Intelligent homing type amphibious lifesaving transportation boat

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to life-saving equipment technical field especially relates to an intelligent homing amphibious life-saving transport boat. BACKGROUND

[0002] For the wounded transport in the field task execution or island combat, the traditional mode often needs to send a number of rescue teams to evacuate the wounded, and each transport needs to spend several hours, and in the process of transporting the wounded, they may also be subjected to the secondary threat of enemy fire, further increasing the consumption of forces and the risk of combat, thereby delaying the overall attack rhythm of the team, and even being forced to give up some important combat tasks or positions.

[0003] At present, there is a lack of life-saving equipment for battlefield wounded transport, especially unmanned transport equipment that can ensure safety and improve efficiency. In view of the vacancy of the life-saving equipment, the present scheme provides an intelligent homing amphibious life-saving transport boat. UTILITY MODEL CONTENT

[0004] In view of the deficiencies of the prior art, the utility model provides an intelligent homing amphibious life-saving transport boat;

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

[0006] The double-hull is spliced into one body by two independent hulls and a deck plane, rubber anti-collision strips are arranged on the edges of the double-hull deck, and rescue material warehouses are arranged inside the two sides of the hull; the cabin head is provided with the decision control system.

[0007] Irregular grooves are arranged in the middle of the double-hull deck, the grooves are provided with quick-release limiting tracks, the life-saving capsule warehouse is fixed on the life-saving boat deck through the quick-release limiting tracks, cylindrical limiting blocks that can be controlled to rise are arranged in the middle of the quick-release limiting tracks, cylindrical grooves corresponding to the bottom of the life-saving capsule warehouse are arranged, the cylindrical limiting blocks are raised after the life-saving capsule warehouse is installed, and travel limiting blocks are arranged at the ends of the quick-release limiting tracks;

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

[0009] The data acquisition system comprises a panoramic camera, a laser radar, an ultrasonic radar, a sonar and a GPS positioning module, the panoramic camera is installed at the head of the cabin and has a real-time monitoring function, the laser radar is located at the top of the cabin and is responsible for collecting obstacle information in front of the ship body to realize obstacle detection and autonomous obstacle avoidance, the ultrasonic radars are uniformly distributed on both sides of the ship body and the stern to collect distance information of obstacles around the ship body, the sonars are respectively arranged at the head and tail of the bottom of the ship body to sense the distance information of the water bottom, and the GPS positioning module collects the position information of the transport boat.

[0010] The amphibious power system comprises an electric propeller, a wheel hub motor, a power supply module and a power drive board, the electric propeller and the wheel hub motor are installed on both sides of the bottom of the double-hull, eight wheel hub motor main wheels, two impact wheels and two electric propellers are symmetrically arranged, the wheel hub motor main wheels are located directly below the ship body, the impact wheels are located in front of the wheel hub motor main wheels, and the two are connected with the ship body through a fixed seat, the wheel hub motor main wheels and the impact wheels are provided with a damping mechanism and an anti-swing device, a hydraulic actuator is arranged in the damping mechanism, a damping spring is arranged outside the hydraulic actuator, the anti-swing device is composed of an upper anti-swing arm and a lower anti-swing arm, the lower anti-swing arm is connected with the wheel hub motor outer extension shaft, and the upper anti-swing arm is connected with the fixed seat, the power supply module is composed of a lithium battery and a power distribution board, the lithium battery is arranged in the transport boat body, and the lithium battery supplies power to the lifesaving capsule warehouse, the decision control system, the data acquisition system and the amphibious power system through the connected power distribution board.

[0011] The decision control system comprises a board computer, a main control board and a signal conversion module, the output ends of the panoramic camera, the laser radar, the ultrasonic radar, the sonar and the main control board are connected with the board computer, the output ends of the GPS positioning module and the signal conversion module are connected with the main control board, the output end of the signal conversion module is connected with the input end of the power drive board, and the output end of the power drive board is connected with the amphibious power system; the water bottom distance data collected by the sonar is sent to the main control board through the board computer, the main control board judges the water bottom distance information to realize switching of electric propeller or wheel hub motor power instruction transmission to the signal conversion module, then the signal conversion module converts into different driving signals and inputs into the power drive board, and then the electric propeller or the wheel hub motor is driven to run;

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

[0013] Preferably, the head of the double-hull is provided with a crash barrier, the two sides of the cabin are provided with searchlight warning lamps, and a medical first-aid kit is arranged on the deck.

[0014] The beneficial effects produced by the technical scheme are as follows:

[0015] The intelligent homing amphibious lifesaving transport boat has two sets of power systems, can adapt the boat body to different water areas and land environments, the electric propeller at the rear of the boat body can effectively pass through water area environments such as water surface and lake, the wheels at both sides of the boat body facilitate the boat body to travel on the beach and river bank, the environmental adaptability of the rescue transport boat is enhanced, and the defect of single function of the traditional lifesaving boat is overcome.

[0016] The intelligent homing amphibious lifesaving transport boat has an intelligent homing function, can realize dynamic obstacle avoidance under complex and changeable natural conditions, can safely return to the base or the designated safe area without manual intervention, greatly reduces the consumption of human resources compared with the traditional rescue mode, and improves the efficiency of the rescue action.

[0017] The intelligent homing amphibious lifesaving transport boat carries the lifesaving capsule bin, can stabilize the vital signs of the wounded and sick in a short time, reduces the risk of secondary injury caused by environmental changes in the transfer process, and facilitates the rescue personnel to quickly transfer the wounded and sick for further treatment, significantly improves the survival quality of the wounded and sick in the rescue process, and improves the overall rescue success rate. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structure schematic view of the intelligent homing amphibious lifesaving transport boat of the utility model;

[0019] Figure 2 It is a front view of the intelligent homing amphibious lifesaving transport boat of the utility model;

[0020] Figure 3 It is a side view of the intelligent homing amphibious lifesaving transport boat of the utility model;

[0021] Figure 4 It is a top view of the intelligent homing amphibious lifesaving transport boat of the utility model;

[0022] Figure 5 It is a bottom view of the intelligent homing amphibious lifesaving transport boat of the utility model;

[0023] Figure 6 It is a lifesaving capsule bin of the utility model;

[0024] Figure 7 It is a quick-release limiting track of the utility model;

[0025] Figure 8 It is a lifesaving capsule bin track of the utility model;

[0026] Figure 9This utility model is a decision control system;

[0027] Figure 10 The present invention relates to a shock absorption design for the hub motor.

[0028] Figure 11 This is a circuit connection diagram of the decision control system of this utility model;

[0029] In the diagram, 1-Double hull, 101-Quick-release limit rail, 102-Limit slide rail, 103-Cylindrical limit block, 104-Rescue supply compartment, 2-Life-saving capsule compartment, 201-Temperature and humidity control module, 202-Constant oxygen protection unit, 203-Transparent observation cover, 204-Life-saving capsule grip, 205-Cylindrical groove, 3-Data acquisition system, 301-Panoramic camera, 302-LiDAR, 303-GPS positioning module, 304-Ultrasonic radar, 305-Sonar, 4-Decision control system 401-Onboard computer, 402-Main control board, 403-Signal conversion module, 5-Amphibious power system, 501-Electric propeller, 502-Hub motor, 503-Lower anti-swing arm, 504-Shock absorber spring, 505-Hydraulic actuator, 506-Fixed base, 507-Upper anti-swing arm, 508-Distributor board, 509-Power drive board, 6-Communication system, 601-High-power image and data transmission device, 602-Signal amplifier, 7-Rubber anti-collision strip, 8-Searchlight warning light, 9-Medical first aid kit. Detailed Implementation

[0030] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0031] A smart homing amphibious rescue transport vessel, such as Figure 1 As shown, its front view, side view, top view, and bottom view are respectively as follows: Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, it includes a twin hull 1, a life capsule 2, a data acquisition system, a decision and control system, an amphibious propulsion system, and a communication system;

[0032] The twin hulls provide a mounting platform for other modules; the life-saving capsule can maintain the vital signs of critically injured patients and provide a suitable transfer environment; the decision control system enables the amphibious rescue transport boat to make intelligent homing, autonomous obstacle avoidance, and amphibious switching decisions; the data acquisition system collects environmental information around the transport boat to achieve self-positioning and obstacle avoidance; the amphibious propulsion system can autonomously switch between electric propellers and hub motors based on environmental information sent by the onboard computer; and the communication system enables communication with a remote control console, providing remote emergency intervention capabilities.

[0033] The twin hull 1 is composed of two independent hulls spliced ​​together with the deck plane. The hull surface is smooth and conforms to the streamlined design. Rubber anti-collision strips 7 are provided on the edge of the deck of the twin hull 1. The rescue material compartments 104 are provided inside the two sides of the hull. The decision control system is provided at the bow of the hull.

[0034] An irregular groove is provided in the middle of the deck of the double hull 1. The groove is equipped with a quick-release limiting rail 101. The life capsule compartment 2 is fixed to the lifeboat deck by the quick-release limiting rail. The quick-release limiting rail 101 is as follows: Figure 7 As shown, its groove is a limiting slide rail 102, with a cylindrical limiting block 103 that can be raised in the middle, corresponding to the cylindrical groove 205 at the bottom of the life capsule 2. It is raised after the life capsule 2 is installed to prevent the life capsule 104 from sliding back and forth during the transport boat's operation. The end of the quick-release limiting rail 101 is provided with a travel limiting block to restrict the life capsule 2 to be above the raiseable cylindrical limiting block during installation.

[0035] The life-saving capsule compartment 2 is as follows Figure 6 As shown, the bottom is equipped with tracks that mate with the deck, such as... Figure 8 As shown, a cylindrical groove is provided in the middle; the rescue capsule 2 is equipped with a temperature and humidity regulation module 201 and a constant oxygen protection unit 202, which can automatically regulate the temperature and humidity inside the capsule, ensuring air circulation while providing necessary oxygen support for the wounded; the rescue capsule 2 is equipped with a rescue capsule grip 204, which facilitates the gripping of the rescue capsule when transporting the wounded; the rescue capsule 2 is equipped with a transparent observation cover 203, allowing medical personnel to observe and treat the wounded and take necessary emergency measures.

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

[0037] The amphibious propulsion system 5 includes an electric propeller 501, a hub motor 502, a power module, and a power drive plate 509. The electric propeller and hub motor are mounted on both sides of the bottom of the twin hulls, symmetrically arranged with eight hub motor main wheels, two impact wheels, and two electric propellers. The hub motor 502 main wheels are located directly below the hull, and the impact wheels are located in front of the hub motor main wheels. Both are connected to the hull via fixed mounts. The hub motor 502 main wheels and impact wheels are equipped with shock absorption mechanisms and anti-sway devices. Figure 10 As shown, the shock absorption mechanism is equipped with a hydraulic actuator 505 inside, and a shock-absorbing spring 504 is installed outside the hydraulic actuator 505. The anti-sway device consists of an upper anti-sway arm 507 and a lower anti-sway arm 503. The lower anti-sway arm 503 is connected to the extended shaft of the hub motor, and the upper anti-sway arm 507 is connected to the fixed seat 506, which can effectively reduce the impact of vibration. The power module consists of a lithium battery and a power distribution board 508. The lithium battery is located inside the transport boat and supplies power to the life capsule, decision control system, data acquisition system and amphibious power system through the power distribution board 508.

[0038] The decision control system 4, as described Figure 9 As shown, the system includes an onboard computer 401, a main control board 402, and a signal conversion module 403. The outputs of the panoramic camera 301, lidar 302, ultrasonic radar 304, sonar 305, and the main control board 402 are all connected to the onboard computer 401. The outputs of the GPS positioning module 303 and the signal conversion module 403 are connected to the main control board 402. The output of the signal conversion module 403 is connected to the input of the power drive board 509, and the output of the power drive board is connected to the amphibious propulsion system. The underwater distance data collected by the sonar is sent to the main control board via the onboard computer. The main control board determines the underwater distance information and switches between the electric propeller and the hub motor. The power command is transmitted to the signal conversion module, which then converts it into different drive signals and inputs them to the power drive board, thereby driving the electric propeller or hub motor. In this embodiment, the main control board is a Pixhwak6c mini control board, specifically as shown below. Figure 11 As shown;

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

[0040] Preferably, the bow of the double hull is equipped with a crash barrier, searchlights 8 are installed on both sides of the cabin, and a medical first aid kit 9 ​​is provided on the deck.

[0041] Once the wounded appear in the field execution tasks or island combat, the smart homing transport boat can be used to transport the wounded back without affecting the overall plan and ensuring sufficient forces. The specific operation is to place the wounded in the life capsule warehouse 2, push the life capsule warehouse 2 into the ship body through the limiting track 101, raise the cylindrical limiting block 103 to fix the life capsule warehouse 2, and activate the life monitoring function of the life capsule warehouse 2 at the same time. At this time, the vital sign monitor in the cabin detects the vital signs of the wounded in real time and sends them to the on-board computer 401. The temperature and humidity adjusting module 201 and the constant oxygen guardian unit 202 automatically adjust the temperature and humidity and oxygen balance in the cabin to provide a good transportation environment for the wounded. The transparent observation cover 203 provided on the cabin body ensures that medical personnel can observe and treat the wounded in real time and take necessary emergency measures. After the wounded are placed, the one-key return function is started. The smart homing transport boat will receive the return instruction through the signal amplifier 602, send the return point and task information to the on-board computer 401, and the on-board computer 401 will prepare to realize automatic return combined with the satellite map. First, start the power module to power the data acquisition system 3 and amphibious power system 5. The sonar 305 sends the collected water bottom distance information to the on-board computer 401, which judges the environment condition combined with the satellite map. If the result is land, the decision control system 4 sends the switching hub motor 502 power instruction to the main control board 402, which converts the driving signal of the hub motor 502 through the signal conversion module 403 after receiving the information, and inputs it to the power drive board 509, and then drives the hub motor 502 to run, controlling the transport boat to drive on land. In the process of driving, if it encounters rivers or lakes and other environmental areas, the on-board computer 401 automatically judges that it is in water area, and the decision control system 4 sends the switching electric screw propeller 501 power instruction to the main control board 402, which converts the driving signal of the electric screw propeller 501 through the signal conversion module 403 after receiving the information, and inputs it to the power drive board 509, and then drives the electric screw propeller 501 to run, controlling the transport boat to cross the water area in front. In the process of driving, if it encounters obstacles that hinder the forward movement, the laser radar is combined with the main control board to identify the obstacles, and after fusing the data collected by the laser radar 302 and the ultrasonic radar 304, the size, distance and other information of the obstacles are obtained. Then, according to the GPS positioning module 303, the position of the transport boat is obtained, the transport boat is controlled to cross the obstacles in front, and the life capsule boat is ensured to reach the destination.

[0042] In the above process, the data collected by the data acquisition system 3 and the physical information of the wounded detected by the lifesaving capsule warehouse 2 will be sent to the remote control end of the medical point through the high-power data transmission device 601 for the background monitoring and control. The medical first-aid kit 9 placed on the deck can provide necessary assistance to the wounded. If the rescue occurs at night, the searchlight warning lamp 8 placed on both sides of the cabin can provide illumination. The rubber anti-collision strip 7 is provided on the edge of the transport boat deck, and the anti-collision guardrail is provided on the head of the double-hull body. The drive wheels of the transport boat in land mode are provided with a damping mechanism and an anti-swing device, which can reduce the secondary collision damage that the wounded may suffer during transportation.

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

Claims

1. An intelligent homing amphibious life-carrying transport boat, characterized in that, The double hull is spliced into one body with two independent hulls and deck plane, rubber anti-collision strips are arranged on the edges of the double hull deck, and rescue material warehouses are arranged inside the two sides of the hull; the decision control system is arranged on the head of the cabin; The data acquisition system comprises a panoramic camera, a laser radar, an ultrasonic radar, a sounder and a GPS positioning module, the panoramic camera is installed on the head of the cabin and has a real-time monitoring function, the laser radar is located on the top of the cabin and is responsible for collecting obstacle information in front of the hull, realizing obstacle detection and autonomous obstacle avoidance; the ultrasonic radars are uniformly distributed on the two sides and the stern of the hull, collecting distance information of obstacles around the hull; the sounders are arranged on the head and tail of the bottom of the hull, sensing distance information of the water bottom; the GPS positioning module collects position information of the transport boat; The amphibious power system comprises an electric propeller, a hub motor, a power module and a power drive board, the electric propeller and the hub motor are installed on the two sides of the bottom of the double hull, eight hub motor main wheels, two impact wheels and two electric propellers are symmetrically arranged, the hub motor main wheels are located directly below the hull, the impact wheels are located in front of the hub motor main wheels, and the two are connected with the hull through fixing seats, the hub motor main wheels and the impact wheels are provided with damping mechanisms and anti-swing devices, the damping mechanisms are internally provided with hydraulic actuators, the hydraulic actuators are externally provided with damping springs, the anti-swing devices are composed of upper and lower anti-swing arms, the lower anti-swing arm is connected with the hub motor outer extension shaft, and the upper anti-swing arm is connected with the fixing seat, the power module is composed of lithium batteries and a power distribution board, the lithium batteries are located in the transport boat body, and the lithium batteries supply power to the rescue capsule warehouse, the decision control system, the data acquisition system and the amphibious power system through the connecting power distribution board; The decision control system comprises a board computer, a main control board and a signal conversion module; the communication system comprises a high-power image data transmission device and a signal amplifier, the high-power image data transmission device is connected with the panoramic camera, the laser radar and the ultrasonic radar in the data acquisition system, and real-time data collected is sent to a remote control end through the high-power image data transmission device, and the signal amplifier is connected with the board computer and located on the top of the cabin. The bottom of the rescue capsule warehouse is provided with a track matched with the deck, and a cylindrical groove is arranged in the middle; a temperature and humidity adjusting module and a constant oxygen guardian unit are arranged in the rescue capsule warehouse, the rescue capsule warehouse is provided with a rescue capsule holding place, and the rescue capsule warehouse is provided with a transparent observation cover.

2. A smart homing amphibious life transport boat according to claim 1, wherein, Irregular grooves are arranged in the middle of the double hull deck, and the grooves are provided with quick-release limiting tracks.

3. A smart homing amphibious life transport craft as claimed in claim 2, wherein, The rescue capsule warehouse is fixed on the deck of the rescue boat through the quick-release limiting track, a cylindrical limiting block that can be controlled to rise is arranged in the middle of the quick-release limiting track, the cylindrical limiting block corresponds to the cylindrical groove arranged at the bottom of the rescue capsule warehouse and rises after the installation of the rescue capsule warehouse is completed, and a stroke limiting block is arranged at the end of the quick-release limiting track.

4. The intelligent homing amphibious life transport craft as claimed in claim 1, wherein, ​ 5. The intelligent homing amphibious life transport craft as claimed in claim 1, wherein, The output ends of the panoramic camera, the laser radar, the ultrasonic radar, the sonar and the main control board are connected with the on-board computer, the output ends of the GPS positioning module and the signal conversion module are connected with the main control board, the output end of the signal conversion module is connected with the input end of the power driving board, the output end of the power driving board is connected with the amphibious power system, and the underwater distance data collected by the sonar is sent to the main control board through the on-board computer.

6. A smart homing amphibious life transport craft as claimed in claim 5 wherein, The main control board judges the underwater distance information to realize switching of transmission of the electric propeller or the hub motor power instruction to the signal conversion module, then the signal conversion module converts into different driving signals to be input to the power driving board, and then the electric propeller or the hub motor is driven to operate.

7. The intelligent homing amphibious life transport craft as claimed in claim 1, wherein, The head of the double-hull body is provided with a collision protection fence, the cabin sides are provided with searchlight warning lamps, and the deck is provided with a medical first-aid kit.

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