Underwater rescue device and underwater rescue system
By integrating multibeam sonar, optical detectors, and side-scan sonar onto an underwater robot, and adopting a vertical layered and modular design, the problem of insufficient applicability of underwater rescue devices in different waters has been solved, achieving efficient and accurate target identification and rescue.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGDONG INSTITUTE OF SAFETY PRODUCTION & EMERGENCY MANAGEMENT SCIENCE & TECHNOLOGY
- Filing Date
- 2025-06-30
- Publication Date
- 2026-05-22
AI Technical Summary
Existing underwater rescue devices cannot efficiently perform target identification and rescue operations simultaneously in both wide and narrow waters, thus limiting their applicability.
Multibeam sonar, optical detectors, and side-scan sonar are integrated into underwater robots. Through vertical layering and modular design, the device achieves multifunctional adaptability and combines the collaborative detection of different sensors.
It enables efficient and accurate target identification and rescue in both wide and narrow waters, improving detection efficiency and operational safety while reducing the risk of signal interference and equipment damage.
Smart Images
Figure CN224266187U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of underwater rescue technology, and in particular to an underwater rescue device and an underwater rescue system. Background Technology
[0002] In recent years, underwater rescue devices have been increasingly used in underwater emergency rescue, with their core task being to achieve rapid and accurate location and identification of targets to be rescued. Currently, the mainstream detection method involves using underwater robots equipped with sonar and cameras for joint detection, making full use of the wide-range search capabilities of acoustic imaging and the close-range high-precision advantages of optical imaging.
[0003] However, existing technologies still have obvious limitations: commercially available underwater rescue devices are usually designed for single scenarios in wide or narrow waters, and cannot complete the detection and rescue operations for other complex scenarios and targets to be rescued, thus limiting their applicability. Utility Model Content
[0004] This application provides an underwater rescue device and an underwater rescue system to solve the problems existing in related technologies. The technical solution is as follows:
[0005] In a first aspect, embodiments of this application provide an underwater rescue device, comprising:
[0006] Underwater robots;
[0007] A multibeam sonar is mounted on the underwater robot and electrically connected to it. The multibeam sonar is used to scan the underwater terrain and identify the target to be rescued.
[0008] An optical detector, mounted on the underwater robot and electrically connected to it, is used to identify the target to be rescued; and
[0009] A side-scan sonar is mounted on the underwater robot and electrically connected to it. The side-scan sonar is used to scan the underwater terrain and identify the target to be rescued.
[0010] In one embodiment, the side-scan sonar and the multibeam sonar are arranged vertically apart along the underwater robot.
[0011] In one embodiment, the underwater robot is provided with an upper frame, and the multibeam sonar is disposed on the upper frame;
[0012] The underwater rescue device also includes:
[0013] The lower frame is connected to the upper frame and is located below the upper frame. The side-scan sonar is mounted on the lower frame.
[0014] In one embodiment, the lower frame is detachably connected to the upper frame, and the side-scan sonar is detachably electrically connected to the underwater robot.
[0015] In one embodiment, the bottom of the upper frame is provided with a first mounting part, and the lower frame is provided with a second mounting part;
[0016] The optical detector includes a high-definition camera, a laser rangefinder, and a binocular camera. The high-definition camera, the laser rangefinder, and the binocular camera are all electrically connected to the underwater robot. The high-definition camera and the laser rangefinder are both mounted on the upper frame.
[0017] When the lower frame is connected to the upper frame, the binocular camera is detachably mounted on the second mounting part;
[0018] When the lower frame is separated from the upper frame, the binocular camera is detachably mounted on the first mounting part.
[0019] In one embodiment, the bottom of the upper frame is further provided with a third mounting part, and the lower frame is further provided with a fourth mounting part;
[0020] The underwater rescue device also includes:
[0021] A Doppler log, which is electrically connected to the underwater robot;
[0022] When the lower frame is connected to the upper frame, the Doppler log is detachably mounted on the fourth mounting part;
[0023] When the lower frame is separated from the upper frame, the Doppler log is detachably mounted on the third mounting part.
[0024] In one embodiment, acoustic sensing components for the side-scan sonar are provided on both opposite sides of the lower frame.
[0025] In one embodiment, the underwater rescue device further includes:
[0026] The lower trim float is disposed on the lower frame and is used to provide buoyancy for the side-scan sonar and the lower frame.
[0027] In one embodiment, the underwater rescue device further includes:
[0028] A lower counterweight component is disposed on the lower frame and is used to provide counterweight for the side-scan sonar and the lower frame.
[0029] In one embodiment, the underwater rescue device further includes:
[0030] A robotic arm is mounted on the underwater robot and is electrically connected to the underwater robot.
[0031] The gripping component is detachably connected to the terminal of the robotic arm. The gripping component can move with the terminal of the robotic arm. The gripping component is used to grip a local part of the target to be rescued or clothing such as clothing.
[0032] And / or, a shearing component, detachably connected to the terminal of the robotic arm, the shearing component moving with the terminal of the robotic arm, the shearing component being used to cut obstacles encountered during travel and obstacles entangled with the target to be rescued.
[0033] Secondly, embodiments of this application provide an underwater rescue system, including:
[0034] Ground control device; and
[0035] In the aforementioned underwater rescue device, the underwater robot is electrically connected to the ground control device.
[0036] The advantages or beneficial effects of the above technical solutions include at least the following:
[0037] By integrating multibeam sonar, optical detectors, and side-scan sonar onto an underwater robot, the underwater rescue device becomes adaptable to both wide and narrow waters, achieving dual functionality and expanding the search range. This allows a single underwater rescue device to conduct comprehensive detection in both wide and narrow waters upon entering the water. Specifically, in wide waters, side-scan sonar is used to initially confirm targets from a distance, followed by combined detection with multibeam sonar and optical detectors. Compared to existing technologies that rely solely on side-scan sonar and optical detectors, this significantly improves the water coverage and the accuracy of target identification at different distances. In narrow waters, the coordinated detection of multibeam sonar and optical detectors further optimizes the water coverage, achieving a synergistic improvement in both detection efficiency and operational safety.
[0038] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description
[0039] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.
[0040] Figure 1 This is a three-dimensional structural diagram of the underwater rescue device of this utility model from a first-person perspective.
[0041] Figure 2 This is a three-dimensional structural diagram of the underwater rescue device of this utility model from a second perspective.
[0042] Figure 3 This is a three-dimensional structural diagram of the underwater rescue device of this utility model from a third-person perspective.
[0043] Figure 4 This is an exploded view of the upper structure of the underwater rescue device of this utility model;
[0044] Figure 5 This is an exploded view of the lower structure of the underwater rescue device of this utility model;
[0045] Figure 6 This is a three-dimensional structural diagram of the shearing component in this utility model.
[0046] Figure Labels
[0047] 1. Underwater robot; 11. Upper frame; 111. Upper support plate; 112. Upper side plate; 113. Lower bottom plate; 12. Upper electronics compartment; 13. Thruster; 14. Upper counterweight component; 15. Upper balancing float; 16. Turbidity meter; 2. Multibeam sonar; 3. Optical detector; 31. High-definition camera; 32. Laser rangefinder; 33. Binocular camera; 4. Acoustic sensing component; 5. Lower frame; 51. Lower support plate; 52. Lower side plate; 53. Connecting plate; 6. Doppler log; 7. Lower counterweight component; 8. Lower balancing float; 9. Manipulator; 10. Gripping component; 20. Shearing component; 201. Shearing blade; 30. Lower electronics compartment; 40. Gimbal. Detailed Implementation
[0048] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.
[0049] See Figures 1-6This invention illustrates a preferred embodiment of an underwater rescue device, comprising:
[0050] Underwater robot 1;
[0051] Multibeam sonar 2 is mounted on underwater robot 1 and electrically connected to underwater robot 1. Multibeam sonar 2 is used to scan underwater terrain and identify targets to be rescued.
[0052] Optical detector 3, mounted on underwater robot 1 and electrically connected to underwater robot 1, is used to confirm the target to be rescued; and
[0053] The side-scan sonar is mounted on the underwater robot 1 and is electrically connected to the underwater robot 1. The side-scan sonar is used to scan the underwater terrain and identify the target to be rescued.
[0054] By integrating a multibeam sonar 2, an optical detector 3, and a side-scan sonar onto the underwater robot 1, the underwater rescue device becomes adaptable to both wide and narrow waters, achieving dual functionality and expanding the search range. This allows a single underwater rescue device to conduct comprehensive detection in both wide and narrow waters upon entering the water. Specifically, for wide waters, the side-scan sonar is used to initially confirm targets from a distance, followed by joint detection using the multibeam sonar 2 and optical detector 3. Compared to existing technologies that rely solely on the joint detection of the side-scan sonar and optical detector 3, this significantly improves the water coverage and the accuracy of target identification at different distances. For narrow waters, the coordinated detection of the multibeam sonar 2 and optical detector 3 further optimizes the water coverage, achieving a synergistic improvement in both detection efficiency and operational safety.
[0055] See Figure 2 In one embodiment, the side-scan sonar and the multibeam sonar 2 are arranged vertically apart along the underwater robot 1, so that they are located in different installation positions, thereby avoiding direct mutual interference between the acoustic channels of different sonars. This ensures that the wide-range scanning function of the side-scan sonar and the high-precision detection function of the multibeam sonar 2 can be effectively utilized when working synchronously, significantly reducing signal crosstalk and underwater acoustic signal reverberation during collaborative operations.
[0056] See Figures 1-3 In one embodiment, the underwater robot 1 is provided with an upper frame 11, and the multibeam sonar 2 is provided on the upper frame 11.
[0057] The underwater rescue device also includes:
[0058] The lower frame 5 is connected to the upper frame 11 and is located below the upper frame 11. The side-scan sonar is mounted on the lower frame 5. Thus, by placing the multibeam sonar 2 on the upper frame 11 and the side-scan sonar on the lower frame 5 connected to the upper frame 11, the spatial separation between the upper frame 11 and the lower frame 5 achieves a vertically layered arrangement of the multibeam sonar 2 and the side-scan sonar. This not only effectively avoids signal interference between the multibeam sonar 2 and the side-scan sonar during operation through physical isolation, ensuring that the multibeam sonar 2 and the side-scan sonar can operate synchronously and efficiently, but also optimizes the overall compactness of the underwater rescue device's layout. This allows for reasonable control of the overall size and shape of the underwater rescue device, maximizing the detection performance when the multibeam sonar 2 and the side-scan sonar are simultaneously activated, while maintaining the compact structure of the underwater rescue device. This gives it excellent detection capabilities, maneuverability in narrow waters, and applicability to various water environments.
[0059] In one embodiment, the lower frame 5 is detachably connected to the upper frame 11, and the side-scan sonar is detachably electrically connected to the underwater robot 1. Thus, by detachably connecting the lower frame 5 to the upper frame 11 and separating the side-scan sonar from the underwater robot 1, a modular configuration is achieved, allowing the underwater rescue device to flexibly adjust its configuration according to the actual operating environment. For example, in special conditions such as high-speed currents or extremely narrow waters, completely removing the lower frame 5 and the side-scan sonar module can prevent equipment damage, optimize device size and fluid characteristics, and significantly improve adaptability and operational safety in various complex aquatic environments.
[0060] In one embodiment, the bottom of the upper frame 11 is provided with a first mounting part (not shown in the figure), and the lower frame 5 is provided with a second mounting part (not shown in the figure).
[0061] The optical detector 3 includes a high-definition camera 31, a laser rangefinder 32, and a binocular camera 33. The high-definition camera 31, the laser rangefinder 32, and the binocular camera 33 are all electrically connected to the underwater robot 1. The high-definition camera 31 and the laser rangefinder 32 are both mounted on the upper frame 11.
[0062] With the lower frame 5 connected to the upper frame 11, the binocular camera 33 is detachably mounted on the second mounting part via the gimbal 40;
[0063] With the lower frame 5 separated from the upper frame 11, the binocular camera 33 is detachably mounted on the first mounting part via the gimbal 40. By setting a first mounting part at the bottom of the upper frame 11 and a second mounting part at the lower frame 5, the high-definition camera 31 and the laser rangefinder 32 are fixed to the upper frame 11, and the binocular camera 33 can be flexibly installed at either the first or second mounting part. This achieves a modular configuration of the optical detector 3, ensuring the stability of the basic detection functions (high-definition video and laser rangefinder) and rescue operation functions. Furthermore, the detachable design of the binocular camera 33 enhances the environmental adaptability of the underwater rescue device: when the lower frame 5 is connected to the upper frame 11, the lower frame 5 is used to expand the detection field of the binocular camera 33 and avoid obstruction; when the lower frame 5 is removed, the binocular camera 33 can be transferred to the upper frame 11 to maintain the core visual function; in addition, in areas with large open water or severe pollution, excess binocular cameras 33 can be removed to avoid damage; in narrow water or high-speed water flow conditions, the binocular camera 33 can still maintain its function through the upper frame 11 after the lower frame 5 is removed. Thus, while ensuring detection accuracy, the functional expandability and adaptability to complex environments of the underwater rescue device are significantly improved.
[0064] It is understood that the high-definition camera 31 is used to acquire high-resolution underwater images to achieve underwater rescue target identification and status assessment; the laser rangefinder 32 is used to accurately measure relevant distances to assist in spatial positioning and to measure the shape parameters of specific detection objects such as the target to be rescued; and the binocular camera 33 uses stereo vision technology to achieve three-dimensional stereo imaging of the target to be rescued, as well as three-dimensional scene reconstruction and depth perception. The three work together to form a multimodal optical detection system. The high-definition camera 31 and the laser rangefinder 32 constitute the basic detection unit to ensure the stability of the core functions. The binocular camera 33, as a reconfigurable module, can be flexibly deployed according to the working conditions. It can expand the stereo observation range while maintaining the minimum functional configuration, thereby achieving three-dimensional reconstruction and all-round visual perception capabilities from two-dimensional imaging and accurate ranging to the target to be rescued and other specific targets in complex underwater environments.
[0065] It should be noted that the images acquired by the high-definition camera 31 and the binocular camera 33 have higher clarity and greater accuracy than those acquired by the multibeam sonar 2 and the side-scan sonar. While the multibeam sonar 2 and the side-scan sonar have accuracy at the centimeter level or higher, the high-definition camera 31 is more accurate, and the measurement accuracy of the binocular camera 33 can reach the millimeter level. Moreover, the images acquired by the binocular camera 33 contain various data information, including depth data specifically for underwater 3D imaging, which is more conducive to accurately identifying the target to be rescued and further enhances the accuracy and reliability of identification through algorithms. The high-definition camera 31 can be a color camera or a black and white camera. Experiments have shown that in underwater environments with a certain level of illumination, the high-definition camera 31 can acquire color images. However, at a certain depth, the color becomes less distinct. But the image quality acquired by the black and white camera is very useful for identifying the local features of the target to be rescued. The clarity of both the local and overall images remains high, which is very useful for subsequent identification of the overall shape features of the target to be rescued using algorithms.
[0066] In one embodiment, both the multibeam sonar 2 and the high-definition camera 31 are detachably mounted on the upper frame 11, and both are detachably electrically connected to the underwater robot 1. This allows both the multibeam sonar 2 and the high-definition camera 31 to be removed from the underwater robot 1, enabling the underwater rescue device to flexibly adjust its equipment combination according to the actual operating environment. For example, in large open water areas, the multibeam sonar 2 may not be needed for initial detection, or the high-definition camera 31 may be unusable in heavily polluted areas. The multibeam sonar 2 or the high-definition camera 31 can be removed according to the actual usage to avoid damage.
[0067] In one embodiment, the bottom of the upper frame 11 is further provided with a third mounting part (not shown in the figure), and the lower frame 5 is further provided with a fourth mounting part (not shown in the figure).
[0068] The underwater rescue device also includes:
[0069] Doppler log 6, Doppler log 6 is electrically connected to underwater robot 1;
[0070] With the lower frame 5 connected to the upper frame 11, the Doppler log 6 is detachably mounted on the fourth mounting part;
[0071] With the lower frame 5 separated from the upper frame 11, the Doppler log 6 is detachably mounted on the third mounting section. It should be noted that, in underwater rescue operations, the Doppler log 6 measures the three-dimensional velocity vector, velocity, acceleration, and height above the seabed of the underwater robot 1 relative to the seabed or water column. This enables precise navigation and positioning of the underwater rescue device, current velocity monitoring, motion attitude control, and confirmation of its height above the seabed. This effectively overcomes the positioning difficulties and bottom-touching problems in environments with missing underwater GPS signals, improving operational stability in complex water flow environments. This embodiment, by providing a third mounting part on the upper frame 11 and a fourth mounting part on the lower frame 5, allows the Doppler log 6 to be flexibly installed in different positions, achieving modular deployment: when the lower frame 5 is connected to the upper frame 11, the lower frame 5 is used to expand the measurement range of the Doppler log 6 and avoid obstruction; when separated, it is transferred to the upper frame 11 to maintain the core velocity measurement function. This ensures continuous acquisition of navigation data and adapts to different operating modes through a detachable design. While ensuring the accuracy of flow velocity measurement, it significantly improves the configuration flexibility of the device in narrow spaces or strong current environments, allowing the underwater rescue device to maintain its complete functional configuration while quickly adjusting the equipment combination for special working conditions. For example, in narrow waters or high-speed water flow conditions, after removing the lower frame 5, the Doppler log 6 can still maintain its function through the upper frame 11, thereby significantly improving the functional expandability and adaptability to complex environments of the underwater rescue device while ensuring velocity measurement accuracy.
[0072] It is understood that the detachable connections between mechanical components involved in this embodiment (e.g., the detachable connection between the multibeam sonar 2 and the upper frame 11) can be achieved by fasteners such as waterproof screws and waterproof bolts, or by a combination of fasteners such as waterproof screws and waterproof bolts and snap-fit structures.
[0073] See Figure 2 In one embodiment, acoustic sensing components 4 for side-scan sonar are provided on both opposite sides of the lower frame 5. By symmetrically arranging the acoustic sensing components 4 for side-scan sonar on opposite sides of the lower frame 5, a dual-channel synchronous scanning structure is formed, which effectively expands the coverage of a single detection and significantly improves the search efficiency in large areas of water. At the same time, the acoustic sensing components 4 of the side-scan sonar arranged on both sides eliminate the blind zone of single-sided detection through complementary scanning, enhance the accuracy of underwater rescue target identification and environmental adaptability, and are particularly suitable for rapid target location in complex terrain or turbid water conditions. While ensuring the compact structure of the underwater rescue device, it achieves more comprehensive detection capabilities.
[0074] Of course, in other embodiments, the number of acoustic sensing components 4 in a side-scan sonar can be one. See also Figure 5 In one embodiment, the underwater rescue device further includes:
[0075] Lower counterweight component 7 is mounted on the lower frame 5 and is used to provide counterweight for the lower electronic compartment 30 and the lower frame 5.
[0076] The lower trim float 8 is mounted on the lower frame 5 and provides buoyancy for the lower electronics compartment 30 and the lower frame 5. By setting the lower counterweight component 7 and the lower trim float 8 on the lower frame 5, the underwater robot 1 maintains overall operational stability when carrying the lower frame 5 and its auxiliary components (such as the lower electronics compartment 30). At the same time, the upper counterweight component 14 and the upper trim float 15 configured on the underwater robot 1 can independently maintain the underwater operational stability of the underwater robot 1 and its auxiliary components (such as the multibeam sonar 2) after the lower frame 5 and its auxiliary components are disassembled. This dual trim system design achieves a unity of modular configuration and operational stability, enabling the underwater rescue device to adapt to full-function operation requirements and flexibly adjust to a simplified configuration mode, significantly improving the environmental adaptability and operational reliability of the underwater rescue device in different operation scenarios.
[0077] See Figures 1-3 as well as Figure 6 In one embodiment, the underwater rescue device further includes:
[0078] The robotic arm 9 is mounted on the underwater robot 1 and is electrically connected to the underwater robot 1. It should be noted that the robotic arm 9 is a three-degree-of-freedom structure.
[0079] The gripping component 10 is detachably connected to the terminal of the robotic arm 9. The gripping component 10 can move with the terminal of the robotic arm 9. The gripping component 10 is used to grip the target to be rescued.
[0080] And / or, a shearing component 20, detachably connected to the terminal of the robotic arm 9, is provided. The shearing component 20 moves with the terminal of the robotic arm 9 and is used to shear obstacles. By installing a robotic arm 9 on the underwater robot 1 and detachably connecting either the gripping component 10 or the shearing component 20 to its terminal, rapid switching between multi-functional operation modules can be achieved: the gripping component 10 is used to accurately grasp rescue targets, and the shearing component 20 is used to clear underwater obstacles. The two can be flexibly replaced according to rescue needs through their detachable design. Combined with the multi-degree-of-freedom mobility of the robotic arm 9, this ensures the adaptability of the underwater rescue device to complex tasks and simplifies the equipment maintenance process through its modular structure. While improving rescue efficiency, it also enhances the functional expandability of the device, enabling it to meet the needs of diverse rescue scenarios such as underwater salvage and obstacle removal.
[0081] See Figure 6It is understood that the shearing component 20 is provided with a shearing blade 201, which is used to shear obstacles.
[0082] It should be noted that the detachable connection between the gripping component 10 and the terminal of the robotic arm 9 can be achieved in the following ways:
[0083] Threaded connection type: The terminal of the robotic arm 9 is equipped with an external thread interface, and the base of the gripping component 10 is equipped with a matching internal thread, which can be quickly assembled and disassembled by screwing.
[0084] Quick-release snap-on type: The robotic arm 9 terminal is designed with a spring snap-on mechanism, and the gripping component 10 has a groove at the corresponding position. Locking / releasing is completed by pressing or rotating.
[0085] Standardized flange interface type: The robot arm 9 terminal and the gripping component 10 adopt ISO or customized flanges and are fixed by bolts or quick-release clamps.
[0086] Similarly, the detachable connection between the shearing component 20 and the terminal of the robotic arm 9 can be specifically referred to in the above description of the detachable connection between the gripping component 10 and the terminal of the robotic arm 9.
[0087] It should be noted that the shearing component 20 is controlled using the software provided by the robotic arm manufacturer. The interface design includes a function to control the shearing stroke. The buttons in the operating software (located on the ground control device) can remotely control the displacement of the shearing component 20 until it cuts through the material; releasing the button completes the process. The shearing component 20 is specifically designed for cutting obstacles such as ropes and fishing nets.
[0088] See Figure 2 In one embodiment, the upper frame 11 includes an upper support plate 111, an upper side plate 112, and a lower bottom plate 113. The multibeam sonar 2, the upper electronics compartment 12, etc. are all mounted on the upper support plate 111. There are two upper side plates 112, which are placed on the left and right sides of the upper support plate 111 respectively. The upper balancing float 15 is located above the upper support plate 111 and sandwiched between the upper ends of the two upper side plates 112. The thruster 13 is located on the upper side plate 112. The lower bottom plate 113 is located on the bottom of the upper support plate 111, and the lower bottom plate 113 is provided with an upper counterweight component 14.
[0089] See Figure 2 In one implementation, the lower frame 5 includes:
[0090] Lower support plate 51;
[0091] Lower side plate 52, there are two lower side plates 52, the two lower side plates 52 are placed on the left and right sides of the lower support plate 51 respectively; and
[0092] There are two connecting plates 53. The connecting plates 53 are located on the upper end of the corresponding lower side plate 52 and are detachably connected to the upper frame 11 so as to detachably connect the lower frame 5 and the upper frame 11 together.
[0093] The acoustic sensing component 4 of the side-scan sonar is located on the outside of the lower side plate 52, while the binocular camera 33 and the corresponding lower electronic compartment 30 of the acoustic sensing component 4 of the side-scan sonar are both located on the top of the lower support plate 51. Through the modular structure design of the lower support plate 51, two lower side plates 52, and connecting plate 53 within the lower frame 5, efficient integration and rapid assembly / disassembly are achieved: the two lower side plates 52 are positioned on the left and right sides of the lower support plate 51 to form a stable support structure, and the connecting plate 53 enables a detachable connection with the upper frame 11; the acoustic sensing component 4 of the side-scan sonar is installed on the outside of the lower side plate 52 to optimize the detection angle, and the binocular camera 33 and its electronic compartment are located on the top of the lower support plate 51 to ensure equipment protection and signal transmission.
[0094] It should be noted that the multibeam sonar 2 and the optical detector 3 are both electrically connected to the upper electronic compartment 12 to achieve electrical connection between the multibeam sonar 2, the optical detector 3 and the underwater robot 1. The acoustic sensing component 4 of the side-scan sonar is electrically connected to the lower electronic compartment 30. The lower electronic compartment 30 and the upper electronic compartment 12 communicate and are powered by a cable.
[0095] It should be noted that the underwater robot 1 in this embodiment is equipped with an upper electronic compartment 12 and a lower electronic compartment 30. The compartments are equipped with a temperature sensor to obtain the temperature of the water in the accident area, an attitude sensor to obtain parameters required for the operation and control of the underwater robot 1, a water pressure sensor to obtain the operating depth of the underwater robot 1, a Doppler log 6 to obtain depth data, distance from the bottom data, and speed data, a turbidity meter 16 to obtain the turbidity of the water, a sonar (including a multibeam sonar 2 and acoustic sensing components 4 of the side-scan sonar) to obtain the shape information of the underwater target to be rescued, a high-definition camera 31 to obtain video information along the underwater operation path of the underwater robot 1 and the video information of the target to be rescued, and a laser rangefinder 32 to obtain information about objects along the underwater path after the underwater robot 1 enters the water and to measure and obtain the shape and size data of specific objects, including the target to be rescued. All of the above information can be transmitted to the ground control device via a bus network located inside the upper electronic compartment 12 for storage, further processed, and then displayed on the display screen of the ground control device.
[0096] The operation method of this underwater rescue device is as follows:
[0097] The first step is to determine the type of water body: whether it is a wide body of water or a narrow body of water.
[0098] The second step is to conduct a detailed analysis of the specific tasks to be carried out underwater and the procedures for implementing rescue operations, based on the identified type of water area.
[0099] Third, if it is confirmed to be a wide body of water, confirm the actual operating sequence:
[0100] After completing the safety checks before entering the water, the underwater rescue device is launched. Once all components are tested and confirmed to be functioning properly, the multibeam sonar 2, laser rangefinder 32, Doppler log 6, binocular camera 33, and high-definition camera 31 are turned off. The side-scan sonar, thruster 13, on-site operation box, and ground control device are then activated. The underwater rescue device is then driven to the point of impact confirmed by the on-site investigation or the current water area after the impact to conduct scanning and detection.
[0101] After locating the target to be rescued on the screen of the ground control device, the underwater robot enters the water and gradually approaches the target using the information displayed on the ground control device screen. Before the target disappears from the screen, the underwater robot 1 is hovered at that position. The side-scan sonar is turned off, and the multibeam sonar 2, laser rangefinder 32, Doppler log 6, binocular camera 33, high-definition camera 31, turbidity meter 16, and temperature and depth sensors in the upper electronics compartment 12 are turned on to collect underwater environmental information and images and videos of obstacles along the way. The robot gradually approaches the target to be rescued and then uses the high-definition camera 31 and binocular camera 33 to confirm the target.
[0102] If it is confirmed to be a narrow body of water, confirm the operating sequence:
[0103] After completing the pre-entry safety checks, the underwater rescue device enters the water. Once all components are tested and confirmed to be functioning correctly, the side-scan sonar, binocular camera 33, and high-definition camera 31 are shut down. The multi-beam sonar 2, laser rangefinder 32, Doppler log 6, thruster 13, on-site control box, and ground control device are activated. The underwater rescue device is then driven to the confirmed landing point or the current water area after the landing, gradually adjusting its attitude as it enters the water while simultaneously conducting scanning and detection. After locating the target on the ground control device's screen, the device gradually approaches the target using the displayed information. Just before the target disappears from view, the underwater robot 1 is hovered at that location. The binocular camera 33, high-definition camera 31, turbidity meter 16, and temperature and depth sensors in the upper electronics compartment 12 are activated to collect underwater environmental information and images and videos of obstacles along the way. The device gradually approaches the target, and upon arrival, the high-definition camera 31 and binocular camera 33 are used to confirm the target.
[0104] Finally, after obtaining complete detection results of the target to be rescued, the underwater robot 1 is suspended in place. If it is determined that the robotic arm 9 of the underwater robot 1 cannot be used to pull the target out of the water (such as being partially buried, stuck, or crushed), the underwater rescue personnel are assisted to enter the water along the cable that powers the underwater robot 1 to reach the scene of the target to be rescued and carry out manual rescue. If it is determined that the robotic arm 9 of the underwater robot 1 can be used to pull the target out of the water, the robotic arm 9 and its gripping parts 10 installed on the underwater robot 1 are directly remotely controlled to grasp a part of the target to be rescued or its clothing and shoes, and pull the target to be rescued out of the water.
[0105] In certain special scenarios, such as when the current is too fast or the space for travel in narrow waters is too small, side-scan sonar is basically not used. If it cannot be used in an integrated manner, the extension layer (i.e., the lower frame 5 and its auxiliary components) can be completely removed, the lower electronic cabin 30, the gimbal 40, the binocular camera 33 and the cable can be removed, the Doppler log 6 can be removed, and then the binocular camera 33 and the Doppler log 6 can be reinstalled in the corresponding positions on the upper frame 11 for detection.
[0106] In certain special scenarios, such as large areas of wide water bodies or a large amount of pollutants, multibeam sonar 2, binocular camera 33 and high-definition camera 31 are generally not used. If they are not used in an integrated manner, the extra multibeam sonar 2, binocular camera 33 and high-definition camera 31 can be removed to avoid damage, and they can be used for detection.
[0107] In summary, the underwater rescue device of this utility model has the following advantages:
[0108] While meeting the requirements for expanding the water area to be used, the machine occupies less space, significantly improves the speed of entering the water to complete search and rescue, and has higher accuracy in automatically identifying underwater targets to be rescued.
[0109] The acoustic sensing component 4 of the side-scan sonar and the multi-beam sonar 2 are arranged vertically along the underwater robot 1, so that they are located in different installation positions, thereby avoiding direct mutual interference between the acoustic channels. This ensures that the wide-range scanning function of the acoustic sensing component 4 of the side-scan sonar and the high-precision detection function of the multi-beam sonar 2 can be effectively utilized when working synchronously, significantly reducing the signal crosstalk problem during collaborative operation.
[0110] By integrating core sensors such as the multibeam sonar 2 and high-definition camera 31 onto the upper frame 11, and modularly arranging equipment such as the acoustic sensing component 4 of the side-scan sonar and the binocular camera 33 onto the detachable lower frame 5, the design ensures both the stability of basic detection functions and the flexibility of equipment configuration. This design effectively avoids signal interference between multiple sensors through physical isolation. At the same time, the detachable nature of the lower frame 5 allows for rapid adjustment of equipment combinations for different working conditions such as wide waters, narrow spaces, or strong current environments. Meanwhile, the synergistic effect of the upper and lower counterweight systems ensures that the device maintains underwater stability under various configurations. Combined with the replaceable gripping component 10 / shearing component 20 at the terminal of the robotic arm 9, a single underwater rescue device can meet the full-process operation requirements of target search, 3D mapping and imaging, annotation of the target shape data, obstacle removal, and salvage rescue. It achieves the optimal balance of detection accuracy, environmental adaptability, and functional expandability within a limited volume.
[0111] A preferred embodiment of this utility model provides an underwater rescue system, comprising:
[0112] Ground control device; and
[0113] The underwater rescue device described above, the underwater robot 1, is electrically connected to the ground control device.
[0114] This utility model's underwater rescue system, by employing the aforementioned underwater rescue device, also integrates a multi-beam sonar 2, an optical detector 3, and a side-scan sonar onto the underwater robot 1. This allows the underwater rescue device to adapt to both wide and narrow waters, achieving dual functionality and expanding the search range. Thus, a single underwater rescue device can comprehensively detect both wide and narrow waters upon entering the water. Specifically, for wide waters, the side-scan sonar is used to initially confirm targets from a distance, followed by joint detection using the multi-beam sonar 2 and optical detector 3. Compared to existing technologies that rely solely on the side-scan sonar and optical detector 3, this significantly improves the water coverage and the accuracy of target identification at different distances, while reducing the risk of human assistance. For narrow waters, the coordinated detection of the multi-beam sonar 2 and optical detector 3 further optimizes the water coverage, achieving a synergistic improvement in both detection efficiency and operational safety.
[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.
[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0117] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. An underwater rescue device, characterized in that, include: Underwater robots; A multibeam sonar is mounted on the underwater robot and electrically connected to it. The multibeam sonar is used to scan the underwater terrain and identify the target to be rescued. An optical detector is mounted on the underwater robot and electrically connected to it. The optical detector is used to confirm the target to be rescued. as well as A side-scan sonar is mounted on the underwater robot and electrically connected to it. The side-scan sonar is used to scan the underwater terrain and identify the target to be rescued.
2. The underwater rescue device according to claim 1, characterized in that, The side-scan sonar and the multibeam sonar are arranged vertically apart along the underwater robot.
3. The underwater rescue device according to claim 1, characterized in that, The underwater robot is provided with an upper frame, and the multibeam sonar is provided on the upper frame; The underwater rescue device also includes: The lower frame is connected to the upper frame and is located below the upper frame. The side-scan sonar is mounted on the lower frame.
4. The underwater rescue device according to claim 3, characterized in that, The lower frame is detachably connected to the upper frame, and the side-scan sonar is detachably electrically connected to the underwater robot.
5. The underwater rescue device according to claim 4, characterized in that, The bottom of the upper frame is provided with a first mounting part, and the lower frame is provided with a second mounting part; The optical detector includes a high-definition camera, a laser rangefinder, and a binocular camera. The high-definition camera, the laser rangefinder, and the binocular camera are all electrically connected to the underwater robot. The high-definition camera and the laser rangefinder are both mounted on the upper frame. When the lower frame is connected to the upper frame, the binocular camera is detachably mounted on the second mounting part; When the lower frame is separated from the upper frame, the binocular camera is detachably mounted on the first mounting part.
6. The underwater rescue device according to claim 4, characterized in that, The bottom of the upper frame is also provided with a third mounting part, and the lower frame is also provided with a fourth mounting part; The underwater rescue device also includes: A Doppler log, which is electrically connected to the underwater robot; When the lower frame is connected to the upper frame, the Doppler log is detachably mounted on the fourth mounting part; When the lower frame is separated from the upper frame, the Doppler log is detachably mounted on the third mounting part.
7. The underwater rescue device according to claim 3, characterized in that, The lower frame is equipped with acoustic sensing components for the side-scan sonar on both opposite sides.
8. The underwater rescue device according to claim 3, characterized in that, The underwater rescue device also includes: A lower trim float is provided on the lower frame and is used to provide buoyancy for the side-scan sonar and the lower frame. A lower counterweight component is disposed on the lower frame and is used to provide counterweight for the side-scan sonar and the lower frame.
9. The underwater rescue device according to claim 1, characterized in that, The underwater rescue device also includes: A robotic arm is mounted on the underwater robot and is electrically connected to the underwater robot. A gripping component is detachably connected to the terminal of the robotic arm. The gripping component can move with the terminal of the robotic arm and is used to grip the target to be rescued. And / or, a shearing component, detachably connected to the end of the robotic arm, the shearing component moving with the end of the robotic arm, the shearing component being used to shear obstacles.
10. An underwater rescue system, characterized in that, include: Ground control device; as well as The underwater rescue device according to any one of claims 1-9, wherein the underwater robot is electrically connected to the ground control device.