A water and ice rescue robot

Abstract

The application discloses a water and ice area rescue robot, which comprises a central hull, side wing plates symmetrically connected to the two sides of the hull through nonlinear stiffness elastic members, and an array of electric heating films arranged on the bottom surfaces of the hull and the side wing plates in a partitioned and independently powered manner; an ice surface driving wheel is arranged at the front part of the hull, an underwater propeller is arranged at the tail part of the hull, an electric heating anchor nail system with an electric push rod is arranged at the rear edge of the bottom of the hull, an electric heating element is arranged in the electric heating anchor nail, and a temperature sensor and a displacement sensor are integrated; a lifesaving towing assembly composed of an ejection mechanism, a life buoy, a winch with an independent driving motor and a traction rope is integrated at the tail part of the hull, a power supply control assembly containing a battery and a controller is arranged, an ice layer diagnosis alarm module linked with the winch is arranged in the controller; the shape of the hull and the side wing plates is passively switched by relying on buoyancy and self-weight, and the risk of low-temperature sticking is lower; the electric heating film can form a lubricating water film to reduce the grounding pressure on the ice surface, the electric heating anchor nail can be hot-melted and pierced to be frozen and anchored, the sensor can cooperate with the diagnosis module to predict the bearing capacity of the ice layer, and the towing risk can be avoided.

Description

Technical Field

[0001] This invention relates to the field of rescue robot technology, specifically a rescue robot for water and ice areas. Background Technology

[0002] In winter, rescue operations involving falling into rivers and lakes due to ice collapses involve both open water and ice of varying thicknesses. Currently, rescue operations typically employ separate specialized equipment for each. In water scenarios, remote-controlled lifeboats are often used to navigate the water and tow life rings, while on ice scenarios, independent ice-crawling robots and manually thrown rescue devices are relied upon. Deploying these two sets of equipment separately increases the workload of rescue personnel in transportation and operation, and prolongs the preparation time for on-site response.

[0003] Existing integrated rescue robots capable of operating on both water and ice surfaces mostly rely on actively driven morphing mechanisms to switch between the two modes. Common structures include multiple sets of moving actuators such as rotatable propeller assemblies and angle-adjustable wing plates. The entire morphing mechanism increases the overall weight of the robot. With the increased weight, greater thrust is required to maintain speed during water navigation, and the overall ground pressure increases when operating on ice, posing a risk of crushing the ice layer in thin ice areas. At the same time, the low temperature in winter rescue environments causes the viscosity of the lubricating medium inside the morphing mechanism to increase, and the plastic seals to shrink at low temperatures. The complex structure with multiple kinematic pairs is prone to joint jamming and unsmooth motion switching, reducing the reliability of equipment operation in low-temperature environments.

[0004] The process of dragging people out of the ice requires a stable anchoring structure to provide resistance to pull-out and slippage. Existing ice anchoring solutions mostly adopt two types of structures: mechanical claws and solid ballast counterweights. Mechanical claws rely on mechanical force to squeeze the ice layer to form a fixed point. The stress concentration at the point of action makes it easy to directly crack the ice surface when in contact with thin ice. Ballast counterweights will further increase the weight of the whole machine, which is also not conducive to passage in thin ice areas.

[0005] During the ice walking phase, the robot's bottom makes dry friction contact with the ice surface, resulting in high driving resistance. Localized load concentration during walking can also easily cause thin ice to crack. Conventional optimization methods only adjust the bottom anti-slip texture, which cannot improve the passage performance from the perspective of friction interface and load distribution. Existing integrated rescue robots still have room for optimization in terms of switching between water and ice media, passing through ice surfaces under low pressure, safe anchoring on thin ice, and predicting ice conditions. To address this, a rescue robot for water and ice zones is proposed. Summary of the Invention

[0006] One of the technical problems this application aims to solve is that existing rescue equipment that can operate in both water and ice areas has a complex structure, is prone to jamming at low temperatures, and is easily crushed when anchored on ice, making it difficult to meet the needs of passing through thin ice, stable anchoring, and rapid switching between ice and water rescue.

[0007] To address the aforementioned technical problems, this application provides a rescue robot for water and ice areas, comprising a central hull, a propulsion drive assembly, a rescue towing assembly, and a power supply control assembly. The power supply control assembly and the rescue towing assembly are housed inside the central hull, and the propulsion drive assembly is located at the front and rear of the central hull. The robot also includes two sets of symmetrically arranged side wing plates, multiple sets of nonlinear stiffness elastic elements, an electrothermal film array, and an electrothermal anchor system. Each set of side wing plates is connected to the side of the central hull through nonlinear stiffness elastic elements. Flat contact surfaces are provided on both the side wing plates and the bottom of the central hull, and an electrothermal film array is attached to all the flat contact surfaces. The electrothermal anchor system is located at the aft edge of the bottom of the central hull. The electrothermal anchor system includes an electric push rod and several electrothermal anchors. The electric push rod is embedded inside the central hull, and the electrothermal anchors are stored inside the bottom surface of the central hull. The output end of the electric push rod is fixedly connected to all the electrothermal anchors. The propulsion drive assembly includes an underwater propeller and an ice surface drive wheel. The underwater propeller is independently driven for water surface navigation, and the ice surface drive wheel is independently driven for ice surface travel. Nonlinear stiffness elastic components rely on buoyancy and gravity to achieve passive deformation and switch the overall shape of the machine. In water, the elastic components extend to stabilize the hull by submerging the side wing plates. In ice conditions, the self-weight compresses the elastic components, causing the central hull and the flat bottom surfaces of the side wing plates to simultaneously adhere to the ice surface to form a composite skid support.

[0008] In some embodiments, the electrothermal film array adopts a partitioned independent power supply structure, and the electrothermal film array is electrically connected to the power supply control component.

[0009] In some embodiments, the heating anchor is internally encapsulated with heating elements, and the power supply control component has a built-in capacitor discharge circuit, which is electrically connected to each heating element.

[0010] In some embodiments, each electrothermal anchor integrates a temperature sensor and a displacement sensor, both of which are connected to the power supply control component.

[0011] In some embodiments, the life-saving towing assembly includes an ejection mechanism, a life ring, a winch, and a towing rope. The ejection mechanism and the winch are both fixedly installed at the stern of the central hull. The winch is independently equipped with a drive motor, and one end of the towing rope is wound around the winch and the other end is connected to the life ring.

[0012] In some embodiments, the central hull has a V-shaped bottom structure, and ice-driving wheels are arranged below the front of the central hull. The ice-driving wheels only contact the ice surface in ice-surface mode and do not participate in operation when in water-surface mode.

[0013] In some embodiments, the side wing plate itself has a buoyancy structure, and the bottom of the side wing plate is a complete plane, which together with the bottom of the central hull in the ice surface mode forms a supporting sliding surface.

[0014] In some embodiments, the power supply control component has a built-in ice layer diagnosis and alarm module. The ice layer diagnosis and alarm module receives thermal curve and penetration resistance curve signals collected by temperature sensor and displacement sensor. The ice layer diagnosis and alarm module is linked with the winch control circuit.

[0015] In some embodiments, the electrothermal anchors are normally completely retracted within the outline of the bottom surface of the central hull, and when the electric push rod extends, all the electrothermal anchors are pushed downward through the bottom surface of the central hull.

[0016] In some embodiments, the power supply control component includes a battery and a controller. The battery provides power to the electrothermal film array, the electrothermal anchor system, the propulsion drive component, and the rescue towing component, respectively, and the controller uniformly regulates the working sequence of all electrical components.

[0017] This invention has at least the following beneficial effects: 1. The structural design, which connects the central hull and side wing plates using nonlinear stiffness elastic components and achieves passive deformation through buoyancy and gravity, enables automatic switching between water and ice conditions. This eliminates the need for an active deformation drive mechanism, reduces the possibility of mechanical jamming in low-temperature environments, and lowers the overall weight. A single unit can adapt to both types of rescue scenarios, simplifying on-site equipment deployment. The side wing plates' built-in buoyancy structure and the water-based layout, which extends and submerges in the water along with the elastic components, allow lateral buoyancy to counteract the central hull's heeling moment during navigation, improving stability during water surface navigation.

[0018] 2. A composite skid support structure is formed by splicing the central hull and the flat bottom surfaces of the side wing plates under ice conditions. This increases the contact area between the entire machine and the ice layer, disperses the overall load, reduces the ground pressure per unit area, and minimizes the risk of thin ice breaking under pressure. An electrothermal film array is bonded to all flat bottom contact surfaces, with independent power supply to each zone. During ice travel, a thin lubricating water film is generated on the contact surface with the ice layer, converting dry friction into liquid film friction, reducing driving resistance. Simultaneously, power is supplied only to the area in contact with the ice layer, reducing unnecessary energy consumption.

[0019] 3. The system utilizes a combination of an electric push rod and an electric anchor with a built-in heating element. During anchoring, the system briefly heats and melts the ice at the piercing point, reducing anchor penetration resistance. After heating stops, the ice refreezes, locking the anchor in place. This, combined with the frozen sliding surface at the bottom, creates a double constraint, resisting the horizontal tension generated during dragging and preventing the machine from slipping or becoming unanchored. The electric anchor integrates temperature and displacement sensors, with sensor signals connected to an ice layer diagnostic alarm module and linked to the winch control circuit. This system collects temperature and penetration resistance data during anchoring to assess the ice's load-bearing capacity. If the ice layer is insufficient, the dragging action is stopped, proactively mitigating the risk of secondary rescue operations due to ice breakage. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a front view of the overall structure of the present invention; Figure 4 This is a side view of the overall structure of the present invention. Figure 5 This is a bottom view of the overall structure of the present invention; Figure 6 This is a schematic diagram of the electrothermal anchor system of the present invention; Figure 7 This is a block diagram illustrating the signal processing principle for ice layer diagnosis in this invention. Figure 8 This is a flowchart of the water rescue operation process of the present invention; Figure 9 This is a flowchart of the ice rescue operation process of the present invention.

[0021] In the diagram, 1-Central hull; 2-Side wing plate; 3-Nonlinear stiffness elastic element; 4-Electrothermal film array; 5-Electrothermal anchor system; 51-Electro-push rod; 52-Electrothermal anchor; 53-Temperature sensor; 54-Displacement sensor; 61-Underwater propeller; 62-Ice surface drive wheel; 71-Ejection mechanism; 72-Life ring; 73-Windlass; 74-Towing rope; 75-Drive motor; 8-Battery; 9-Controller. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1: Please refer to Figure 1-6 A rescue robot for water and ice areas includes a central hull 1, a propulsion drive assembly, a rescue towing assembly, and a power supply control assembly. The power supply control assembly and the rescue towing assembly are housed inside the central hull 1. The propulsion drive assembly is located at the front and stern of the central hull 1, respectively. It also includes two sets of symmetrically arranged side wing plates 2, multiple sets of nonlinear stiffness elastic elements 3, an electrothermal film array 4, and an electrothermal anchor system 5. Each set of side wing plates 2 is connected to the side of the central hull 1 via nonlinear stiffness elastic element 3. Flat contact surfaces are provided on the bottom of both the side wing plates 2 and the central hull 1. The electrothermal film array 4 is attached to all the flat contact surfaces. The electrothermal anchor system 5 is located at the rear edge of the bottom of the central hull 1. The electrothermal anchor system 5 includes an electric push rod 51 and several electrothermal anchors 52. The electric push rod 51 is embedded inside the central hull 1, and the electrothermal anchors 52 are stored inside the bottom surface of the central hull 1. The output end of the electric push rod 51 is fixedly connected to all the electrothermal anchors 52. The propulsion drive assembly includes an underwater propeller 61 and an ice surface drive wheel 62. The underwater propeller 61 is independently driven for navigation on the water surface, and the ice surface drive wheel 62 is independently driven for driving on the ice surface. The nonlinear stiffness elastic element 3 relies on buoyancy and gravity to achieve passive deformation and switch the overall shape of the machine. In the water state, the elastic element extends to make the side wing plate 2 submerged in water to stabilize the hull. In the ice state, the self-weight compresses the elastic element, so that the flat bottom surfaces of the central hull 1 and the side wing plate 2 simultaneously stick to the ice surface to form a composite skid support.

[0024] Specifically, existing water rescue and ice rescue require two different sets of equipment. Conventional integrated equipment relies on active deformable components to switch between scenarios, but these components are prone to jamming in low-temperature environments. Furthermore, the overall weight is too large, making it difficult to balance water surface speed and ice surface ground pressure. The anchoring structure for ice towing operations is also unsuitable for use in thin ice areas. This invention addresses this by using a central hull 1 with side wing plates 2, nonlinear stiffness elastic elements 3, an electrothermal film array 4, an electrothermal anchor system 5, and separately located underwater propellers 61 and ice surface drive wheels 62. This allows a single device to simultaneously cover both water and ice rescue scenarios, reducing the use of active deformable components, lowering the probability of mechanical failure in low-temperature conditions, and optimizing the ice surface support structure and towing anchoring structure to improve the safety of operations in thin ice areas.

[0025] The central hull 1 serves as the main load-bearing structure, housing the power supply and control components and the rescue towing components. The front and stern sections house two types of actuators: propulsion and drive components. These components enable movement operations under two different conditions. Two sets of side panels 2 are symmetrically distributed on either side of the central hull 1, connected by multiple sets of nonlinear stiffness elastic elements 3. The deformation of these elements is driven solely by buoyancy and the weight of the entire machine, requiring no additional power source to control the deformation. When the machine is in water, buoyancy lifts the central hull 1 upwards, allowing the nonlinear stiffness elastic elements 3 to extend naturally without pressure. The side panels 2 descend and submerge synchronously with the elastic elements, using their own buoyancy to counteract the lateral tilting moment generated during the central hull 1's movement. When the machine is placed on ice, buoyancy disappears, and the machine's weight compresses the nonlinear stiffness elastic elements 3. The central hull 1 and side panels 2 sink synchronously, their flat contact surfaces at the bottom adhering to the ice surface, forming a large-area composite skid support structure that distributes the overall load.

[0026] All flat contact surfaces at the bottom of the central hull 1 and the bottom of the side wing plates 2 are fitted with an electrothermal film array 4. When energized, the electrothermal film array 4 generates a thin water film between the contact surface and the ice layer, changing the friction state between the contact surfaces and dispersing the pressure in the contact area. The electrothermal anchor system 5 is located at the rear edge of the bottom of the central hull 1. The system contains an electric push rod 51 embedded in the central hull 1, which is fixedly connected to multiple electrothermal anchors 52. When there is no operational need, all electrothermal anchors 52 are completely retracted inside the bottom surface of the central hull 1 to avoid affecting normal navigation. When towing and anchoring operations are carried out, the electric push rod 51 extends downward, driving all electrothermal anchors 52 to simultaneously penetrate the bottom surface of the central hull 1 and contact the ice layer. The propulsion drive assembly is divided into an underwater propeller 61 and an ice surface drive wheel 62. Each set of components is equipped with independent drive power. In water surface conditions, only the underwater propeller 61 is used for navigation, and in ice surface conditions, only the ice surface drive wheel 62 is used for movement on the ground. The two drive structures do not interfere with each other in their working states.

[0027] The passive switching of the entire machine's form is achieved by relying on the nonlinear stiffness elastic component 3. The machine no longer needs to be equipped with active flipping and telescopic mechanisms for scene switching, reducing the number of moving parts. The probability of parts getting stuck in low-temperature environments is reduced. At the same time, the power matching structure corresponding to the active deformation mechanism is eliminated, and the overall weight of the machine is controlled. When operating in water, the extended side wing plates 2 are immersed in the water, and the lateral buoyancy can restrain the roll amplitude of the central hull 1, improving the stability of the navigation process on the water surface. When operating on ice, the composite skid formed by the bottom of the central hull 1 and the side wing plates 2 expands the support area. Under the same overall weight, the load value per unit area is reduced, reducing the possibility of thin ice being crushed.

[0028] The electric heating film array 4 is attached to the entire ice surface contact plane. The thin water film generated by the electric current can transform solid dry friction into liquid film lubrication friction, reducing the driving resistance on the ice surface. The liquid film is evenly spread on the contact surface, which can also disperse concentrated stress and avoid local high pressure damaging the ice layer. The electric heating film array 4 only needs to maintain a thin layer of liquid water on the contact surface to meet the gliding requirements, without the need for continuous high-power heating, and the overall power consumption of the machine is controlled.

[0029] The electric heating anchor system 5 uses electric push rods 51 to simultaneously push multiple electric heating anchors 52 into the ice layer. When the anchors contact the ice layer, they generate heat for a short time to melt the ice layer at the contact point, reducing the resistance to anchor penetration. After the heat output stops, the low-temperature ice layer will refreeze the contact surface between the anchors and the ice layer to form a locking structure. Combined with the bottom support plane that is frozen after being heated by the electric heating film array 4, a double constraint structure is formed, which can counteract the horizontal pulling force generated during the process of dragging the person into the water, and prevent the whole machine from slipping or becoming detached from the anchor.

[0030] The underwater propeller 61 and the ice surface drive wheel 62 are independently driven. When traveling on the water surface, the ice surface drive wheel 62 is detached from the contact plane and does not participate in the movement, so it will not increase the water resistance and ensure the efficiency of water surface navigation. When traveling on the ice surface, the underwater propeller 61 stops working and will not interfere with the ice surface travel. The two drive structures are adapted to the movement needs of two different scenarios.

[0031] Example 2: Please refer to Figure 1-7 The electrothermal film array 4 adopts a partitioned independent power supply structure and is electrically connected to the power supply control component. The electrothermal anchor 52 internally encapsulates electrothermal elements, and the power supply control component has a built-in capacitor discharge circuit, which is electrically connected to each electrothermal element. Each electrothermal anchor 52 integrates a temperature sensor 53 and a displacement sensor 54, both of which are signal-connected to the power supply control component.

[0032] The life-saving towing assembly includes a catapult mechanism 71, a life ring 72, a winch 73, and a towing rope 74. The catapult mechanism 71 and the winch 73 are both fixedly installed at the stern of the central hull 1. The winch 73 is independently equipped with a drive motor. One end of the towing rope 74 is wound around the winch 73, and the other end is connected to the life ring 72.

[0033] Specifically, the electric heating film array 4 adopts a partitioned independent power supply structure and establishes an electrical connection with the power supply control component. This is because the flat contact surfaces at the bottom of the central hull 1 and the side wing plates 2 have different contact states with the ice layer during the ice-covered journey. A synchronous power supply would cause unnecessary energy loss. Partitioned power supply can deliver power to the areas in contact with the ice layer separately, while keeping the areas not in contact with the ice layer powered off. The power supply control component can independently manage the power on and off of each partition, thereby matching the heating needs under different driving postures. The overall energy consumption of the equipment can be reasonably controlled.

[0034] The electrothermal anchor 52 has an encapsulated electrothermal element inside, and the power supply control component has a capacitor discharge circuit that is electrically connected to all the electrothermal elements. This is to solve the problem that the electrothermal anchor 52 is difficult to penetrate deeply when it directly pierces the hard ice layer due to excessive resistance. The capacitor discharge circuit can output short-term electrical energy the moment the electrothermal anchor 52 contacts the ice layer. After receiving the electrical energy, the electrothermal element quickly generates heat to melt the ice layer at the contact point of the anchor tip, reducing the resistance of the metal anchor body to pierce the ice layer. The capacitor only releases electrical energy at the moment of piercing, and does not need to supply power continuously for a long time, which can reduce the loss caused by continuous output of electrical energy.

[0035] Each electrothermal anchor 52 is equipped with a temperature sensor 53 and a displacement sensor 54. Both types of sensors are connected to the power supply control component. During the process of the ice layer being heated, melted, and re-frozen by the electrothermal anchor 52, the temperature sensor 53 can continuously collect temperature change data of the ice layer around the anchor, and the displacement sensor 54 can record the distance the electrothermal anchor 52 moves downward into the ice layer and the change in travel resistance. The two types of sensor data are continuously transmitted to the power supply control component. The power supply control component can judge the thickness and density of the ice layer based on the collected signals. When the sensor data indicates that the ice layer's bearing capacity is insufficient, the power supply control component can limit the subsequent dragging action to avoid the additional risks caused by ice layer breakage. This sensor acquisition structure completes the ice layer status detection simultaneously with the piercing operation of the electrothermal anchor 52, without the need for additional independent ice layer detection components, and does not increase the overall structural volume of the machine.

[0036] The rescue towing assembly consists of a catapult mechanism 71, a lifebuoy 72, a winch 73, and a towing rope 74. The catapult mechanism 71 and the winch 73 are uniformly and fixedly arranged at the stern of the central hull 1. The winch 73 is equipped with its own drive motor. One end of the towing rope 74 is wrapped and stored on the surface of the winch 73, and the other end is connected to the lifebuoy 72. This arrangement allows the relevant components for deploying and retrieving people from the water to be centrally located at the stern of the entire machine. After the equipment reaches the vicinity of the person in the water, the catapult mechanism 71 can directly push the lifebuoy 72 to the person's location, allowing the person to grab the lifebuoy. After the lifebuoy 72 is positioned, the drive motor of the winch 73 starts, driving the traction rope 74 to retrieve the person in the water and pull them towards the central hull 1. The centralized arrangement of the structure allows the entire rescue operation to be completed in the same area, eliminating the need for operators to adjust the equipment or change their operating positions. The winch 73 is equipped with its own drive motor, and its power output is not limited by the power distribution of other moving parts, ensuring stable power output for the towing action. The traction rope 74 directly connects the winch 73 and the lifebuoy 72, resulting in a simple power transmission path and preventing any interruption of power transmission during the towing process.

[0037] Example 3: Please refer to Figure 1-7The central hull 1 has a V-shaped bottom structure. An ice-driving wheel 62 is installed at the lower front of the central hull 1. The ice-driving wheel 62 only contacts the ice surface in ice-covered mode; in water-covered mode, it detaches from the water's bottom and does not participate in operation. The side wing plates 2 have their own buoyancy structure, and their bottoms are completely flat. In ice-covered mode, they, together with the bottom of the central hull 1, form a supporting sliding surface. The power supply and control components include an ice layer diagnostic alarm module. This module receives thermal curves and penetration resistance curves from temperature sensors 53 and displacement sensors 54. The ice layer diagnostic alarm module is linked to the winch 73 control circuit.

[0038] The electrothermal anchors 52 are normally completely retracted within the bottom outline of the central hull 1. When the electric push rod 51 extends, it simultaneously pushes all the electrothermal anchors 52 downwards through the bottom surface of the central hull 1. The power supply and control components include batteries and a controller. The batteries provide power to the electrothermal film array 4, the electrothermal anchor system 5, the propulsion drive component, and the life-saving towing component. The controller uniformly regulates the working sequence of all electrical components.

[0039] Specifically, the central hull 1 adopts a V-shaped bottom structure. This shape can cut through the water during navigation, reducing the drag on the fuselage. At the same time, the V-shaped bottom can increase the buoyancy reserve of the whole machine when floating on the water surface, coping with the ups and downs caused by water waves. The ice surface drive wheel 62 is located at the lower front of the central hull 1. When the whole machine is on the water surface, the buoyancy of the water lifts the central hull 1 as a whole, and the ice surface drive wheel 62 is separated from the hard base below the water surface, so it will not have friction interference with the water. Only when the whole machine is placed on the ice surface and loses buoyancy support can the ice surface drive wheel 62 contact the ice layer to complete the movement drive. The two drive structures do not hinder each other's movement, and the energy consumption will not increase due to the ice surface drive wheel 62 being submerged in water when navigating on the water surface.

[0040] The side wing plate 2 has its own buoyancy structure. When the side wing plate 2 is immersed in water in a water environment, it generates lateral buoyancy, which counteracts the tendency of the central hull 1 to tilt due to the force on one side when it is sailing. The bottom of the side wing plate 2 is processed into a complete flat surface. When the whole machine switches to ice surface operation, this flat surface and the bottom surface of the central hull 1 are attached to the ice surface. The two are spliced ​​together to form a larger supporting sliding surface. The weight of the whole machine can be distributed to a larger contact area, the load per unit area of ​​the ice layer is reduced, and the probability of ice layer breaking when driving in thin ice area will decrease.

[0041] The power supply control component is equipped with an ice layer diagnosis and alarm module. Temperature change data collected by temperature sensor 53 and penetration displacement and resistance data collected by displacement sensor 54 are sent to this module. The module generates corresponding change curves based on the two types of data to determine the actual load-bearing capacity of the ice layer. The ice layer diagnosis and alarm module and the control circuit of winch 73 are linked. When the module detects that the ice layer load-bearing capacity does not meet the towing operation standard, it will send a limiting signal to the control circuit of winch 73. The winch 73 will not be able to start the towing action, thereby avoiding secondary danger caused by ice layer damage during the towing of people who have fallen into the water. The ice layer condition judgment is carried out simultaneously with the piercing operation of electrothermal anchor 52, without the need to add additional independent detection equipment that occupies the space of the machine body.

[0042] During normal operation, the electric heating anchors 52 are all retracted inside the bottom contour of the central hull 1, preventing them from protruding and causing scratches. The electric push rod 51 is installed inside the central hull 1. When anchoring operations are required, the electric push rod 51 extends downward, simultaneously driving all the electric heating anchors 52 to move downward and penetrate the bottom of the central hull 1 to contact the ice layer. The synchronous extension and retraction structure ensures that multiple electric heating anchors 52 can penetrate the ice layer at the same time, resulting in uniform force distribution and more stable anchoring restraint. After the towing operation is completed, the electric push rod 51 retracts, and the electric heating anchors 52 are retracted to the inside of the bottom surface, without affecting the return trip of the equipment.

[0043] The power supply and control components consist of a battery and a controller. The battery independently supplies power to the electrothermal film array 4, the electrothermal anchor system 5, the propulsion drive component, and the rescue towing component. The power source for each actuator is unified, eliminating the need for separate power supplies for each component and reducing the number of power supply components inside the machine. The controller establishes signal connections with all electrical components, enabling unified control over the start-up, shutdown, and power adjustment sequences of each component. When the machine switches between water and ice operating modes, the controller can synchronously match the corresponding components according to preset logic. Components not currently in operation remain in standby mode, reducing unnecessary energy consumption. Operators do not need to individually control each set of electrical components, simplifying the overall operation process.

[0044] The following is combined Figure 1-9 Introducing the working process of this device: like Figure 8 The complete water rescue operation procedure shown is as follows: S1. The operator deploys the entire machine to the water area to be rescued. The buoyancy of the water lifts the central hull 1 upward. The weight of the entire machine will not compress the nonlinear stiffness elastic element 3. The nonlinear stiffness elastic element 3 extends naturally. The side wing plates 2 fall into the water along with the elastic element. The buoyancy structure of the side wing plates 2 continuously provides lateral support force to counteract the tilt caused by water ripples during navigation and ensure the stable driving posture of the central hull 1.

[0045] S2. The controller distributes power according to a preset timing sequence based on the water surface conditions. The battery only supplies power to the underwater propeller 61 and the rescue towing assembly. The ice surface drive wheel 62 remains de-energized and stationary. Under buoyancy, the ice surface drive wheel 62 completely detaches from the bottom of the water, preventing friction with the water or underwater debris and thus reducing navigation resistance. The underwater propeller 61 rotates, propelling the entire machine towards the location of the person in the water. Upon reaching the target distance, the controller activates the ejection mechanism 71, which throws the lifebuoy 72 forward to the person in the water.

[0046] S3. After the person in the water has firmly grasped the lifebuoy 72, the controller starts the drive motor of the winch 73. The winch 73 slowly winds up the traction rope 74. The traction rope 74 pulls the lifebuoy 72 to drag the person in the water to the stern of the central hull 1 and fixes them. After confirming that the person is stable, the controller keeps the underwater propeller 61 running continuously, driving the entire machine to return to the safe area on the shore with the person in the water, completing all water rescue operations.

[0047] like Figure 9 As shown, the complete operation process for ice rescue is as follows: S1. The operator places the whole machine on the ice surface. The buoyancy of the water disappears completely. The weight of the whole machine presses down on the nonlinear stiffness elastic element 3. The elastic element is compressed and contracts. The central hull 1 and the two side wing plates 2 sink synchronously. The flat bottom surface of the central hull 1 and the complete flat bottom surface of the side wing plates 2 are attached to the ice layer together, forming a large-area composite support sliding surface. The ice surface drive wheel 62 contacts the ice layer synchronously.

[0048] S2. The controller switches to the ice surface operation sequence, and the battery cuts off power to the underwater propeller 61, supplying power only to the ice surface drive wheel 62, the electrothermal film array 4, the electrothermal anchor system 5, and the sensing components. The ice surface drive wheel 62 rotates, driving the entire machine to move on the ice surface. If the ice layer in the travel section is relatively thin, the controller activates the corresponding partition circuit of the electrothermal film array 4 that contacts the ice layer. After the electrothermal film array 4 is powered on, a thin water film is formed between the contact surface and the ice layer, reducing the frictional resistance of the contact surface and dispersing the load of the entire machine, preventing local pressure from crushing the thin ice. The entire machine continues to move towards the ice hole location by relying on the water film lubrication.

[0049] S3. After the entire machine reaches the edge of the ice hole, the controller disconnects the power supply to the electric heating film array 4. The thin layer of water film remaining on the contact surface freezes rapidly in the low temperature environment, initially bonding the bottom of the central hull 1 and the side wing plates 2 to the ice layer, achieving temporary parking of the entire machine. Subsequently, the controller activates the electric heating anchor system 5. The electric push rod 51 embedded inside the central hull 1 extends downward, simultaneously pushing all the electric heating anchors 52 through the bottom surface of the central hull 1 to contact the ice layer.

[0050] S4. The capacitor discharge circuit inside the power supply control component instantly supplies electrical energy to the heating element inside the heating anchor 52. The heating element generates heat for a short time to melt the ice layer at the contact point of the anchor tip, reducing the piercing resistance. The heating anchor 52 then pierces into the ice layer. After the discharge ends, the surrounding low-temperature ice layer quickly absorbs the heat, and the water film formed by the melting freezes again, firmly locking the heating anchor 52 to the ice layer.

[0051] S5. During the entire process of the electric heating anchor 52 piercing the ice layer, the temperature sensor 53 continuously collects the temperature change data of the ice layer around the anchor, and the displacement sensor 54 simultaneously records the downward movement distance of the electric heating anchor 52 and the piercing resistance. The two types of sensor signals are transmitted in real time to the ice layer diagnosis and alarm module built into the power supply control component. The module generates temperature change curves and piercing resistance curves based on the signals to determine the thickness and density of the ice layer.

[0052] S6. The ice layer diagnosis and alarm module is synchronously connected to the control circuit of the winch 73. If the curve data reflects that the ice layer bearing capacity is insufficient, the module directly locks the control circuit of the winch 73, the winch 73 cannot start, the whole machine stays in place and issues an alarm to prompt the operator to change the work point; if the various indicators of the ice layer meet the requirements of the towing operation, the module releases the circuit lock, the controller starts the drive motor of the winch 73, the winch 73 winds up the traction rope 74, and pulls the lifebuoy 72 to drag the person who fell into the ice hole toward the position of the whole machine.

[0053] S7. During the towing operation, the frozen connection between the electrothermal anchors 52 and the ice provides anti-pull-out constraint, while the frozen surface at the bottom of the hull provides anti-slip constraint. This dual constraint counteracts the horizontal pulling force generated by towing, preventing the entire machine from slipping or becoming unanchored. After the person in the water is towed to the stern of the central hull 1 and secured, the controller controls the electric push rod 51 to retract upwards, causing all the electrothermal anchors 52 to return to within the outline of the bottom surface of the central hull 1. The controller then restores power to the ice-driven wheels 62, and the entire machine, carrying the person in the water, returns to a safe area on the shore along the ice surface, completing the entire ice rescue operation.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A rescue robot for water and ice areas, comprising a central hull (1), a propulsion drive assembly, a rescue towing assembly, and a power supply control assembly, wherein the power supply control assembly and the rescue towing assembly are housed inside the central hull (1), and the propulsion drive assembly is respectively located at the front and rear of the central hull (1); characterized in that: It also includes two sets of symmetrically arranged side wing plates (2), multiple sets of nonlinear stiffness elastic elements (3), an electrothermal film array (4), and an electrothermal anchor system (5). Each set of side wing plates (2) is connected to the side of the central hull (1) through the nonlinear stiffness elastic element (3). The bottom of the side wing plates (2) and the central hull (1) are provided with flat contact surfaces. The electrothermal film array (4) is attached to all the flat contact surfaces. The electrothermal anchor system (5) is located at the rear edge of the bottom of the central hull (1). The nonlinear stiffness elastic element (3) relies on buoyancy and gravity to achieve passive deformation and switch the overall shape. In the water state, the elastic element extends to make the side wing plate (2) submerged in water to stabilize the hull. In the ice state, the self-weight compresses the elastic element to make the bottom flat surfaces of the central hull (1) and the side wing plate (2) simultaneously stick to the ice surface to form a composite skid support.

2. The water and ice rescue robot according to claim 1, characterized in that: The electrothermal film array (4) adopts a partitioned independent power supply structure, and the electrothermal film array (4) is electrically connected to the power supply control component; The electrothermal anchor system (5) includes an electric push rod (51) and a number of electrothermal anchors (52). The electric push rod (51) is embedded inside the central hull (1), and the electrothermal anchors (52) are housed inside the bottom surface of the central hull (1). The output end of the electric push rod (51) is fixedly connected to all the electrothermal anchors (52). The propulsion drive assembly includes an underwater propeller (61) and an ice surface drive wheel (62). The underwater propeller (61) is independently driven for water surface navigation, and the ice surface drive wheel (62) is independently driven for ice surface travel.

3. The water and ice rescue robot according to claim 1, characterized in that: The electric heating anchor (52) is internally encapsulated with an electric heating element, and the power supply control component has a built-in capacitor discharge circuit, which is electrically connected to each of the electric heating elements.

4. The water and ice rescue robot according to claim 3, characterized in that: Each of the electrothermal anchors (52) integrates a temperature sensor (53) and a displacement sensor (54), both of which are signal-connected to the power supply control component.

5. The water and ice rescue robot according to claim 1, characterized in that: The life-saving towing assembly includes a catapult mechanism (71), a life ring (72), a winch (73), and a towing rope (74). The catapult mechanism (71) and the winch (73) are both fixedly installed at the stern of the central hull (1). The winch (73) is independently equipped with a drive motor (75). One end of the towing rope (74) is wrapped around the winch (73), and the other end is connected to the life ring (72).

6. The water and ice rescue robot according to claim 1, characterized in that: The central hull (1) has a V-shaped bottom structure. The ice surface drive wheel (62) is arranged below the front of the central hull (1). The ice surface drive wheel (62) only contacts the ice surface in ice surface mode and does not participate in the work when it is in water surface mode.

7. The water and ice rescue robot according to claim 1, characterized in that: The side wing plate (2) has its own buoyancy structure. The bottom of the side wing plate (2) is a complete plane. In the ice surface state, it together with the bottom surface of the central hull (1) forms a supporting sliding surface.

8. The water and ice rescue robot according to claim 4, characterized in that: The power supply control component has a built-in ice layer diagnosis and alarm module. The ice layer diagnosis and alarm module receives the thermal curve and piercing resistance curve signals collected by the temperature sensor (53) and the displacement sensor (54). The ice layer diagnosis and alarm module is linked with the control loop of the winch (73).

9. The water and ice rescue robot according to claim 1, characterized in that: The electric heating anchor (52) is normally completely retracted within the bottom contour of the central hull (1). When the electric push rod (51) extends, it simultaneously pushes all the electric heating anchors (52) downward through the bottom surface of the central hull (1).

10. The water and ice rescue robot according to claim 1, characterized in that: The power supply control component includes a battery (8) and a controller (9). The battery (8) provides power to the electrothermal film array (4), the electrothermal anchor system (5), the propulsion drive component, and the rescue dragging component, respectively. The controller (9) uniformly regulates the working sequence of all electrical components.

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