A reef sea area rescue robot and a rescue method

Abstract

This application belongs to the field of satellite positioning and satellite communication application technology, realizing robotic rescue in island and reef waters. The robot includes: a left hull, a right hull, a deck, a shock-absorbing bracket, and a diving and surfacing device. The shock-absorbing bracket is bolted to the left hull, right hull, and deck. At least one elastic cable connects the left and right hulls and the deck. The rescue robot has a flexible structure, enabling it to complete rescues in island and reef waters even in severe sea conditions. The diving and surfacing device uses a first controller to control the air intake and exhaust of the airbag assembly through exhaust and intake solenoid valves, thereby enabling the rescue robot to dive and surface. This avoids the hull vibration caused by changes in the ship's center of gravity during the rescue process of existing lifeboats, which may result in secondary injuries to untrained personnel who fall into the water during boarding. It also avoids the waves generated by the rescue robot itself pushing away the person in the water, which would require a longer rescue time for a lifeguard to complete the rescue.

Description

Technical Field

[0001] This application belongs to the field of satellite positioning and satellite short message communication application technology, specifically relating to a rescue device for island and reef waters and a method for conducting rescue using the device. Background Technology

[0002] Helicopter-based maritime rescue requires deploying helicopters, incurring significant costs and risks for lifeguards. The helicopter hovers while lifeguards rappel down to the surface to rescue those in the water. Especially in rough seas, helicopters may be unable to take off due to safety concerns for lifeguards. Rescue operations are even more difficult in severe sea conditions, sometimes necessitating delays. The overall rescue commander always issues manual rescue orders only when sea conditions are acceptable. Drone and robotic rescue operations, on the other hand, do not have the safety concerns associated with lifeguards and can be conducted in adverse sea conditions. Particularly in island and reef areas, the terrain and reefs influence wind, waves, and currents, creating unique dynamic processes such as island circulation, funneling effects, Kármán vortex streets, and coastal currents. These factors severely hinder rescue operations and can easily lead to rescue boats striking reefs and sinking, resulting in the loss of lifeguards. Rescue operations in island and reef areas are far more dangerous than those in open water.

[0003] Drone rescue and rescue robot rescue technologies are still in the research stage. Document CN109591975B discloses a marine rescue device and its rescue method, opening a new chapter in the research of rescue robots and their technologies. However, using robots for rescue presents challenges. The waves generated by the robot itself make it difficult to approach the person in the water, requiring a long rescue time. The person's position is constantly changing due to wind, waves, and currents, requiring the rescue robot to track the dynamic target. During heavy rainfall, the video footage is often blurry and cannot detect the target. Locating and accurately determining the location of the person in the water is particularly difficult in island and reef areas. Currently, the only methods available are shipborne or airborne radar scanning and visual search, which have significant limitations in terms of time and space efficiency. Furthermore, current robot rescue methods can easily lead to secondary injuries to the person in the water. Summary of the Invention

[0004] This invention proposes a rescue robot and rescue method for island and reef sea areas. The device and method can accurately locate the position of people who have fallen into the water, carry out rescue quickly, and avoid secondary injury to people who have fallen into the water during the rescue. In particular, it overcomes the difficulty of image positioning being easily affected by weather.

[0005] The first aspect of this invention provides a rescue robot for island and reef waters, comprising a port hull, a starboard hull, and a deck, and further comprising:

[0006] The shock-absorbing bracket shown is bolted to the left hull, the right hull, and the deck; the left hull and the right hull are symmetrically arranged; at least one elastic cable connects the left hull and the deck at the top and bottom, and at least one elastic cable connects the right hull and the deck at the top and bottom; the semi-circular head of the deck is inserted into the semi-circular groove of the left hull or the right hull, and the semi-circular head can swing in the reserved semi-circular groove; thus, the rescue robot has a flexible structure and better impact resistance than existing lifeboats, making it suitable for rescue in island and reef waters with complex special dynamic processes such as island circulation, funnel effect, Karman vortex street, and coastal current.

[0007] The diving and surfacing device includes an exhaust solenoid valve, an intake solenoid valve, a lifting airbag assembly, a pressure sensor, and a first controller. The first controller controls the exhaust and intake solenoid valves to control the air intake and exhaust of the lifting airbag assembly. The diving and surfacing device is bolted to the bottom of the deck, enabling the rescue robot to smoothly lift unconscious persons in the water during its diving and surfacing processes. This allows for rescues even in extreme weather and rough sea conditions, overcoming the problems of existing lifeboats where hull vibrations caused by changes in the ship's center of gravity during rescue operations can lead to secondary injuries or even capsizing for untrained and unskilled personnel during boarding. It also solves the problem of rescue robots pushing away people in the water with waves, requiring rescuers with skills and time to complete the rescue. Furthermore, it avoids violent shaking, as the flexible, connected personnel tray could not only injure people in the water but also throw them back into the sea. Additionally, the device has at least three lifting airbag assemblies, each with a corresponding circuit controlling the inflation and deflation of the airbag assembly to adjust the deck to a level position.

[0008] Furthermore, each of the lifting airbag components is divided into multiple independent parallel sub-airbags, and each sub-airbag corresponds to a sub-air path. The first controller controls the sub-air path to inflate and deflate the sub-airbags. Damage to a single sub-airbag will not affect the use of the rescue robot, thereby improving the reliability of the rescue robot.

[0009] Furthermore, the left hull includes a left floating body and the right hull includes a right floating body, which are symmetrically arranged. Each left or right floating body includes a left half-float, a right half-float, bolts, sealing gaskets, and anti-collision airbags. The left and right half-floats are made of solid floating material, which will not affect the use or even sink like small holes in a hull or rubber boat. The sealing gasket is set between the left and right half-floats, and the bolts are used to connect the left and right half-floats into one unit. Thus, the rescue robot is flexible as a whole and can remain intact even when hit by waves on reefs, improving the reliability of the rescue robot.

[0010] The left and right floats are connected to the shock-absorbing bracket by screws through the reserved connection holes. The left and right ends of the deck are semi-circular heads, which are inserted into the reserved semi-circular grooves of the left and right floats. The semi-circular heads can swing in the reserved semi-circular grooves, thereby increasing the range of impact resistance of the rescue robot.

[0011] Furthermore, the shock-absorbing bracket includes a vertical support, a first cylindrical pin, a piston, a sealing ring, a cylinder, a second cylindrical pin, and a horizontal support. The vertical support is bolted to the left or right hull, and the horizontal support is bolted to the deck. The piston compresses the gas in the cylinder to deform and buffer the impact of waves and reefs on the rescue robot, thereby improving the reliability of the rescue robot.

[0012] Furthermore, the rescue robot also includes a life-saving device, which consists of a protective airbag, a high-pressure air storage chamber, an air intake pipe, an air intake solenoid valve, an exhaust solenoid valve, and a compression pump forming a circuit. The first controller controls the air intake solenoid valve to open and the exhaust solenoid valve to close, allowing air to enter the protective airbag from the high-pressure air storage chamber, thus inflating the protective airbag. The protective airbag not only provides shelter for the person being rescued from the water, but also provides necessary life-saving supplies inside.

[0013] Furthermore, the rescue robot also includes a navigation device, comprising a satellite communication device, a satellite positioning device, radar, an image recognition device, and an Automatic Identification System (AIS). The satellite communication device receives remote control commands, the dynamic latitude and longitude of the helmet-mounted beacon, and drift trajectory prediction information of the person in the water from the rescue command center. The robot navigates and conducts rescue operations based on the received information. The satellite communication device ensures that the rescue robot obtains the dynamic latitude and longitude of the helmet-mounted beacon in real time and accurately. Both the rescue robot and the person in the water wearing the helmet-mounted beacon have real-time centimeter-level precision satellite positioning devices, enabling the rescue robot to control its course and speed to dynamically track, search for, and quickly lift the person in the water. This method of mutual location determination based on BeiDou satellite positioning is accurate and reliable, unaffected by waves, heavy rain, fog, or light intensity. When the distance R between the rescue robot and the helmet-mounted beacon reaches a first threshold, the rescue robot's first controller establishes a wireless local area network or 5G communication connection with the helmet-mounted beacon to reduce communication latency and accurately calculate the relative positional relationship between the rescue robot and the helmet-mounted beacon. Furthermore, the relative positional relationship includes the distance and azimuth angle between the robot's geometric center and the center of gravity of the person in the water as indicated by the helmet-mounted positioning beacon. When the distance and azimuth angle meet a second threshold, the lifting airbag assembly inflates and floats upward, smoothly lifting the person out of the water to the surface without requiring active cooperation from the person in the water. It can also rescue unconscious persons in the water. Information sensed by radar, image recognition devices, and the Automatic Identification System (AIS) is used for close-range obstacle avoidance.

[0014] Furthermore, the rescue robot also includes a propulsion system, comprising a left rechargeable battery, a left electric motor, and a left propeller mounted on the left float. The left electric motor drives the left propeller to generate a propulsive force. A right rechargeable battery, a right electric motor, a right propeller, and an inductive charging device are mounted on the right float. The right electric motor drives the right propeller to generate another propulsive force. The first controller avoids obstacles based on environmental information perceived by the navigation device, determines the speed and direction of navigation, and simultaneously adjusts the speed and direction of the left and right propellers to achieve a certain speed and heading, safely navigating towards the latitude and longitude indicated by the helmet-mounted positioning beacon. The propellers are concealed within the floats, preventing injury to the person in the water during the rescue process due to their high-speed rotation. Upon returning to the home port or the mother ship's berth, the inductive charging device replenishes the left and right rechargeable batteries with power from corresponding inductive charging sources located at the berth.

[0015] A second aspect of the present invention also provides a rescue method for an island and reef sea area rescue robot, characterized by comprising the following steps:

[0016] S1. The first controller of the rescue robot listens for rescue instructions from the rescue center or listens for rescue instructions via satellite communication short messages. The rescue instructions include the Beidou positioning latitude and longitude of the person who fell into the water wearing a helmet-mounted positioning beacon, the wind, wave and current parameters of the sea area where the person fell into the water, and the latitude and longitude of the rescue location predicted based on the preliminary drift trajectory calculated based on the wind, wave and current parameters.

[0017] S2. The navigation device adjusts its course based on the predicted latitude and longitude of the rescue location, and the rescue robot's propulsion device outputs maximum power to propel it.

[0018] S3. During the voyage, update the latitude and longitude of the rescue location predicted by the rescue center, the real-time wind, wave and current parameters of the sea area where the person fell into the water, and the latitude and longitude of the rescue location predicted by the drift trajectory recalculated based on the wind, wave and current parameters, and adjust the course and speed.

[0019] S4. When the distance R between the rescue robot and the helmet-mounted position beacon reaches a first threshold, the first controller of the rescue robot establishes a wireless local area network connection with the helmet-mounted position beacon and calculates the relative positional relationship between the rescue robot and the helmet.

[0020] S5. Calculate the distance and azimuth between the geometric center of the robot and the center of gravity of the person who fell into the water as indicated by the helmet-mounted positioning beacon. When the distance and azimuth meet the second threshold, the lifting airbag assembly inflates and floats up to smoothly lift the person out of the water onto the surface of the sea.

[0021] Furthermore, the robot determines whether the rescue was successful; if the result is a failure, the navigation device adjusts its course to follow the direction of the drift of the person who fell into the water, the lifting airbag assembly deflates and submerges, tracks the change in the center of gravity of the person who fell into the water, recalculates the distance and azimuth angle between the geometric center of the robot and the center of gravity of the person who fell into the water wearing the helmet-type positioning beacon, and when the distance and azimuth angle meet the second threshold, the lifting airbag assembly inflates again and floats up.

[0022] In this invention, firstly, the rescue robot has a flexible structure that can absorb the impact loads from the special dynamic processes in island and reef waters, providing better impact resistance and reliability than existing lifeboats. Secondly, through a buoyancy-driven lifting structure, the rescue robot navigates ahead of the person drifting in the water and submerges, waiting for the person to drift above it. The rescue robot then rises and smoothly lifts the person into an airbag on the deck, avoiding secondary injury. Thirdly, by incorporating multiple sub-airbags and related control structures within the lifting airbag assembly, the rescue robot can continue to function normally even if some airbags leak due to external impacts. Furthermore, both the rescue robot and the person being rescued, wearing a positioning beacon, are equipped with real-time, centimeter-level precision satellite positioning devices. This allows the rescue robot to control its course and speed, track and search for the person, and quickly lift them from the water. This positioning method is accurate and reliable, unaffected by waves, heavy rain, fog, or varying light levels. Finally, it should be emphasized that rescue robots have a simple structure and are less expensive than rescue helicopters. They can be widely deployed at island docks and stand by around the clock, reaching island and reef waters faster than rescue helicopters, which are only available in large city rescue command centers.

[0023] Therefore, the overall solution can achieve rapid and accurate rescue even in island and reef waters with rough sea conditions. It avoids the hull vibration caused by the change in the center of gravity of the ship during the rescue process of existing lifeboats, which may cause secondary injuries or even capsizing to people who have fallen into the water and lack training and professional skills during the boarding process. It also solves the problem that the waves generated by the rescue robot itself push people away from the water, which requires the rescue skills of lifeguards and a long rescue time. The propeller is hidden in the buoy, which prevents the high-speed rotating propeller from injuring people who have fallen into the water during the rescue process.

[0024] Other effects of the above-mentioned alternative methods will be described below in conjunction with specific embodiments. Attached Figure Description

[0025] The accompanying drawings are provided for a better understanding of this solution and do not constitute a limitation of this application. Wherein:

[0026] Figure 1 This is a schematic diagram of the structure of the rescue robot for island and reef sea areas provided in the embodiments of this application;

[0027] Figure 2This is a top view of a rescue robot for island and reef sea areas provided in an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the airbag structure provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the airbag inflation / deflation pipeline structure provided in an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the left float structure provided in an embodiment of this application;

[0031] Figure 6 This is a schematic diagram of the airbag assembly provided in an embodiment of this application;

[0032] Figure 7 This is a schematic diagram of the helmet-type positioning beacon structure provided in the embodiments of this application;

[0033] Figure 8 This is a schematic diagram of the structure of the miniature current meter provided in the embodiments of this application;

[0034] Figure 9 This is a schematic diagram illustrating the rescue robot's search for a person wearing a helmet-mounted positioning beacon, as provided in an embodiment of this application.

[0035] Figure 10 This is a schematic diagram illustrating a rescue robot rescuing a person who has fallen into the water, as provided in an embodiment of this application.

[0036] Figure 11 This is a schematic diagram of the shock-absorbing bracket structure provided in the embodiments of this application.

[0037] The technical features corresponding to the reference numerals in the figure are as follows:

[0038] 101-Port hull, 102-Satellite communication antenna, 103-Snorkel, 104-First controller, 105-Helmet-mounted beacon, 106-Person in the water, 107-Signal cable, 108-Heater unit, 109-Sea level, 110-Warning light, 111-Radar antenna, 112-Image sensor, 113-Mast, 114-Elastic cable, 115-Starboard hull, 116-Food and drinking water, 117-Airbags, 118-Water vents, 119-Deck, 120-Starboard Float, 121-Right rechargeable battery, 122-Right motor, 123-Right propeller, 124-Inductive charging device, 125-Sensor group, 126-Exhaust pipe, 127-Camera, 128-Second lifting airbag group, 129-Second intake solenoid valve, 130-Second exhaust solenoid valve, 131-Intake pipe, 132-Shock absorber bracket, 133-Bolt, 134-Left rechargeable battery, 135-Left motor, 136-Left float, 137-Left propeller, 138-High-pressure air storage chamber;

[0039] 201 - First lifting airbag group, 202 - Horizontal plane, 203 - Third lifting airbag group;

[0040] 301 - Nut, 302 - Flange, 303 - Pressure plate, 304 - Socket head screw, 305 - Half-round head;

[0041] 401-Compression pump, 402-Ventilation solenoid valve, 403-First exhaust solenoid valve, 404-First lifting airbag assembly, 405-First pressure sensor, 406-Second pressure sensor, 407-Third pressure sensor, 408-Third lifting airbag assembly, 409-Fourth exhaust solenoid valve, 410-First intake solenoid valve, 411-Third exhaust solenoid valve, 412-Third intake solenoid valve, 413-Fourth intake solenoid valve, 414-Fourth pressure sensor;

[0042] 501-Left half float, 502-Reserved arc-shaped groove, 503-One-way valve, 504-Anti-collision airbag, 505-Right half float, 506-Bolt, 507-Sealing gasket, 508-Reserved connection hole;

[0043] 601-Sub-exhaust pipe, 602-Sub-exhaust solenoid valve, 603-Sub-airbag, 604-Sub-pressure sensor, 605-Sub-intake solenoid valve, 606-First sub-air passage, 607-Second sub-air passage, 608-Third sub-air passage, 609-Fourth sub-air passage, 610-Fifth sub-air passage;

[0044] 701-Miniature Current Meter, 702-Inner Lining, 703-Inflatable Cavity, 704-Outer Shell, 705-Charging Power Supply, 706-Elastic Support, 707-Connecting Cable, 708-Antenna, 709-Light Emitting Diode, 710-Miniature Anemometer, 711-Second Controller, 712-Manual Switch and Charging Port, 713-Tape;

[0045] 801 - Power cable, 802 - Flexible sheath;

[0046] 1101-Vertical support, 1102-First cylindrical pin, 1103-Piston, 1104-Sealing ring, 1105-Compressed gas, 1106-Cylinder, 1107-Second cylindrical pin, 1108-Horizontal support. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0048] Example 1

[0049] The following description, with reference to the accompanying drawings, describes an embodiment of a rescue robot for island and reef sea areas.

[0050] like Figure 1 As shown, a rescue robot for island and reef waters includes a left hull 101, a right hull 115, a shock-absorbing bracket 132, and a deck 119. The left hull 101 and right hull 115 are symmetrically arranged. The shock-absorbing bracket 132 is connected to the left hull 101, right hull 114, and deck 119 by bolts 133. At least one elastic cable 114 connects the left hull 101 and deck 119, and at least one elastic cable 114 connects the right hull 115 and deck 119, forming the main body of the rescue robot. The semi-circular head 305 of the deck 119 is inserted into the semi-circular groove 502 of the left hull 101 or right hull 115, and the semi-circular head 305 can swing within the reserved semi-circular groove 502. A diving and surfacing device, a rescue device, a navigation device, and a propulsion device are respectively installed in the left hull 101, right hull 115, and deck 119.

[0051] like Figure 3 The schematic diagram of the airbag structure shown shows that the edge of the airbag is provided with a flange 302. The airbag refers to the protective airbag 117 or the sub-airbag 603. Nuts 301 are pre-embedded in the deck 119. The pressure plate 303 is connected to the deck 119 using hexagonal screws 304. The number of hexagonal screws can be adjusted according to the tightening requirements.

[0052] like Figure 1 , Figure 2 and Figure 4 As shown, the descent and ascent device is achieved by inflating and deflating the lifting airbags. It includes a first exhaust solenoid valve 403, a second exhaust solenoid valve 130, a third exhaust solenoid valve 411, a first intake solenoid valve 410, a second intake solenoid valve 129, a third intake solenoid valve 412, a first lifting airbag assembly 404, a second lifting airbag assembly 128, a third lifting airbag assembly 408, a first pressure sensor 405, a second pressure sensor 406, a third pressure sensor 407, a first controller 104, a signal line 107, a compression pump 401, a high-pressure air storage chamber 138, and a sensor assembly 12. 5. A first exhaust solenoid valve 403, a second exhaust solenoid valve 130, and a third exhaust solenoid valve 411 are provided on the exhaust pipe 126. A first intake solenoid valve 410, a second intake solenoid valve 129, and a third intake solenoid valve 412 are provided on the intake pipe 131. A first pressure sensor 405, a second pressure sensor 406, and a third pressure sensor 407 are respectively provided in the first lifting airbag assembly 404, the second lifting airbag assembly 128, and the third lifting airbag assembly 408. All solenoid valves are normally closed solenoid valves.

[0053] The first circuit consists of a high-pressure air storage chamber 138, an air intake pipe 131, a first air intake solenoid valve 410, a first lifting airbag assembly 404, a first exhaust solenoid valve 403, an exhaust pipe 126, and a compression pump 401. The first controller 104 is connected to the first air intake solenoid valve 410, the first exhaust solenoid valve 403, the first pressure sensor 405, and the compression pump 401 via a signal line 107. When the first exhaust solenoid valve 403 is closed and the first air intake solenoid valve 410 is opened, compressed air enters the first lifting airbag assembly 404 from the high-pressure air storage chamber 138, increasing the buoyancy of the first lifting airbag assembly 404. When the first air intake solenoid valve 410 is closed and the first exhaust solenoid valve 403 is opened, the compression pump 401 operates, and compressed air enters the high-pressure air storage chamber 138 from the first lifting airbag assembly 404, decreasing the buoyancy of the first lifting airbag assembly 404.

[0054] The second circuit consists of a high-pressure air storage chamber 138, an air inlet pipe 131, a second air inlet solenoid valve 129, a second lifting airbag assembly 128, a second exhaust solenoid valve 130, an exhaust pipe 126, and a compression pump 401. The first controller 104 connects the second air inlet solenoid valve 129, the second exhaust solenoid valve 130, the second pressure sensor 406, and the compression pump 401 via a signal line 107. When the second exhaust solenoid valve 130 is closed and the second air inlet solenoid valve 129 is opened, compressed air enters the second lifting airbag assembly 128 from the high-pressure air storage chamber 138, increasing the buoyancy of the second lifting airbag assembly 128. When the second air inlet solenoid valve 129 is closed and the second exhaust solenoid valve 130 is opened, the compression pump 401 operates, and compressed air enters the high-pressure air storage chamber 138 from the second lifting airbag assembly 128, decreasing the buoyancy of the second lifting airbag assembly 128.

[0055] The third circuit consists of a high-pressure air storage chamber 138, an air intake pipe 131, a third air intake solenoid valve 412, a third lifting airbag assembly 408, a third exhaust solenoid valve 411, an exhaust pipe 126, and a compression pump 401. The first controller 104 connects the third air intake solenoid valve 412, the third exhaust solenoid valve 411, the third pressure sensor 407, and the compression pump 401 via a signal line 107. When the third exhaust solenoid valve 411 is closed and the third air intake solenoid valve 412 is open, compressed air enters the third lifting airbag assembly 408 from the high-pressure air storage chamber 138, increasing the buoyancy of the third lifting airbag assembly 408. When the third air intake solenoid valve 412 is closed and the third exhaust solenoid valve 411 is open, the compression pump 401 operates, and compressed air enters the high-pressure air storage chamber 138 from the third lifting airbag assembly 408, decreasing the buoyancy of the third lifting airbag assembly 408.

[0056] Through the above inflation / deflation structure and control circuitry, the inflation and deflation of different airbag groups are achieved. The inflation / deflation volume of different airbags can be controlled to adjust the horizontal state of Deck 119 and the depth and speed of the rescue robot's descent and ascent. In the above scheme, to prevent some airbags from rupturing and causing the rescue robot to lose control, the individual airbag groups can be designed as independent, parallel sub-airbags, such as... Figure 6 The structural diagram of the airbag assembly is shown.

[0057] Rescue robots search and rescue near islands and reefs. Each airbag assembly may come into contact with the reefs, and sharp rocks may puncture the airbags, causing the rescue robot to tilt and lose control. To improve the reliability of the airbag assembly, each airbag assembly is divided into multiple independent, parallel sub-airbags. Leakage in some sub-airbags does not affect the normal operation of the rescue robot. In addition, a rigid fairing is installed outside the airbag assembly to protect it from scratches and reduce drag. The fairing is not shown in the diagram. This section takes the second lifting airbag assembly 128 as an example. The second lifting airbag assembly 128 includes a sub-exhaust pipe 601, a sub-exhaust solenoid valve 602, a sub-airbag 603, a sub-pressure sensor 604, and a sub-intake solenoid valve 605, which are sequentially connected to form a first sub-air passage 606, a second sub-air passage 607, a third sub-air passage 608, a fourth sub-air passage 609, and a fifth sub-air passage 610. The five sub-air passages, namely the first sub-air passage 606, the second sub-air passage 607, the third sub-air passage 608, the fourth sub-air passage 609, and the fifth sub-air passage 610, are respectively controlled by the first controller 104, which significantly improves the reliability of the rescue robot.

[0058] The first controller 104 includes a CPU, memory, memory card, wireless network card, serial port, power supply, communication device, and PCB circuit board. The PCB circuit board integrates the CPU, memory, memory card, wireless network card, serial port, power supply, and communication device. The power supply provides power to the first controller 104. The CPU and memory run the software stored in the memory card. The first controller 104 uses signal lines 107 to connect to the intake solenoid valve, exhaust solenoid valve, pressure sensor, compression pump 401, and sensor group 125 via the serial port. The first controller 104 controls the first circuit, second circuit, and third circuit to inflate and deflate the lifting airbag group, changing the volume of the lifting airbag group and thus changing its buoyancy. This allows the rescue robot to smoothly lift the person 106 from the water when it dives below or surfaces above the sea surface 109, achieving the rescue. Finally, the robot safely returns to the home port or mother ship. Sensor group 125 includes temperature, salinity, depth, and attitude sensors. First controller 104 collects data from each pressure sensor and sensor group 125, monitors pressure changes in each airbag group, and senses changes in seawater temperature, salinity, depth, and the rescue robot's attitude. In adverse sea conditions, first controller 104 controls the diving and surfacing device to enable the rescue robot to dive and surface, successfully completing the rescue process of smoothly lifting a person in the water from the deck without human intervention. This achieves the rescue mission without requiring lifeguards to risk their lives in the water or the person in the water to climb the rescue equipment. Compared to the prior art described in document CN109591975B, the controlled deck smoothly lifts the person in the water, avoiding the violent shaking of the flexible-connected manned tray caused by waves, which makes it difficult to align the tray with the person in the water. Violent shaking of the tray could injure the person in the water, and could throw the person already in the tray back into the sea. Furthermore, that document uses an image sensor to obtain the position of the person in the water and controls the flexible-connected manned tray, which is limited by heavy rain, waves, fog, and lighting conditions.

[0059] Figure 5This is a schematic diagram of the left float structure. The left float 136 or right float 120 includes a left half float 501, a right half float 505, bolts 506, a sealing gasket 507, and an anti-collision airbag 504. A sealing gasket 507 is provided between the left half float 501 and the right half float 505. The left half float 501 and the right half float 505 are connected as one unit using bolts 506. The internal cavity is reserved for installing the first controller 104, the compression pump 401, the high-pressure air storage chamber 138, and the left rechargeable battery 134 (right float). 120 has a right rechargeable battery 121), a left motor 135 (right float 120 has a right motor 122), a left propeller 137 (right float 120 has a right propeller 123) and an inductive charging device 124; the outer surface of the left float 136 or the right float 120 is glued or screwed with multiple split-type anti-collision airbags 504, and the anti-collision airbags 504 are equipped with multiple inflation one-way valves 503, so that leakage of one split-type anti-collision airbag 504 does not affect the normal operation of other airbags.

[0060] The left float 136 and right float 120 are connected to the shock absorber bracket 132 by screws through the reserved connection holes 508. The top of the left float 136 or right float 120 is threadedly connected to the mast 113, on which a satellite communication antenna 102, a warning light 110, a radar antenna 111, and an image sensor 112 are fixedly connected. The left and right ends of the deck 119 are semi-circular heads 305, which are inserted into the reserved semi-circular grooves 502. When the shock absorber bracket 132 is impacted, the semi-circular heads 305 swing in the reserved semi-circular grooves 502, thereby avoiding interference between the deck 119 and the left float 136 and right float 120.

[0061] Figure 11 The diagram shows the structure of the shock absorber bracket, which includes a vertical support 1101, a first cylindrical pin 1102, a piston 1103, a sealing ring 1104, compressed gas 1105, a cylinder 1106, a second cylindrical pin 1107, and a horizontal support 1108. The vertical support 1101 is bolted to the port hull 101 or the starboard hull 115, and the horizontal support 1108 is bolted to the deck 119. The first cylindrical pin 1102, the vertical support 1101, and the piston 1103 form a rotatable connection, as do the second cylindrical pin 1107, the horizontal support 1108, and the cylinder 1106. The piston 1103 is fitted with a sealing ring 1104 and installed inside the cylinder 1106, forming a movable connection. The compressed gas 1105 is sealed inside the cylinder 1106, storing or releasing the energy of air deformation, thus impeding the movement of the port hull 101 or the starboard hull 115 relative to the deck 119. This cushions the rescue robot from the impact of waves crashing against and hitting the reefs, preventing it from being damaged, broken, or sinking due to wave impact. The shock-absorbing bracket can also be a shock-absorbing system made of springs.

[0062] Rescue robots have a simple structure and are less expensive than rescue helicopters. They can be widely deployed at island docks and are on standby 24 / 7. After receiving a rescue order, they can set sail for rescue in the next second. Their reaction time is extremely fast, reaching the rescue site in the island and reef waters much faster than rescue helicopters, which are only available in rescue command centers in big cities.

[0063] Example 2

[0064] Combination Figure 1 and Figure 3 The rescue robot's life-saving device includes a protective airbag 117, a heating device 108, and food and drinking water 116. The protective airbag 117 is installed on the deck 119 to prevent sea winds from blowing on the person 106 who has fallen into the water, thus removing body heat. A sealed compartment is installed on the deck 119 inside the protective airbag 117. The compartment door is equipped with a voice prompt device and a flashing switch. The sealed compartment contains the heating device 108 and the food and drinking water 116. When the first controller 104 detects that a person 106 has fallen into the water on the deck 119, the voice prompt device instructs the person 106 to touch the flashing switch to obtain food and drinking water 116. The person can immediately obtain drinking water to replenish fluids and prevent dehydration, and can immediately obtain food to replenish nutrients and restore strength. The heating device 108 immediately delivers warm air to help the rescued person 106 quickly regain body temperature.

[0065] Combination Figure 1 , 3Section 4 illustrates the relevant structure for inflating and deflating the protective airbag, including a high-pressure air chamber 138, an air inlet pipe 131, a fourth air inlet solenoid valve 413, a protective airbag 117, a fourth exhaust solenoid valve 409, a fourth pressure sensor 414, and a compression pump 401 forming a circuit. The first controller 104 connects the fourth air inlet solenoid valve 413, the fourth exhaust solenoid valve 409, the fourth pressure sensor 414, and the compression pump 401 via a signal line 107. The fourth air inlet solenoid valve 413 is open, and the fourth exhaust solenoid valve 409 is closed. Air enters the protective airbag 117 from the high-pressure air chamber 138. The fourth exhaust solenoid valve 409 is open, the fourth air inlet solenoid valve 413 is closed, the compression pump 401 starts working, and air from the protective airbag 117 is injected into the high-pressure air chamber 138. The fourth pressure sensor 414 monitors the pressure change of the protective airbag 117. The ventilation solenoid valve 402 opens, all other valves close, and the compressor pump 401 starts working, injecting sea surface air into the high-pressure air storage chamber 138. The ventilation pipe 103 is installed on the mast 113. In seawater, the compressed air from the high-pressure air storage chamber 138 is used to fill the airbag. After emerging from the sea, the ventilation pipe 103 is used to draw in sea surface air to replenish the compressed air in the high-pressure air storage chamber 138. During high-speed travel, the protective airbag 117 not only wraps around the rescued person 106 to prevent them from falling back into the sea, but also prevents the sea breeze from rapidly evaporating moisture from their damp clothing, which could lead to hypothermia. During the journey to the rescue destination, the protective airbag 117 contracts to its minimum volume, which helps reduce wind resistance as the rescue robot travels to the rescue destination, allowing it to reach the rescue location quickly.

[0066] Example 3

[0067] The rescue robot's navigation system includes a satellite positioning device, a satellite communication device, radar, an image recognition device, and an Automatic Identification System (AIS). To accurately determine the relative positions of the rescued person wearing a helmet-mounted beacon and the rescue robot, a BeiDou satellite positioning device and a satellite communication device are preferred. For navigation safety and compatibility with other navigation technologies, the navigation system also retains radar, an image recognition device, and an AIS. The image recognition device collects images from both visible and infrared light sources to identify nearby obstacles. The radar collects and identifies obstacles at medium to long distances. The satellite positioning device obtains the rescue robot's latitude and longitude and its azimuth. The satellite communication device receives remote control commands, the dynamic latitude and longitude of the helmet-mounted beacon 105, and the drift trajectory prediction of the person 106 who has fallen into the water from the rescue command center. BeiDou short message communication is preferred for the satellite communication device. The radar antenna 111, the first image sensor 112, the second image sensor 127, the satellite communication antenna 102, and the warning light 110 are mounted on the mast 113. The universal warning lights 110 and Automatic Identification System (AIS) communicate their course to nearby vessels to avoid collisions.

[0068] The first controller 104 establishes a wireless network connection with the second controller 711 of the helmet-mounted beacon via a wireless network card. It receives real-time latitude and longitude data from the beacon, as well as data from a miniature anemometer, current meter, and wave sensor. This allows it to predict the relative position changes between the rescue robot and the person in the water 106, monitor, search for, and approach the person 106, and select appropriate wind, wave, and current conditions for diving and surfacing to complete the rescue mission. Experimenters use a mobile terminal to establish a signal connection with the first controller 104 via a wireless network card, logging into the first controller 104 to set, operate, test, and control the rescue robot.

[0069] The solution uses helmet-mounted position markers to accurately locate the latitude and longitude coordinates of the rescued person. A schematic diagram of the helmet-mounted position marker structure can be found here. Figure 7 The helmet-mounted positioning beacon includes a miniature current meter 701, an inner liner 702, an inflatable cavity 703, an outer shell 704, a charging power supply 705, an elastic support 706, a connecting wire 707, an antenna 708, a light-emitting diode 709, a miniature anemometer 710, a second controller 711, a manual switch and charging port 712, and a strap 713. The inner liner 702, outer shell 704, and elastic support 706 form a sealed cavity 703, within which the second controller 711 and the charging power supply 705 are housed. The outer shell 704 is screwed to the second controller 711 and the charging power supply 705. An antenna 708 is mounted on the outer shell 704, and a light-emitting diode 709 and a miniature anemometer 709 are mounted on the antenna 708. 0. The outer shell 704 and the antenna 708 are connected by threads; the antenna 708 is connected to the photodiode 709 by screws, and the antenna 708 is connected to the miniature anemometer 710 by screws; a manual switch and a charging port 712 are provided on the inner liner 702; a strap 713 is provided at the lower part of the outer shell 704 to fix the helmet-type position indicator to the wearer's head, and the strap 713 passes through the reserved hole on the outer shell 704 for connection; a miniature current meter 701 is provided at the rear of the outer shell 704, and the outer shell 704 and the miniature current meter 701 are connected by a universal joint coupling with two angle sensors. The angle sensors detect the angle change of the universal joint coupling. One end of the universal joint coupling is connected to the outer shell 704 by screws, and the other end is connected to the miniature current meter 701 by screws.

[0070] The second controller 711 includes a CPU, memory, memory card, wireless network card, serial port, power supply, communication device, wave sensor, and PCB circuit board. The charging power supply 705 supplies power to the second controller 711. The CPU and memory run the software stored in the memory card to realize wind, wave and current parameter acquisition, satellite positioning, and satellite communication. The CPU is connected to the communication device through the built-in serial port. The communication device includes a satellite communication device and a satellite positioning device. The satellite positioning device preferably uses the Beidou positioning system, and the satellite communication device preferably uses Beidou short message communication. The latitude and longitude of the helmet-mounted positioning beacon are obtained through the satellite positioning device, and data is transmitted to the rescue center and instructions are received through the satellite communication device. Dynamic latitude and longitude data is transmitted to the rescue robot.

[0071] The CPU connects to a wave sensor via a built-in serial port, which measures wave height. The second controller 711 uses a signal connection cable 707 to connect to a miniature anemometer 710 and a miniature current meter 701 via external serial ports. The miniature anemometer 710 measures wind speed and direction, while the miniature current meter 701 measures current velocity and direction. The second controller 711 collects data from the miniature anemometer, miniature current meter, and wave sensor to perceive the environmental parameters of wind, waves, and currents around the person in the water. This data is transmitted to the rescue center via satellite communication, providing real-time data support to improve the speed and accuracy of rescue efforts by accurately predicting the drift trajectory. Additionally, the miniature anemometer 710 can also drive a miniature generator to provide emergency power to the helmet-mounted positioning beacon.

[0072] like Figure 8 As shown, the miniature current meter 701 includes a flexible triboelectric power generation cable 801, a flexible sheath 802, and a universal joint coupling. Two angle sensors integrated into the universal joint coupling measure the deflection angle of the flexible triboelectric power generation cable 801 relative to the drift trajectory of the helmet-mounted beacon, calculating the direction of the ocean current. The flexible sheath 802 is made of silicone material. The flexible triboelectric power generation cable 801 is formed by sequentially stacking and rolling a flexible thin-film gasket, a flexible thin-film metal electrode, a flexible thin-film support material, and a flexible dielectric film. A lead wire is provided at the end of the flexible thin-film metal electrode. The flexible dielectric film is fabricated with a micro / nano structure to enhance power generation efficiency. Under the action of ocean waves, the flexible dielectric film bends, deforms, and rebounds, generating charge. Simultaneously, it generates charge through friction with the flexible thin-film metal electrode. The flexible thin-film metal electrode and the lead wire conduct the charge to generate current. The magnitude of the current is positively correlated with the magnitude of the ocean current. Through experimental calibration, it is used to measure the magnitude of the ocean current. Additionally, if the size is large enough, it can also provide emergency power to the helmet-mounted beacon. The miniature current meter 701 measures the current velocity and direction, and the second controller 711 collects the data from the miniature current meter and transmits it to the rescue center via satellite communication device. This provides real-time data support to improve the speed and accuracy of rescue by accurately predicting the drift trajectory of people who have fallen into the water.

[0073] Example 4

[0074] To enable the rescue robot to be quickly deployed to the location of the person in need, a powerful propulsion system is installed, which includes a left float 136, a left rechargeable battery 134, a left electric motor 135, a left propeller 137, a right float 120, a right rechargeable battery 121, a right electric motor 122, a right propeller 123, and an inductive charging device 124. The left rechargeable battery 134 and the left electric motor 135 are located in the left float 136. The left electric motor 135 drives the left propeller 137 to rotate, providing one component force to propel the rescue robot forward. The right rechargeable battery 121 and the right electric motor 122 are located in the right float 120. The right electric motor 122 drives the right propeller 123 to rotate, providing another component force to propel the rescue robot forward. The left propeller 137 and the right propeller 123 are located in the left float 136 and the right float 120, respectively, to prevent the high-speed rotating propeller from injuring the person in the water during the rescue. The first controller 104 determines the speed and direction of navigation based on environmental information perceived by the navigation device. Simultaneously, it adjusts the rotational speed and steering of the left propeller 137 and right propeller 123 to achieve a certain speed and heading, avoiding obstacles detected by the navigation device and safely navigating towards the latitude and longitude of the person in the water 106 indicated by the helmet-mounted beacon 105. Upon returning to the home port or the mother ship's berth, the inductive charging device 124 replenishes the left rechargeable battery 134 and right rechargeable battery 121 with power through corresponding inductive charging power supplies located at the berth.

[0075] The propulsion system can also be a hybrid electric propulsion system, where fuel drives the internal combustion engine to propel the propeller or to replenish the power of the rechargeable battery. During diving and surfacing, the left electric motor 135 and the right electric motor 122 drive the left propeller 137 and the right propeller 123 respectively to complete the rescue mission.

[0076] Example 5

[0077] The structure of the rescue robot in island and reef waters was comprehensively analyzed. The rescue process of the rescue robot mainly includes the following steps:

[0078] S1. The first controller of the rescue robot, 104 system, performs self-checks, charging maintenance, and fault reporting.

[0079] S2. The first controller 104 of the rescue robot, moored at the dock near the island reef, uses a wireless network card to connect to a wide area network to listen for rescue instructions from the rescue center around the clock, or listen for rescue instructions via satellite communication short messages. The rescue instructions include the Beidou positioning latitude and longitude of the person who fell into the water wearing a helmet-mounted positioning beacon 105, the wind, wave and current parameters of the sea area where the person fell into the water, and the latitude and longitude of the rescue location predicted based on the preliminary drift trajectory calculated based on the wind, wave and current parameters. The rescue robot is on standby 24 hours a day and its reaction time is faster than that of manual rescue, responding to rescue instructions in seconds.

[0080] S3. The navigation device adjusts the course based on the predicted latitude and longitude of the rescue location, and the power propulsion device outputs maximum power to propel the rescue robot at full speed;

[0081] S4. During the voyage, update the latitude and longitude of the rescue location predicted by the rescue center, the real-time wind, wave and current parameters of the sea area where the person fell into the water, and the latitude and longitude of the rescue location predicted by the drift trajectory recalculated based on the wind, wave and current parameters, and adjust the course and speed.

[0082] S5. When the distance R between the rescue robot and the helmet-mounted positioning beacon 105 is less than or equal to 100 meters, the first controller 104 of the rescue robot establishes a wireless local area network connection or a 5G communication connection with the second controller 711 of the helmet-mounted positioning beacon 105, and obtains the BeiDou positioning information from the helmet-mounted positioning beacon 105 in real time with minimal latency, recalculates the "distance and azimuth" between the two, and the navigation device adjusts the heading according to the "distance and azimuth" (e.g., ...). Figure 9 (as shown);

[0083] S6. Based on the dimensions of the positioning chip at the installation positions of the rescue robot and the helmet-mounted beacon, the BeiDou positioning distance of the rescue robot and the helmet-mounted beacon 105 is transformed into the "distance and azimuth angle" between the geometric center of the rescue robot and the center of gravity of the person who fell into the water wearing the helmet-mounted beacon 105.

[0084] S7. Based on the real-time drift trajectory curve of the person who fell into the water, predict the location where the person will drift to, and the rescue robot will navigate to the location where the person will drift to, maintaining a sufficient safe distance from the person.

[0085] S8. The airbags of the diving and surfacing device of the rescue robot deflate and dive, waiting for the person who fell into the water to drift to it; this avoids the possibility of secondary injury or even capsizing during the process of the person who fell into the water boarding the boat; it also avoids the waves stirred up by the rescue robot itself pushing the person who fell into the water away, and avoids the need for lifeguards to have rescue skills and a long rescue time to complete the rescue.

[0086] S9. Until the center of gravity of the person in the water is located within an ellipse with major axis A and minor axis B, the rescue robot's airbags inflate and rise to the surface, lifting the person out of the water. The rescue robot detects the signals from sensor group 125 and the pressure of the airbags to determine whether the rescue of the person in the water has been successful (e.g., ...). Figure 10 (as shown)

[0087] S10. Due to the constant changes in wind, waves, and currents, the center of gravity of the person in the water is constantly shifting. If step S9 fails, the rescue robot can still: adjust its navigation device to follow the direction of the person's drift, depress each airbag group to submerge, and track the changes in the person's center of gravity until the person's center of gravity is located within an ellipse with major axis A and minor axis B. Then, the rescue robot's airbag groups inflate and float to the surface, lifting the person out of the water. The rescue robot detects the signal from sensor group 125 and the pressure of the airbag groups to determine whether the person has been successfully rescued. Both the rescue robot and the person wearing a personal positioning beacon have satellite positioning devices. The rescue robot accurately tracks the location of the person in the water, quickly locates them, and accurately positions them during rescue, no longer relying on visual positioning. Even in situations with extremely poor visibility, such as at night or in heavy rain, rescues can be carried out smoothly.

[0088] S11. The first controller 104 reports the rescue situation to the rescue center;

[0089] S12. The first controller 104 controls the protective airbag 117 to be filled with gas, preventing the sea breeze from blowing the person 106 who fell into the water, taking away the body heat of the person 106 who fell into the water, and restoring body temperature as soon as possible.

[0090] S13. The first controller 104 controls the operation of the heating device 108;

[0091] S14. Return at full speed to the port or vessel designated by the rescue center;

[0092] S15. The rescue device's voice prompt indicates that food and drinking water 116 are provided inside the sealed compartment for people who have fallen into the water. People who have fallen into the water can touch the flashing sealed compartment switch to obtain food and drinking water 116 and restore their body temperature and strength as soon as possible.

[0093] S16. The rescue robot arrives at the port or ship designated by the rescue center, the person who fell into the water is sent to the hospital, and the rescue is completed.

[0094] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention filed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0095] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A rescue robot for island and reef waters, comprising a port hull (101), a starboard hull (115), and a deck (119), characterized in that... Also includes: The shock absorber bracket (132) shown is bolted to the left hull (101), the right hull (115) and the deck (119); the left hull (101) and the right hull (115) are symmetrically arranged; at least one upper and one lower elastic cable (114) connects the left hull (101) and the deck (119), and at least one upper and one lower elastic cable (114) connects the right hull (115) and the deck (119); the semi-circular head (305) of the deck (119) is inserted into the semi-circular groove (502) of the left hull (101) or the right hull (115), and the semi-circular head (305) can swing in the semi-circular groove (502); The submersible and surfacing device includes a first exhaust solenoid valve (403), a second exhaust solenoid valve (130), a third exhaust solenoid valve (411), a first intake solenoid valve (410), a second intake solenoid valve (129), a third intake solenoid valve (412), a first lifting airbag assembly (404), a second lifting airbag assembly (128), a third lifting airbag assembly (408), a first pressure sensor (405), a second pressure sensor (406), a third pressure sensor (407), and a first controller (104). The first controller (104) controls each exhaust solenoid valve and each intake solenoid valve to realize the intake and exhaust of each lifting airbag assembly. The submersible and surfacing device is fixedly connected to the bottom of the deck (119), thereby enabling the rescue robot to smoothly lift the person who has fallen into the water during the surfacing process. The shock absorber bracket (132) includes a vertical support (1101), a first cylindrical pin (1102), a piston (1103), a sealing ring (1104), a cylinder (1106), a second cylindrical pin (1107), and a horizontal support (1108). The vertical support (1101) is bolted to the port hull (101) or the starboard hull (115), and the horizontal support (1108) is bolted to the deck (119). The satellite communication device of the first controller (104) receives remote control commands, the dynamic latitude and longitude of the helmet-mounted beacon (105), and the drift trajectory prediction information of the person who fell into the water (106) issued by the rescue command center, and guides the rescue robot to carry out rescue based on the received information; When the distance R between the rescue robot and the helmet-mounted position marker (105) reaches the first threshold, the first controller (104) of the rescue robot establishes a wireless local area network connection or a 5G connection with the helmet-mounted position marker (105) and calculates the relative positional relationship between the rescue robot and the helmet. The relative positional relationship includes the distance and azimuth angle between the geometric center of the rescue robot and the center of gravity of the person who fell into the water at the helmet-type positioning beacon (105). When the distance and azimuth angle meet the second threshold, each of the lifting airbag groups inflates and floats up to lift the person out of the water.

2. The island and reef sea rescue robot according to claim 1, characterized in that, It has at least three lifting airbag groups, each with a corresponding circuit to control the inflation and deflation of the airbag group, thereby adjusting the deck to a horizontal state and the rescue robot to dive and rise.

3. The island and reef sea rescue robot according to claim 2, characterized in that, Each lifting airbag group is divided into multiple independent parallel sub-airbags, each sub-airbag corresponds to a sub-air path, and the first controller (104) controls the sub-air path to inflate and deflate the sub-airbag.

4. The island and reef sea rescue robot according to claim 1, characterized in that, The left hull (101) includes a left float (136), and the right hull (115) includes a right float (120). The left float (136) or the right float (120) includes a left half float (501), a right half float (505), bolts (506), a gasket (507), and an anti-collision airbag (504). The gasket (507) is provided between the left half float (501) and the right half float (505). The bolts (506) are used to connect the left half float (501) and the right half float (505) into one unit.

5. The island and reef sea rescue robot according to claim 1, characterized in that, The device includes a life-saving device consisting of a protective airbag (117), a high-pressure air storage chamber (138), an air inlet pipe (131), an air inlet solenoid valve (413), an exhaust solenoid valve (409), and a compression pump (401). The first controller (104) controls the air inlet solenoid valve (413) to open and the exhaust solenoid valve (409) to close, so that air enters the protective airbag (117) from the high-pressure air storage chamber (138) to inflate the protective airbag.

6. The island and reef sea rescue robot according to claim 4, characterized in that, It also includes a power propulsion device, on which a left rechargeable battery (134), a left electric motor (135) and a left propeller (137) are provided. The left electric motor (135) drives the left propeller (137) to rotate to obtain a component force to propel the rescue robot forward. On the right float (120), a right rechargeable battery (121), a right electric motor (122) and a right propeller (123) are provided. The right electric motor (122) drives the right propeller (123) to rotate to obtain another component force to propel the rescue robot forward. The first controller (104) determines the speed and direction of navigation based on the environmental information perceived by the navigation device, and adjusts the rotation speed and steering of the left propeller (137) and the right propeller (123) to obtain a certain speed and heading.

7. A rescue method for an island and reef sea rescue robot, using the island and reef sea rescue robot according to any one of claims 1-6, characterized in that, Includes the following steps: S1. The first controller (104) of the rescue robot listens for rescue instructions from the rescue center or listens for rescue instructions via satellite communication short messages. The rescue instructions include the location latitude and longitude of the person who fell into the water wearing a helmet-mounted beacon (105), the wind, wave and current parameters of the sea area where the person fell into the water, and the latitude and longitude of the rescue location predicted by the drift trajectory based on the preliminary calculation of the wind, wave and current parameters. S2. The navigation device adjusts its course based on the predicted latitude and longitude of the rescue location, and the rescue robot's propulsion device outputs maximum power to propel it. S3. During the voyage, update the latitude and longitude of the rescue location predicted by the rescue center, the real-time wind, wave and current parameters of the sea area where the person fell into the water, and the latitude and longitude of the rescue location predicted by the drift trajectory recalculated based on the wind, wave and current parameters, and adjust the course and speed. S4. When the distance R between the rescue robot and the helmet-mounted position marker (105) reaches the first threshold, the first controller (104) of the rescue robot establishes a wireless local area network connection or a 5G connection with the helmet-mounted position marker (105) and calculates the relative positional relationship between the rescue robot and the helmet. S5. Calculate the distance and azimuth between the geometric center of the rescue robot and the center of gravity of the person who fell into the water at the helmet-type positioning beacon (105). When the distance and azimuth meet the second threshold, the first lifting airbag group (404), the second lifting airbag group (128), and the third lifting airbag group (408) inflate and float up to lift the person who fell into the water out of the sea.

8. The rescue method of the island and reef sea rescue robot according to claim 7, characterized in that, The rescue robot determines whether the rescue is successful; if the result is failure, the navigation device adjusts its course to follow the drift direction of the person who fell into the water, each of the lifting airbag groups deflates and dives, tracks the latitude and longitude changes of the center of gravity of the person who fell into the water, recalculates the distance and azimuth angle between the geometric center of the rescue robot and the center of gravity of the person who fell into the water on the helmet-type positioning beacon (105), and when the distance and azimuth angle meet the second threshold, each of the lifting airbag groups inflates again and floats up.

Images