Amphibious Rescue Vessel Based on Planetary Rotating Paddled Wheel

Abstract

According to the 2021 World Trade Data, maritime transportation accounts for approximately 80% of global cargo transportation. However, with the increasing demand for trade, accidents at sea are also on the rise. When rescue personnel are dispatched to the scene for recovery, their lives are threatened due to the lack of good rescue ships, and there is an urgent need for amphibious rescue ships with fast speed and strong obstacle crossing capabilities through narrow spaces. Therefore, this project develops an amphibious rescue vessel to provide life support for rescue personnel. The amphibious rescue ship mainly consists of a hull and four inclined spoke paddles. When the wheels rotate, six paddles are rotated to change the driving force, thereby generating a combined force in the direction of the robot's movement and meeting the speed requirements during rescue. In terms of electronic design, Arduino nano, closed-loop stepper motor with FOC, voltage reduction module, and HC-12 are mainly used as hardware modules. The movement of the structure is achieved by driving the gear module and planetary reduction structure through the stepper motor. Driving tests were conducted in various environments including ground, water, and obstacle crossing, and it was found that the amphibious rescue ship performed excellently, meeting the practical requirements of fast speed and strong obstacle crossing ability.