, and the air pump assembly is controlled to inflate the multiple righting airbags.

9. The lifesaving device according to claim 8, characterized in that: The step of controlling the air pump assembly to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, and controlling the air pump assembly to inflate the plurality of righting airbags comprises: The air pump assembly is controlled to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, and the air pump assembly is controlled to inflate the multiple righting airbags and the target navigation airbag.

10. The lifesaving device according to claim 9, characterized in that: The step of controlling the air pump assembly to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time, and controlling the air pump assembly to inflate the plurality of righting airbags and the target navigation airbag comprises: The air pump assembly is controlled to inflate the target righting airbag at the maximum inflation rate until the inflation time reaches the expected inflation time and the deflation time reaches the time interval, and the air pump assembly is controlled to inflate the multiple righting airbags and the target navigation airbag.

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