Rescue device capable of automatically identifying drowning person

Abstract

The invention relates to the technical field of automatic rescue, in particular to a rescue device capable of automatically identifying a drowning person, which comprises a main body plate, the upper end and one side of the main body plate are of opening structures, and the upper end of the main body plate is provided with a grabbing and cutting mechanism for clamping legs of the drowning person and cutting aquatic plants; the grabbing and cutting mechanism comprises two containing cavities formed in the side face of an opening in the upper end of the main body plate, winding mechanisms are connected into the two containing cavities correspondingly, grabbing and grass cutting single bodies are slidably connected into the two containing cavities correspondingly, and each grabbing and grass cutting single body comprises a first fixing body. The cambered surface ends of the two grabbing and cutting single bodies are fixedly connected with connecting ropes respectively; a controller on the side face of the first fixing body drives a control valve to be opened, a second impeller drives water flow to pass through the control valve and then impact guide rods, and therefore the guide rods are driven to move along guide holes, and extrusion rings at the ends of the four guide rods are driven to clamp the surfaces of the leg roots of the drowning person.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic rescue, and in particular to a rescue device that automatically identifies drowning people. Background Art

[0002] An automatic rescue boat is a water rescue device with automated functions. It is mainly used in beach rescue, flood disaster rescue, military training and combat support. It can quickly find drowning people and automatically drive to the vicinity of the drowning people for rescue. Its working principle is as follows:

[0003] Environmental perception: With the help of various sensors such as radar, sonar, and cameras, the surrounding environment information is collected in real time, such as the location of obstacles, water flow speed, and the sounds of drowning people.

[0004] Decision-making and planning: Based on the perceived environmental information, the system automatically plans the optimal navigation route and rescue plan through built-in algorithms and decision-making systems.

[0005] Execution and control: According to the planned plan, the rescue ship's navigation direction, speed and posture are precisely controlled through the power system and control system to carry out the rescue mission.

[0006] The side of the existing automatic rescue device is generally provided with structures such as a lifebuoy and a grab board. When the rescue device approaches the drowning person, the drowning person grabs the lifebuoy or grab board for rescue. However, the drowning person will become unconscious within 1 to 2 minutes of drowning. The existing rescue device cannot rescue the unconscious drowning person, which has great limitations. The existing automatic rescue device cannot perform CPR on the drowning person according to the body shape of the drowning person, causing the drowning person to miss the best rescue time. For some waters with a lot of aquatic plants, if the aquatic plants are entangled around the ankles, the existing automatic rescue device cannot cut the aquatic plants and cannot perform rescue. Summary of the Invention

[0007] The purpose of the present invention is to solve the shortcomings of the background technology and to propose a rescue device for automatically identifying drowning people.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is: a rescue device for automatically identifying drowning people, comprising a main body plate, the upper end and one side of the main body plate being open structures, the upper end of the main body plate being provided with a grabbing and cutting mechanism for clamping the legs of the drowning person and cutting water grass, the grabbing and cutting mechanism comprising two accommodating cavities opened on the side of the opening at the upper end of the main body plate, the two accommodating cavities being respectively connected to a reeling mechanism, the two accommodating cavities being respectively slidably connected to a grabbing and cutting grass unit, the two grabbing and cutting grass units respectively comprising a first fixed body, one end of the two first fixed bodies being an arc surface structure, the two grabbing and cutting grass units being respectively fixedly connected to a connecting rope at the arc surface end, the other end of the two connecting ropes being connected to the reeling mechanism, the upper end of the main body plate being provided with an automatic CPR mechanism for automatically performing CPR according to the body shape of the drowning person, the upper end of the main body plate being provided with a sonar detection mechanism for receiving the drowning person's distress signal and locating the drowning person at a position near the arc end, and the lower end of the main body plate being provided with an automatic moving mechanism for pushing and rotating the main body plate.

[0009] Preferably, the two first fixed bodies are respectively provided with a first empty groove at the end away from the connecting rope, the two first fixed bodies are respectively fixedly connected with a biaxial electric telescopic rod in the first empty groove, the telescopic ends of the two biaxial electric telescopic rods are respectively fixedly connected with the first electric telescopic rod, the telescopic ends of the four first electric telescopic rods are respectively fixedly connected with the second fixed body, the ends of the two first fixed bodies are provided with a camera system, the first fixed body is provided with a power jet mechanism for providing power at the end close to the connecting rope, and four symmetrically arranged directional jet mechanisms are provided on the side of the first fixed body.

[0010] Preferably, a first placement groove is provided at the upper end and one side of the second fixed body, a first motor is fixedly connected to one side of the second fixed body, a first cavity and a second cavity are respectively provided on the side close to the first motor and the side opposite to the opening structure of the second fixed body, a transmission shaft of the first motor is fixedly connected to a first spur gear in the first cavity, the second fixed body is rotatably connected to a second spur gear meshing with the first spur gear in the first cavity, the second fixed body is rotatably connected to a first combination gear in the first cavity, the vertical section of the first combination gear is meshed with the second spur gear, the second fixed body is rotatably connected to the second combination gear and a third spur gear in the second cavity, the conical section of the second combination gear is meshed with the conical section of the first combination gear, and the vertical section of the second combination gear is meshed with the third spur gear.

[0011] Preferably, a through hole is provided on the inner side of the second combination gear and the side surface of the second fixed body, and a plurality of first connecting plates distributed at equal angles are fixedly connected to the inner side of the second combination gear, and the ends of the plurality of first connecting plates are fixedly connected to the first connecting rod, and the end of the first connecting rod is fixedly connected to the first impeller, and a through hole is provided on the inner side of the third spur gear and the side surface of the second fixed body, and a plurality of second connecting plates distributed at equal angles are fixedly connected to the inner side of the third spur gear, and the ends of the plurality of second connecting plates are fixedly connected to the second connecting rod, and the end of the second connecting rod is fixedly connected to the second impeller, and a guide hole communicating with the inner side of the third spur gear is provided on the side surface of the second fixed body, and a guide rod is slidably provided on the second fixed body in the guide hole, and the end face of the guide rod is fixedly connected to the extrusion ring.

[0012] Preferably, the transmission shaft end of the first motor is fixedly connected to a cutting wheel, a second placement groove is provided on the side of the second fixed body, a second electric telescopic rod is fixedly connected in the second placement groove, the telescopic end of the second electric telescopic rod is fixedly connected to a wedge-shaped body, and a feeding groove is provided at the upper end of the second fixed body.

[0013] Preferably, the automatic CPR mechanism includes two first limit grooves symmetrically opened on the upper end of the main body plate, the two first limit grooves are respectively fixedly connected to the second motors, the transmission shaft ends of the two second motors are respectively fixedly connected to the first threaded rods, the two first limit grooves are respectively slidably connected to the limit blocks, the two limit blocks are respectively arranged with the first threaded rods through threads, and the upper ends of the two limit blocks are fixedly connected to the third fixed body.

[0014] Preferably, a second limiting groove is provided at the lower end of the third fixed body, the third fixed body is fixedly connected to the third motor in the second limiting groove, the transmission shaft end of the third motor is fixedly connected to the second threaded rod, and a limiting plate is slidably fitted in the second limiting groove, the limiting plate and the second threaded rod are arranged by threaded fitting, the lower end of the limiting plate is fixedly connected to the third electric telescopic rod, the telescopic end of the third electric telescopic rod is fixedly connected to a flexible block, the lower end of the flexible block is provided with a second empty groove, the flexible block is fixedly connected to an air pump in the second empty groove, and the upper end of the flexible block is provided with a plurality of air outlet holes communicating with the second empty groove.

[0015] Preferably, a fixing plate is slidably provided at the opening structure on the upper end of the main body plate, and a plurality of equidistantly arranged third placement grooves are provided on the upper end of the fixing plate. The fixing plate is fixedly connected to the plurality of third placement grooves respectively, and the telescopic ends of the plurality of fourth electric telescopic rods are respectively fixedly connected to pressure sensors, and the upper ends of the plurality of pressure sensors are respectively fixedly connected to support plates.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. It can quickly receive the cry for help from the drowning person and start it through the controller, so as to move to the top of the drowning person. When the drowning person is unconscious in the water, the second electric telescopic rod drives the wedge-shaped body to clamp and limit the surface of the drowning person's leg roots. At the same time, it drives the water grass to contact with the cutting wheel to cut the water grass. The rotating second combination gear drives the third spur gear to rotate. The rotating third spur gear drives the second impeller to rotate through the second connecting plate and the second connecting rod. A control valve is provided in the guide hole. At this time, the controller on the side of the first fixed body drives the control valve to open, and the second impeller drives the water flow through the control valve to The guide rod impacts, thereby driving the guide rod to move along the guide hole, thereby driving the extrusion rings at the ends of the four guide rods to clamp the surface of the base of the drowning person's legs. When the first motor is turned off, the controller drives the control valve to close, keeping the pressure in the guide hole stable. The extrusion rings continue to clamp the surface of the base of the drowning person's legs, improving the stability of the grabbing and cutting units when driving the drowning person to move. After that, the reeling mechanism in the accommodating cavity reels the two grabbing and cutting units through the connecting rope. After that, the two grabbing and cutting units drive the drowning person to move to the fixed plate on the end surface of the main plate, thereby realizing the rescue of the unconscious drowning person.

[0018] 2. The controller extends and retracts the fourth electric telescopic rod according to the value of the pressure sensor, so that several support plates drive the drowning person's body to rotate to an angle suitable for CPR. Then the second motor and the third motor drive the flexible block to move to the drowning person's chest. Then the third electric telescopic rod extends and retracts, and presses the drowning person's chest through the flexible block. When the chest is pressed 30 times, the second motor and the third motor drive the flexible block to move to the drowning person's lips. Then the third electric telescopic rod drives the second empty groove at the lower end of the flexible block to contact the drowning person's lips. Then the air pump is started, thereby simulating two artificial respirations, so that the drowning person can be rescued while the device swims to the shore, thereby improving the survival efficiency of the drowning person. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 The present invention is a sectional view of the whole Figure 1 ;

[0021] Figure 3 The present invention is a sectional view of the whole Figure 2 ;

[0022] Figure 4 This is a cross-sectional view of the grass-grass-cutting unit structure of the present invention;

[0023] Figure 5This is a cross-sectional view of the structure of the grass-grasping and cutting unit of the present invention. Figure 1 ;

[0024] Figure 6 This is a cross-sectional view of the structure of the grass-grabbing and cutting unit of the present invention. Figure 2 ;

[0025] Figure 7 For the present invention Figure 2 A magnified view of point A;

[0026] Figure 8 For the present invention Figure 2 Enlarged view of point B;

[0027] Figure 9 For the present invention Figure 3 Enlarged view of point C;

[0028] Figure 10 For the present invention Figure 6 Enlarged view of point D.

[0029] 1. Main body; 2. Grasping and cutting mechanism; 3. Automatic CPR mechanism; 4. Sonar detection mechanism; 5. Automatic movement mechanism; 21. Accommodating chamber; 22. Grasping and cutting unit; 23. Connecting rope; 2201. First fixed body; 2202. Power jet mechanism; 2203. Directional jet mechanism; 2204. Biaxial electric telescopic rod; 2205. First electric telescopic rod; 2206. Second fixed body; 2207. First motor; 2208. Feed chute; 2209. Wedge-shaped body; 2210. First placement slot; 2211. First spur gear; 2212. Second spur gear; 2213. First combination gear; 2214. Second combination gear; 2215. Third spur gear; 2216. First cavity; 2217. Second cavity; 2218. Second electric telescopic rod; 2219. Second placement slot; 2220, guide hole; 2221, guide rod; 2222, cutting wheel; 2223, extrusion ring; 2224, first impeller; 2225, first connecting plate; 2226, second impeller; 2227, first connecting rod; 2228, second connecting rod; 2229, second connecting plate; 2230, first empty slot; 31, fixing plate; 32, first limiting slot; 33, first threaded rod; 34, second motor; 35, third fixing body; 36, second limiting slot; 37, limiting plate; 38, second threaded rod; 39, third electric telescopic rod; 310, flexible block; 311, third placement slot; 312, fourth electric telescopic rod; 313, support plate; 314, third motor; 315, limiting block; 316, second empty slot; 317, air pump; 318, air outlet. DETAILED DESCRIPTION

[0030] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0031] See also Figure 1 - Figure 10 A rescue device for automatically identifying drowning people includes a main body plate 1. The upper end and one side of the main body plate 1 are open structures. The upper end of the main body plate 1 is provided with a grabbing and cutting mechanism 2 for clamping the legs of the drowning person and cutting aquatic plants. The grabbing and cutting mechanism 2 includes two accommodating cavities 21 opened on the side of the opening at the upper end of the main body plate 1. The two accommodating cavities 21 are respectively connected to a winding mechanism, and the two accommodating cavities 21 are respectively slidably connected to a grabbing and cutting grass unit 22.

[0032] In this embodiment, the two grabbing and cutting grass units 22 respectively include a first fixed body 2201, one end of the two first fixed bodies 2201 is a curved surface structure, and the two grabbing and cutting grass units 22 are respectively fixedly connected to a connecting rope 23 at the curved surface end, and the other end of the two connecting ropes 23 is connected to the winding mechanism.

[0033] The two first fixed bodies 2201 are respectively provided with a first slot 2230 at the end away from the connecting rope 23. The two first fixed bodies 2201 are respectively fixedly connected with a biaxial electric telescopic rod 2204 in the first slot 2230. The telescopic ends of the two biaxial electric telescopic rods 2204 are respectively fixedly connected with a first electric telescopic rod 2205. The telescopic ends of the four first electric telescopic rods 2205 are respectively fixedly connected with a second fixed body 2206. The ends of the two first fixed bodies 2201 are provided with a camera system. The first fixed body 2201 is provided with a power jet mechanism 2202 for providing power at the end close to the connecting rope 23. Four symmetrically arranged directional jet mechanisms 2203 are provided on the side of the first fixed body 2201.

[0034] The upper end and one side of the second fixed body 2206 are provided with a first placement groove 2210, and the first motor 2207 is fixedly connected to one side of the second fixed body 2206. The second fixed body 2206 is provided with a first cavity 2216 and a second cavity 2217 on the side close to the first motor 2207 and the side opposite to the opening structure, respectively. The transmission shaft of the first motor 2207 is fixedly connected to the first straight gear 2211 in the first cavity 2216, and the second fixed body 2206 is rotatably connected to a gear meshing with the first straight gear 2211 in the first cavity 2216. The second spur gear 2212 is arranged in a circle, and the second fixed body 2206 is rotatably connected to the first combination gear 2213 in the first cavity 2216. The vertical section of the first combination gear 2213 is meshed with the second spur gear 2212. The second fixed body 2206 is rotatably connected to the second combination gear 2214 and the third spur gear 2215 in the second cavity 2217 respectively. The conical section of the second combination gear 2214 is meshed with the conical section of the first combination gear 2213, and the vertical section of the second combination gear 2214 is meshed with the third spur gear 2215.

[0035] A through hole is provided on the inner side of the second combination gear 2214 and the side surface of the second fixed body 2206. A plurality of first connecting plates 2225 distributed at equal angles are fixedly connected to the inner side of the second combination gear 2214. The ends of the plurality of first connecting plates 2225 are fixedly connected to the first connecting rods 2227. The ends of the first connecting rods 2227 are fixedly connected to the first impeller 2224. A through hole is provided on the inner side of the third spur gear 2215 and the side surface of the second fixed body 2206. The inner side of the third spur gear 2215 is fixed to the inner side of the second fixed body 2206. It is fixedly connected with several second connecting plates 2229 distributed at equal angles, the ends of several second connecting plates 2229 are fixedly connected with second connecting rods 2228, the ends of the second connecting rods 2228 are fixedly connected with the second impeller 2226, and the side of the second fixed body 2206 is provided with a guide hole 2220 that communicates with the inner side of the third spur gear 2215, and the second fixed body 2206 is slidably provided with a guide rod 2221 in the guide hole 2220, and the end face of the guide rod 2221 is fixedly connected with an extrusion ring 2223.

[0036] The transmission shaft end of the first motor 2207 is fixedly connected to the cutting wheel 2222, and the side of the second fixed body 2206 is provided with a second placement groove 2219, and the second electric telescopic rod 2218 is fixedly connected in the second placement groove 2219, and the telescopic end of the second electric telescopic rod 2218 is fixedly connected to the wedge body 2209, and the upper end of the second fixed body 2206 is provided with a feeding groove 2208.

[0037] Specifically, during the movement of the second fixed body 2206, the second electric telescopic rod 2218 extends, driving one side of the wedge-shaped body 2209 to contact the legs. When the legs of the drowning person are entangled by water plants, the arc-shaped body at the upper end of the wedge-shaped body 2209 drives the water plants wrapped around the legs to move into the feed trough 2208 on the end face of the second fixed body 2206, thereby cutting the water plants through the rotating cutting wheel 2222.

[0038] In this embodiment, the upper end of the main plate 1 is provided with an automatic CPR mechanism 3 for automatically performing CPR according to the body shape of the drowning person, the upper end of the main plate 1 is provided with a sonar detection mechanism 4 for receiving the drowning person's distress signal and locating the drowning person at a position near the arc end, and the lower end of the main plate 1 is provided with an automatic moving mechanism 5 for pushing and rotating the main plate 1.

[0039] The automatic CPR mechanism 3 includes two first limiting grooves 32 symmetrically opened at the upper end of the main body plate 1, and the two first limiting grooves 32 are respectively fixedly connected with a second motor 34, and the transmission shaft ends of the two second motors 34 are respectively fixedly connected with a first threaded rod 33, and the two first limiting grooves 32 are respectively slidably connected with a limiting block 315, and the two limiting blocks 315 are respectively arranged with the first threaded rod 33 through threaded cooperation, and the upper ends of the two limiting blocks 315 are fixedly connected with a third fixed body 35.

[0040] A second limiting groove 36 is provided at the lower end of the third fixed body 35, and a third motor 314 is fixedly connected to the third fixed body 35 in the second limiting groove 36. A second threaded rod 38 is fixedly connected to the transmission shaft end of the third motor 314. A limiting plate 37 is slidably fitted in the second limiting groove 36. The limiting plate 37 and the second threaded rod 38 are arranged by threaded fitting. The lower end of the limiting plate 37 is fixedly connected to a third electric telescopic rod 39, and the telescopic end of the third electric telescopic rod 39 is fixedly connected to a flexible block 310. A second empty groove 316 is provided at the lower end of the flexible block 310, and an air pump 317 is fixedly connected to the flexible block 310 in the second empty groove 316. A plurality of air outlet holes 318 communicating with the second empty groove 316 are provided at the upper end of the flexible block 310.

[0041] A fixing plate 31 is slidably provided at the opening structure at the upper end of the main body plate 1. A plurality of equally spaced third placement grooves 311 are provided at the upper end of the fixing plate 31. The fixing plate 31 is fixedly connected to the plurality of third placement grooves 311 respectively. The telescopic ends of the plurality of fourth electric telescopic rods 312 are respectively fixedly connected to pressure sensors, and the upper ends of the plurality of pressure sensors are respectively fixedly connected to support plates 313.

[0042] Specifically, the camera recognition mechanism at the lower end of the flexible block 310 scans the outline of the human body, thereby identifying the body shape and mouth and nose of the drowning person. The controller then extends and retracts the fourth electric telescopic rod 312 according to the value of the pressure sensor, so that several support plates 313 drive the drowning person's body to rotate to an angle suitable for CPR. The second motor 34 and the third motor 314 then drive the flexible block 310 to move to the chest of the drowning person. The third electric telescopic rod 39 then extends and retracts, pressing the drowning person's chest through the flexible block 310.

[0043] When in use, the device moves on the river surface within a predetermined rescue range under the drive of the automatic moving mechanism 5. When someone is drowning and calls for help, the sonar detection mechanism 4 can receive the audio of the person calling for help and locate the person. The sonar detection mechanism 4 and the grabbing and cutting mechanism 2 are electrically connected to the automatic moving mechanism 5 through the controller. At this time, the sonar detection mechanism 4 controls the automatic moving mechanism 5 to start, thereby driving the main plate 1 to the area of ​​the drowning person. When the sonar detection mechanism 4 continues to receive signals, that is, when the drowning person is still conscious, the upper end of the main plate 1 is connected to the lifebuoy through a retractable rope. At this time, the drowning person can grab the lifebuoy and then swim to the shore under the drive of the device. When the drowning person is unconscious, the sonar detection mechanism 4 can accurately detect the body outline of the drowning person based on existing sonar technology. Then the sonar detection mechanism 4 controls the two grabbing and cutting grass units 22 through the controller. The two grabbing and cutting grass units 22 are moved to the left and right feet of the drowning person respectively under the drive of the controller, ensuring that the drowning person is in a face-up position after being grabbed by the grabbing and cutting grass units 22.

[0044] A controller is provided on the side of the first fixed body 2201, and then the power jet mechanisms 2202 on the sides of the two first fixed bodies 2201 are started under the drive of the controller. While the power jet mechanism 2202 drives the first fixed body 2201 to move, the four directional jet mechanisms 2203 are started under the drive of the controller to control the position where the end face of the first fixed body 2201 contacts the foot of the drowning person. At this time, the dual-axis electric telescopic rod 2204 is in an extended state, and then the four first electric telescopic rods 2205 are extended at the same time. The telescopic ends of the four first electric telescopic rods 2205 are respectively connected to the second fixed body 2206. When the second fixed body 2206 moves along the legs of the drowning person, the first motor 2207 is started, and the first motor 2207 drives the cutting wheel 2222 to rotate. In the process of moving the second fixed body 2206, the second electric telescopic rod 2218 is extended, driving one side of the wedge-shaped body 2209 to contact the leg. When the leg of the drowning person is hit by water plants When the seaweed is entangled, the arc-shaped body at the upper end of the wedge-shaped body 2209 drives the seaweed wrapped around the leg to move into the feeding groove 2208 on the end face of the second fixed body 2206, so that the seaweed is cut by the rotating cutting wheel 2222. While cutting, the first motor 2207 drives the first spur gear 2211 to rotate, the first spur gear 2211 engages to drive the second spur gear 2212 to rotate, the second spur gear 2212 engages to drive the first combination gear 2213 to rotate, and then the first combination gear 2213 drives the second combination gear 2214 to rotate. The inner side of the second combination gear 2214 is connected to the first impeller 2224 through the first connecting plate 2225 and the first connecting rod 2227. When the cutting wheel 2222 cuts the seaweed, the first impeller 2224 can drive the cut seaweed to the outside of the second fixed body 2206 through the flowing water, preventing the cut seaweed from gathering in the first placement groove 2210 and causing entanglement of the cutting wheel 2222, thereby improving the reliability of the device.

[0045] When the second fixed body 2206 quickly cuts the entangled water plants on the legs under the drive of the first electric telescopic rod 2205, the second electric telescopic rod 2218 then drives the wedge-shaped body 2209 to clamp and limit the surface of the leg roots of the drowning person. At the same time, the rotating second combination gear 2214 drives the third spur gear 2215 to rotate, and the rotating third spur gear 2215 drives the second impeller 2226 to rotate through the second connecting plate 2229 and the second connecting rod 2228. A control valve is provided in the guide hole 2220. At this time, the controller on the side of the first fixed body 2201 drives the control valve to open, and the second impeller 2226 drives the water flow through the control valve to the guide rod 2221. The first motor 2207 is turned off, and the controller drives the control valve to close, so as to keep the pressure in the guide hole 2220 stable, and the extrusion ring 2223 continues to clamp the surface of the leg base of the drowning person, thereby improving the stability of the grabbing and cutting grass unit 22 when driving the drowning person to move. After that, the winding mechanism in the accommodating cavity 21 reels the two grabbing and cutting grass units 22 through the connecting rope 23, and then the two grabbing and cutting grass units 22 drive the drowning person to move to the fixed plate 31 on the upper end face of the main plate 1.

[0046] The main body plate 1 moves to the shore under the drive of the automatic moving mechanism 5. At this time, the drowning person is placed on the upper end surface of the fixed plate 31 in a face-up posture. The lower end surface of the flexible block 310 is provided with a camera recognition mechanism. At this time, the pressure sensors at the upper ends of several fourth electric telescopic rods 312 are electrically connected to the controller, the fourth electric telescopic rod 312, the air pump 317 and the camera recognition mechanism through wires. Then the two second motors 34 are started, and the two second motors 34 drive the first threaded rod 33 to rotate. Through the cooperation of the first threaded rod 33 and the limit block 315, the limit block 315 is driven to move back and forth along the first limit groove 32. Then the third motor 314 drives the second threaded rod 38 to rotate, and the second threaded rod 38 drives the limit plate 37 to move back and forth along the second limit groove 36. When the second limit groove 36 drives the flexible block 310 to move, the camera recognition mechanism at the lower end of the flexible block 310 performs the contour of the human body. The controller then extends and retracts the fourth electric telescopic rod 312 according to the value of the pressure sensor, so that the support plates 313 drive the body of the drowning person to rotate to a suitable angle for CPR. The second motor 34 and the third motor 314 drive the flexible block 310 to move to the chest of the drowning person. The third electric telescopic rod 39 then extends and retracts, and presses the chest of the drowning person through the flexible block 310. After pressing the chest 30 times, the second motor 34 and the third motor 314 drive the flexible block 310 to move to the lips of the drowning person. The third electric telescopic rod 39 then drives the second slot 316 at the lower end of the flexible block 310 to contact the lips of the drowning person. The air pump 317 is then started, thereby simulating two artificial respirations, thereby rescuing the drowning person while the device swims to the shore, thereby improving the survival efficiency of the drowning person.

[0047] In addition, a drowning monitoring algorithm can also be designed. The specific steps are as follows

[0048] Step 1: Multi-sensor data acquisition and preprocessing

[0049] Visual data acquisition: The camera system captures images of the water area, and the YOLOV11 lightweight model is used to detect human targets in real time. The optical flow method is simultaneously used to track the human movement trajectory, record parameters such as movement speed, acceleration, and stillness time, and identify characteristic drowning movements such as "head continuously below the water surface" and "inverted V-shaped posture."

[0050] Sonar and pressure data collection: The sonar detection mechanism analyzes the intensity of the reflected waves and movement trajectory of the human body under the water surface, and combines the water pressure sensor data to determine whether the human body is in a sinking state (the water pressure suddenly increases and does not rise again).

[0051] Environmental data acquisition: The sensors of the automatic moving mechanism obtain environmental parameters such as water flow speed and wave amplitude. At the same time, the image processing algorithm eliminates interference such as floating plants in areas with dense aquatic plants.

[0052] Step 2: Environmental Adaptation and Data Fusion

[0053] Environmental noise filtering: Dynamically adjust the detection threshold based on environmental data such as water flow speed and wave amplitude to reduce false alarms caused by environmental factors.

[0054] Multimodal data fusion: Integrate visual features, sonar data, water pressure data and environmental parameters to build a multi-dimensional drowning behavior analysis model.

[0055] Step 3: Deep learning warning and real-time response

[0056] Spatiotemporal feature extraction: The fused multimodal data is input into the spatiotemporal convolutional network (ST-CNN) to extract the spatial features (human posture) and temporal features (action sequence) of consecutive video frames.

[0057] Drowning probability calculation: The ST-CNN model outputs a drowning probability value, and an alert is triggered when the probability is ≥ 0.8.

[0058] Edge computing deployment: NVIDIA Jetson Nano edge computing modules enable local real-time inference, quickly output monitoring results, and shorten data transmission delays.

[0059] The personnel positioning scheme can be as follows:

[0060] Step 1: Positioning technology selection and deployment

[0061] It adopts Beidou + GPS dual-mode positioning, combined with RTK (real-time kinematic) technology to improve accuracy to centimeter level (base station deployment is required).

[0062] The main body of the rescue device is equipped with a waterproof Beidou / GPS module to obtain its own coordinates in real time; through signal interaction with the sonar detection mechanism, the azimuth and distance of the drowning person relative to the device are calculated.

[0063] UWB base station arrays are deployed in scenes such as beaches and swimming pools, and rescue equipment and drowning people (if they carry positioning tags) can achieve centimeter-level positioning through pulse signals.

[0064] Positioning principle: Calculate the distance by measuring the signal flight time (ToF) and solve the three-dimensional coordinates by combining the triangulation positioning method.

[0065] Sonar and inertial navigation (underwater positioning)

[0066] Multi-beam sonar: emits fan-shaped sound waves to cover the water area, constructs underwater point cloud maps through echo time difference, and locates unconscious and drowning people (stationary targets).

[0067] Inertial Navigation System (INS): Utilizes the accelerometer and gyroscope of the first fixed body to calculate the movement trajectory of the device and assist in correcting the sonar positioning error.

[0068] Step 2: Multi-source data collaboration

[0069] Automatically switch positioning technology according to different scenarios, integrate satellite, UWB, sonar and inertial navigation data to provide a basic data source for subsequent dynamic positioning.

[0070] The sonar detection mechanism receives the drowning person's distress signal (if conscious), calculates the direction of the sound source using a time difference of arrival (TDOA) algorithm, and drives the autonomous mobile mechanism closer. If no sound source signal is detected, the system scans the water using a visual algorithm, locks onto the suspected drowning target, and then triggers the sonar for precise positioning. As the rescue device approaches the target, it uses visual-inertial odometry (VIO) to fuse camera and IMU data to provide real-time updates on the drowning person's position. After the device grasps the drowning person, it uses the tension sensor on the connecting rope and the device's movement data to infer the drowning person's drag trajectory in the water and optimize path planning. The extended Kalman filter (EKF) fuses multi-source data (satellite, sonar, and vision) to eliminate interference from water flow disturbances, sensor noise, and other factors, and outputs the optimal estimated position.

[0071] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A rescue device for automatically identifying drowning persons, comprising a main body plate (1), wherein the upper end and one side of the main body plate (1) are open structures, and characterized in that: The upper end of the main body plate (1) is provided with a grabbing and cutting mechanism (2) for clamping the legs of a drowning person and cutting water grass. The grabbing and cutting mechanism (2) comprises two accommodating cavities (21) provided on the side of the upper end opening of the main body plate (1). The two accommodating cavities (21) are respectively connected to a reeling mechanism. The two accommodating cavities (21) are respectively slidably connected to a grabbing and cutting grass unit (22). The two grabbing and cutting grass units (22) respectively comprise a first fixed body (2201). One end of the two first fixed bodies (2201) is a curved surface structure. The two grass-grass-cutting units (22) are respectively fixedly connected to connecting ropes (23) at the arc surface ends, and the other ends of the two connecting ropes (23) are connected to a reeling mechanism. The upper end of the main body plate (1) is provided with an automatic CPR mechanism (3) for automatically performing CPR according to the body shape of the drowning person. The upper end of the main body plate (1) is provided with a sonar detection mechanism (4) for receiving the drowning person's distress signal and locating the drowning person at a position close to the arc end. The lower end of the main body plate (1) is provided with an automatic moving mechanism (5) for pushing and rotating the main body plate (1).

2. The rescue device for automatically identifying drowning persons according to claim 1, characterized in that: The two first fixed bodies (2201) are respectively provided with a first slot (2230) at the end away from the connecting rope (23); the two first fixed bodies (2201) are respectively fixedly connected with a biaxial electric telescopic rod (2204) in the first slot (2230); the telescopic ends of the two biaxial electric telescopic rods (2204) are respectively fixedly connected with a first electric telescopic rod (2205); the telescopic ends of the four first electric telescopic rods (2205) are respectively fixedly connected with a second fixed body (2206); the ends of the two first fixed bodies (2201) are provided with a camera system; the end of the first fixed body (2201) close to the connecting rope (23) is provided with a power jet mechanism (2202) for providing power; and four symmetrically arranged directional jet mechanisms (2203) are provided on the side of the first fixed body (2201).

3. The rescue device for automatically identifying drowning persons according to claim 2, characterized in that: The upper end and one side of the second fixed body (2206) are provided with a first placement groove (2210), one side of the second fixed body (2206) is fixedly connected to the first motor (2207), the second fixed body (2206) is provided with a first cavity (2216) and a second cavity (2217) on the side close to the first motor (2207) and the side opposite to the opening structure, respectively, the transmission shaft of the first motor (2207) is fixedly connected to the first straight gear (2211) in the first cavity (2216), and the second fixed body (2206) is rotatably connected to a gear meshing with the first straight gear (2211) in the first cavity (2216). The second fixed body (2206) is rotatably connected to the first combined gear (2213) in the first cavity (2216), the vertical section of the first combined gear (2213) is meshed with the second spur gear (2212), the second fixed body (2206) is rotatably connected to the second combined gear (2214) and the third spur gear (2215) in the second cavity (2217), the conical section of the second combined gear (2214) is meshed with the conical section of the first combined gear (2213), and the vertical section of the second combined gear (2214) is meshed with the third spur gear (2215).

4. The rescue device for automatically identifying drowning persons according to claim 3, characterized in that: A through hole is provided on the inner side of the second combined gear (2214) and the side surface of the second fixed body (2206); a plurality of first connecting plates (2225) distributed at equal angles are fixedly connected to the inner side of the second combined gear (2214); the ends of the plurality of first connecting plates (2225) are fixedly connected to the first connecting rod (2227); the end of the first connecting rod (2227) is fixedly connected to the first impeller (2224); a through hole is provided on the inner side of the third spur gear (2215) and the side surface of the second fixed body (2206); the inner side of the third spur gear (2215) is fixedly connected to the first connecting rod (2227); A plurality of second connecting plates (2229) distributed at equal angles are connected, the ends of the plurality of second connecting plates (2229) are fixedly connected to second connecting rods (2228), the ends of the second connecting rods (2228) are fixedly connected to the second impeller (2226), a guide hole (2220) communicating with the inner side of the third spur gear (2215) is provided on the side of the second fixed body (2206), a guide rod (2221) is slidably provided on the second fixed body (2206) in the guide hole (2220), and an extrusion ring (2223) is fixedly connected to the end face of the guide rod (2221).

5. The rescue device for automatically identifying drowning persons according to claim 3, characterized in that: The transmission shaft end of the first motor (2207) is fixedly connected to a cutting wheel (2222), a second placement groove (2219) is provided on the side of the second fixed body (2206), a second electric telescopic rod (2218) is fixedly connected in the second placement groove (2219), a telescopic end of the second electric telescopic rod (2218) is fixedly connected to a wedge-shaped body (2209), and a feeding trough (2208) is provided at the upper end of the second fixed body (2206).

6. The rescue device for automatically identifying drowning persons according to claim 1, characterized in that: The automatic CPR mechanism (3) comprises two first limiting grooves (32) symmetrically arranged at the upper end of the main body plate (1), the two first limiting grooves (32) are respectively fixedly connected with a second motor (34), the transmission shaft ends of the two second motors (34) are respectively fixedly connected with a first threaded rod (33), the two first limiting grooves (32) are respectively slidably connected with a limiting block (315), the two limiting blocks (315) are respectively arranged with the first threaded rod (33) through threaded engagement, and the upper ends of the two limiting blocks (315) are fixedly connected with a third fixed body (35).

7. The rescue device for automatically identifying drowning persons according to claim 6, characterized in that: A second limiting groove (36) is provided at the lower end of the third fixed body (35), and a third motor (314) is fixedly connected to the third fixed body (35) in the second limiting groove (36). A second threaded rod (38) is fixedly connected to the transmission shaft end of the third motor (314). A limiting plate (37) is slidably fitted in the second limiting groove (36). The limiting plate (37) and the second threaded rod (38) are provided by threaded fitting. A third electric telescopic rod (39) is fixedly connected to the lower end of the limiting plate (37). The telescopic end of the third electric telescopic rod (39) is fixedly connected to a flexible block (310). A second empty groove (316) is provided at the lower end of the flexible block (310), and an air pump (317) is fixedly connected to the flexible block (310) in the second empty groove (316). A plurality of air outlet holes (318) communicating with the second empty groove (316) are provided at the upper end of the flexible block (310).

8. The rescue device for automatically identifying drowning persons according to claim 1, characterized in that: A fixing plate (31) is slidably provided at the opening structure at the upper end of the main body plate (1), and a plurality of third placement slots (311) arranged at equal intervals are provided at the upper end of the fixing plate (31). The fixing plate (31) is fixedly connected to fourth electric telescopic rods (312) in the plurality of third placement slots (311), and the telescopic ends of the plurality of fourth electric telescopic rods (312) are fixedly connected to pressure sensors, and the upper ends of the plurality of pressure sensors are fixedly connected to support plates (313).

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