Multifunctional water area rescue auxiliary robot

Abstract

The invention discloses a multifunctional water area rescue auxiliary robot, and belongs to the field of rescue assistance, the multifunctional water area rescue auxiliary robot comprises a cabin body, a support is fixed in front of the upper surface of the cabin body, an RGB camera is arranged at the front end of the support, a driving button is arranged on the outer surface of the support, and a main switch is arranged on the upper surface of the cabin body and located on the right side of the support; a combination piece is fixed to the right side of the cabin body, an underwater propeller is fixed to the bottom of the cabin body, an inflatable life buoy is fixed to the left side of the cabin body, a waterproof steering engine is arranged at the bottom of the inflatable life buoy, and four binding belt holes are formed in the upper surface of the cabin body in a penetrating mode. The software system comprises a control framework based on ROS2-Jazze, a YOLOv11 target detection algorithm, an improved A * path planning algorithm and an Android end control APP, supports dual-computer distributed data interaction, integrates three modes of wearing, remote control and automation, and has the functions of multiple modes, efficient propulsion, rapid inflation, accurate recognition, navigation and the like.

Description

Technical Field

[0001] The present invention relates to the field of rescue assistance technology, and in particular to a multifunctional water area rescue assistance robot. Background Art

[0002] The annual number of drowning deaths in my country remains high. According to the "Big Data Report on Drowning Prevention for Chinese Youth," an average of 59,000 people die each year in my country, with a drowning fatality rate of 88.66%, making it one of the leading causes of accidental injury and death in the country. Furthermore, firefighters and public security agencies often face challenges in water rescue operations, including low efficiency and casualties, due to complex environments and time constraints.

[0003] With technological advancements, intelligent rescue is becoming a trend. The rapid development of technologies such as artificial intelligence and robotics has provided new solutions for water rescue. The development of intelligent water rescue assistance robots can effectively improve rescue efficiency and reduce rescue risks, and is a key development direction for future water rescue.

[0004] Current water rescue efforts primarily rely on manual paddling or large-scale equipment, facing three major bottlenecks: efficiency bottlenecks: slow response times for manual paddling / large-scale equipment; safety bottlenecks: rescuers are vulnerable to danger; and environmental bottlenecks: rescue operations are difficult in harsh waters. These limitations include low efficiency, lack of flexibility, and long preparation times.

[0005] Therefore, society has an increasing demand for convenient and intelligent water rescue equipment, especially in complex waters or when rescuers cannot go into the water. Efficient, safe and multifunctional water rescue assistance robots are needed. Summary of the Invention

[0006] In view of the deficiencies of the prior art, the present invention provides a multifunctional water rescue auxiliary robot, which solves the problems raised in the above background technology.

[0007] Technical Solution: To address the above technical issues, according to one aspect of the present invention, more specifically, a multifunctional water rescue assistance robot, comprising a cabin, a bracket secured to the front of the cabin's upper surface, an RGB camera disposed at the front end of the bracket, a drive button disposed on the outer surface of the bracket, a main switch disposed on the cabin's upper surface to the right of the bracket, a fitting secured to the right side of the cabin, an underwater thruster secured to the bottom of the cabin, an inflatable lifebuoy secured to the left side of the cabin, a waterproof servo disposed at the bottom of the inflatable lifebuoy, and four strap holes extending through the cabin's upper surface. Mode switching is triggered by pressing and holding the main switch for three seconds, and the current operating state is saved during the switching process.

[0008] The cabin body is fixed with two arm fixing straps through the four strap holes, and the arm fixing straps are polyester elastic tendon braided straps.

[0009] Furthermore, the cabin is equipped with a main control unit, a lithium battery, a nine-axis IMU inertial navigation module, a relay module, a step-down module, a waterproof switch, and an electronic speed regulator; the main control unit is a Raspberry Pi 5.

[0010] Furthermore, the combined piece is made of a strong magnetic material.

[0011] Furthermore, the motor in the underwater thruster adopts a 550W maximum power waterproof motor, which can provide a maximum forward thrust of 7.5kgf when combined with a propeller, allowing a 70kg person to move forward at a speed of 1m / s in the water.

[0012] Furthermore, it also includes a software system, which includes a control framework based on ROS2~Jazzy, a YOLOv11 target detection algorithm, an improved A* path planning algorithm and an Android control APP, and supports dual-machine distributed data interaction.

[0013] Furthermore, the cabin is made of PETG material by 3D printing, with a filling rate of 15%, and the through holes are treated with waterproof sealant, with IP67 grade waterproof performance.

[0014] Furthermore, the inflatable lifebuoy is driven by a liquid nitrogen cylinder, and the time from triggering to full inflation is ≤ 2 seconds. After exhausting, the cylinder can be replaced and reused.

[0015] Furthermore, the nine-axis IMU inertial navigation module works in conjunction with the RGB camera to calculate the relative posture of the robot and the person falling into the water in real time, with a posture measurement error of ≤1°.

[0016] Furthermore, the weight of a single robot is ≤3kg, and the size of two robots combined is ≤350×250×100mm, which can be stored in the trunk of a motorcycle.

[0017] The multifunctional water rescue auxiliary robot integrates three working modes:

[0018] 1. Wearing mode: The rescuer's lifebuoy is fixed to the rescuer's forearm through a polyester elastic braided belt. Press the drive button to start the underwater propeller, which drives the rescuer to the target at a speed of 1m / s and manually opens the inflatable lifebuoy.

[0019] 2. Remote control mode: The two robots are joined together by strong magnets to form a dual-body structure. Rescuers use an Android app (developed based on Java) to remotely control the thrusters and waterproof servos, adjust the heading, and remotely deploy the lifebuoy.

[0020] 3. AI autonomous mode: After merging, the system uses binocular vision (dual RGB cameras 3) to identify people who fall into the water, implements target detection based on the YOLOv11 algorithm (recognition accuracy ≥ 92%), and plans the shortest path using an improved A* path planning algorithm. It then autonomously navigates to the target and automatically triggers the inflation device.

[0021] Modular structural design: The cabin is 3D-printed with PETG material at a 15% filling rate (size 150×250×90mm). The power module (underwater thruster), control module (Raspberry Pi 5), and buoyancy module can be disassembled and assembled independently. The through holes are sealed with waterproof sealant to meet IP67 waterproof requirements (continuous operation for 30 minutes at 1m underwater).

[0022] Furthermore, the robot intelligent hardware and software architecture

[0023] Hardware: Equipped with a Raspberry Pi 5 main control unit, a nine-axis IMU inertial navigation module (attitude measurement error ≤ 0.5°), a 4000mAh lithium battery (10 minutes of battery life), and a 550W waterproof motor (maximum thrust 7.5kgf).

[0024] Software: A distributed communication system is built based on the ROS2 Jazzy framework. Data interaction between two machines is achieved through TCPSocket+wireless hotspot. The PID control algorithm is used to adjust the propeller speed and servo angle.

[0025] The beneficial effects of the multifunctional water rescue auxiliary robot of the present invention are:

[0026] (1) The present invention integrates three modes: wearable, remote control and automatic, and has the functions of multimodality, efficient propulsion, rapid inflation, accurate identification and navigation.

[0027] Wearable mode: Rescuers wear a single robot and go into the water, manually operating the thrusters to quickly approach the drowning person. The robot can move a 70kg person at a speed of 1m / s and has a one-button inflatable lifebuoy function to reduce physical exertion.

[0028] Remote control mode: After the two robots merge, they can be remotely controlled via a mobile phone's Wi-Fi hotspot. The robots automatically inflate to form a buoyancy device, providing emergency support for people who fall into the water. This is suitable for situations where rescuers cannot enter the water.

[0029] Automatic mode: Based on artificial intelligence and navigation systems, the robot automatically identifies the location of the person who falls into the water, quickly drives to the target via the shortest path, and inflates the life-saving device. It is suitable for rescue in complex waters or multi-target areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the planar structure of the present invention;

[0033] Figure 3 This is a hardware framework diagram of the present invention;

[0034] Figure 4 It is the software framework diagram of the present invention;

[0035] Figure 5 It is the workflow diagram of the present invention.

[0036] In the picture: 1. Cabin; 2. Bracket; 3. RGB camera; 4. Drive button; 5. Main switch; 6. Assembly; 7. Underwater thruster; 8. Inflatable lifebuoy; 9. Waterproof servo; 10. Strap hole. DETAILED DESCRIPTION

[0037] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0038] In order to make the technical solution of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Example 1

[0040] Reference Figure 1-Figure 5 The wearable mode of the multifunctional water rescue auxiliary robot is suitable for scenarios where rescuers can directly enter the water, such as shallows and calm lakes. The specific steps are as follows:

[0041] Equipment preparation: Rescuers install polyester elastic braided belts on a single robot through the four strap holes 10 on the cabin 1, adjust the tightness of the straps and secure them to the forearm, ensuring that they fit the body and do not affect movement; check that the main switch 5 is in the off state and the inflatable lifebuoy 8 is in the inactive state.

[0042] Starting and propulsion: Turn on the main switch 5. After the equipment self-test is completed, press the drive button 4 on the outer surface of the bracket 2. The underwater thruster 7 starts (550W waterproof motor works, outputting 7.5kgf forward thrust at 24V voltage), driving the rescuers forward in the water at a speed of 1m / s. Release the button to stop the thruster.

[0043] Rescue execution: After approaching the person who falls into the water, the rescuer manually pulls the mechanical buckle at the bottom of the inflatable lifebuoy 8, triggering the instant inflation of the liquid nitrogen cylinder, delivers the lifebuoy to the person who falls into the water and helps him / her put it on, then releases the drive button to stop the propulsion and completes the rescue.

[0044] After the rescue is completed, release the lifebuoy gas, unscrew the liquid nitrogen cylinder interface and replace it with a new cylinder, and it can be used again.

[0045] This embodiment is used to be installed in parks, scenic spots and other scenic lakes. Adding a solar self-charging system, like a traditional lifebuoy is generally installed in scenic spots, parks and other scenic lakes with large flow of people, so that people in need can use it at any time.

[0046] Example 2

[0047] Reference Figure 1-Figure 5 The remote control mode of the multifunctional water rescue auxiliary robot is suitable for scenarios where it is inconvenient for rescuers to enter the water (such as rapids and low-temperature waters). It requires two robots to work together. The specific steps are as follows:

[0048] Equipment combination: Align the strong magnet combination parts 6 of the two robots to form a double-body structure (overall size is about 300×250×90mm), and ensure that the connection is firm; check that the main switches 5 of both devices are turned off and the lithium battery power is ≥70%.

[0049] Connection and control: Turn on the main switches 5 of the two robots to automatically start the wireless hotspot (communication protocol is TCPSocket); rescuers connect to the hotspot via their mobile phones and open the Android control app (developed in Java). The interface displays the real-time camera image (dual RGB cameras 3 form binocular vision, and the image stitching delay is ≤0.1 second).

[0050] Remote rescue: Use the APP's virtual joystick to control the speed of the underwater thruster 7 (adjust the forward / reverse speed) and the rotation angle of the waterproof servo 9 (control the heading) to drive the combined robot to move towards the person who fell into the water; after approaching the target, click the "Inflate" button on the APP, and the signal is transmitted wirelessly to the robot's relay module, triggering the waterproof servo 9 to rotate and open the inflatable lifebuoy 8. After completing the rescue, send a "Return" command through the APP to control the robot to return to the shore.

[0051] This embodiment is designed to be installed on the banks of rivers and lakes in the wild. The additional wheel and leg mechanism automatically monitors people who fall into the water and automatically dives into the water to rescue them, becoming a lifeguard for people who swim in the wild, fall into the water accidentally, or attempt suicide.

[0052] Example 3

[0053] Reference Figure 1-Figure 5 The AI ​​autonomous mode of the multifunctional water rescue auxiliary robot is suitable for multi-target rescue or scenarios where rescuers are unable to operate (such as rescuing multiple people at the same time). It relies on the robot's autonomous decision-making. The specific steps are as follows:

[0054] Combination and startup: Complete the combination of the two robots in the same way as step 1 in Example 2. After turning on the main switch 5, the device automatically connects to the preset WIFI and starts the ROS2 Jazzy system, entering the autonomous mode (no manual intervention required).

[0055] Target recognition and positioning: Dual RGB cameras 3 capture real-time images of the water area and transmit them to the Raspberry Pi 5 main control unit, which uses the YOLOv11 target detection algorithm to identify people in the water. Simultaneously, the nine-axis IMU inertial navigation module collects the robot's own posture data and, combined with binocular visual parallax calculation, determines the three-dimensional coordinates of the person in the water relative to the robot.

[0056] Autonomous path planning and execution: The path planning node generates the shortest obstacle avoidance path based on the improved A* algorithm and combined with water obstacle information (identified in real time by the camera); the thruster control node adjusts the speed of the underwater thruster 7 through the PID algorithm, and the waterproof servo 9 automatically corrects the heading, driving the robot to navigate along the planned path (cruising speed 0.8m / s, obstacle avoidance response time ≤0.5 seconds).

[0057] Automatic rescue: When the robot arrives within 1m of the drowning person, the decision node determines that it has "reached the target", triggering the inflatable lifebuoy 8 to automatically open; after completion, the robot identifies the initial position based on the IMU data, plans the return path, autonomously returns to the shore and turns off the thrusters, waiting for the next instruction.

[0058] This embodiment is used to be installed in the trunk of a patrolman's motorcycle or car. The robot is small and can be easily placed in the trunk of the patrolman's vehicle, making it convenient for the patrolman to initiate rescue in a timely manner while protecting his own safety.

[0059] In the embodiment, the three modes can be switched by pressing and holding the main switch 5 for 3 seconds. During the switching process, the device automatically saves the current state to ensure rescue continuity.

[0060] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A multifunctional water rescue auxiliary robot, comprising a cabin (1), characterized in that: A bracket (2) is fixed in front of the upper surface of the cabin (1), an RGB camera (3) is provided at the front end of the bracket (2), a driving button (4) is provided on the outer surface of the bracket (2), a main switch (5) is provided on the upper surface of the cabin (1) on the right side of the bracket (2), a combination piece (6) is fixed on the right side of the cabin (1), an underwater propeller (7) is fixed on the bottom of the cabin (1), an inflatable life buoy (8) is fixed on the left side of the cabin (1), a waterproof steering gear (9) is provided at the bottom of the inflatable life buoy (8), and four strap holes (10) are opened through the upper surface of the cabin (1).

2. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The cabin (1) is fixed with two arm fixing straps through the four strap holes (10), and the arm fixing straps are polyester elastic tendon braided straps.

3. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The cabin (1) is internally provided with a main control unit, a lithium battery, a nine-axis IMU inertial navigation module, a relay module, a step-down module, a waterproof switch, and an electronic speed regulator; the main control unit is a Raspberry Pi 5.

4. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The combined piece (6) is made of a strong magnetic material.

5. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The motor in the underwater propeller (7) adopts a 550W maximum power waterproof motor, which can provide a maximum forward thrust (24V) of 7.5kgf when matched with a propeller, and can enable a 70kg person to move forward at a speed of 1m / s in water.

6. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: It also includes a software system, which includes a control framework based on ROS2~Jazzy, a YOLOv11 target detection algorithm, an improved A* path planning algorithm and an Android control APP, and supports dual-machine distributed data interaction.

7. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The cabin (1) is made of PETG material by 3D printing, with a filling rate of 15%, and the through holes are treated with waterproof sealant, and have IP67 waterproof performance.

8. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The inflatable lifebuoy (8) is driven by a liquid nitrogen cylinder, and the time from triggering to full inflation is ≤ 2 seconds. After exhausting, the cylinder can be replaced and reused.

9. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The nine-axis IMU inertial navigation module works in conjunction with the RGB camera (3) to calculate the relative posture of the robot and the person who falls into the water in real time, with a posture measurement error of ≤1°.

10. The multifunctional water rescue auxiliary robot according to claim 1, characterized in that: The weight of a single robot is ≤3kg, and the size of two robots combined is ≤350×250×100mm, which can be stored in the trunk of a motorcycle.

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