Unmanned autonomous rescue platform for high sea condition complex scene and working method of unmanned autonomous rescue platform

Abstract

The invention relates to a high sea condition complex scene unmanned autonomous rescue platform and a working method thereof. The rescue platform comprises a rescue sub-ship, a rescue mother ship carrying the rescue sub-ship and a full-autonomous multi-ship cooperative rescue control module. The rescue sub-ship is a cuboid with an open top, a bow part comprises three parts, two sides are sheet bodies with streamline flow guide appearances respectively, the middle is recessed inwards, the front ends of the sheet bodies are connected with mechanical arms respectively, and the front ends of the mechanical arms are connected with flexible claws respectively; the recess is provided with a front salvage conveyor belt which is used for obliquely and upwards transporting to the interior of the rescue sub-ship, and the tail end of the front salvage conveyor belt is located at the top end of the ship wall of the recess and can be connected with a transportation rotary conveyor belt located in a cabin; the full-autonomous multi-ship cooperative rescue control module controls sailing of the rescue mother ship and laying, recovery and rescue of the rescue child ship. The unmanned marine rescue platform and the working method thereof are good in controllability, high in salvage capacity and wide in applicability.

Description

Technical Field

[0001] The present invention belongs to the field of marine rescue, and specifically relates to an unmanned autonomous rescue platform for complex sea conditions and a working method thereof. Background Art

[0002] At present, emergency response to water traffic safety mainly uses light rescue equipment such as lifebuoys and life jackets, and adopts manual rescue methods such as assault boats and rescue boats, which have the problem of low level of technology and digitization. Traditional maritime rescue methods have great limitations. First, there is a great risk for rescuers in bad weather and sea conditions. The visual search and rescue method is affected by ambient light and weather factors and is very inefficient. In addition, the large range of movement of the rescue platform in strong winds and waves makes salvage difficult.

[0003] In order to solve the many problems faced by traditional maritime rescue methods, the prior art CN107351993B proposed a water rescue device and method based on an unmanned boat, which mainly designed an identification system using a camera and an infrared detector, a salvage and recovery device using a rocket launcher lifebuoy, and a storage compartment including a waterproof door and a life-saving channel, to achieve autonomous identification and rescue of people in distress in the water. However, the device and method require that the person who falls into the water has a certain ability to move in order to reach a safe position from the rescue channel, and the accuracy of the rocket launcher lifebuoy is limited in high sea conditions, and lacks the ability to rescue people who fall into the water and are unconscious; the prior art CN114524067B designed an intelligent rescue unmanned boat, which realizes the rescue of unconscious people who fall into the water by setting a lifting component. However, the lifting assembly in this technology is located between two floating bodies. When the wind and waves are strong, the relative movement of the person who falls into the water is large, and it is difficult to accurately control the posture of the floating body, which easily causes secondary damage to the person by the rigid structure; the prior art CN215155526U discloses a water rescue device and a fully autonomous unmanned patrol rescue boat, which realizes the identification and positioning of obstacles and people who fall into the water by designing a perception and recognition system using laser radar and a 360-degree panoramic camera, and rescues the people who fall into the water by using an automatic lifebuoy throwing device after approaching. However, optical systems such as laser radar and cameras are greatly affected by rain and fog, and it is difficult to accurately identify and locate people who fall into the water under complex weather conditions; the prior art CN110481777B discloses a water-air amphibious unmanned rescue platform, which mainly realizes the rapid delivery of rescue materials by combining a small waterplane catamaran and a rescue material delivery device equipped with a quad-rotor drone. However, the drone platform is greatly affected by the weather, and the common rescue scenes are often in very bad weather, which greatly limits the application of the drone platform. Summary of the invention

[0004] In order to solve the technical problems that the existing technology is difficult to perform rapid and stable control under high sea conditions, difficult to achieve accurate and stable identification and tracking of people who fall into the water in complex and harsh environments, and difficult to ensure that rescue equipment can accurately rescue people without causing secondary injuries in strong winds and waves, the present invention provides an unmanned autonomous rescue platform for complex scenes with high sea conditions and a working method thereof.

[0005] The technical solution of the present invention is as follows:

[0006] An unmanned autonomous rescue platform for complex sea conditions, characterized by comprising a rescue sub-ship, a rescue mother ship that can carry multiple rescue sub-ships, and a fully autonomous multi-ship collaborative rescue control module;

[0007] The rescue sub-boat is a rectangular parallelepiped with an open top, a flat stern and side walls, and a bow portion including three parts. The two side parts are sheets with streamlined flow-guiding shapes, and the middle is recessed inwards. The front ends of the sheets are respectively connected to mechanical arms, and the front ends of the mechanical arms are respectively connected to flexible claws. The recessed part has a front salvage conveyor belt for obliquely transporting upward to the inside of the rescue sub-boat. The end of the front salvage conveyor belt is located at the top of the recessed ship wall and can be connected to the transport rotating conveyor belt located in the cabin.

[0008] The fully autonomous multi-ship collaborative rescue control module controls the navigation of the rescue mother ship, and the deployment, recovery and rescue of the rescue daughter ship.

[0009] Preferably, a mechanical arm connecting device is installed at the front end of the sheet body, and the mechanical arm includes a first section and a second section, the mechanical arm connecting device is connected to the first section, and the first section is driven by a servo motor or a hydraulic device to rotate around a connecting axis connected to the mechanical arm connecting device, one end of the second section is connected to the first section, and the second section is driven by a servo motor or a hydraulic device to rotate around a connecting axis connected to the first section, the other end of the second section is connected to a flexible claw connecting device, and the flexible claw connecting device is driven by a servo motor or a hydraulic device to rotate around a connecting axis connected to the second section, the two flexible claws are connected to the flexible claw connecting device, and the flexible claws are made of flexible material and driven by pneumatic force.

[0010] Further preferably, the compressed air for driving the flexible claw is transported through a driving gas pipeline, one end of the driving gas pipeline is connected to the pipeline interface on the flexible claw connecting device, and the other end is connected to the compressed air pipeline; one end of the compressed air pipeline is respectively connected to two flexible claw driving air pumps symmetrically arranged on the rescue sub-boat, and the other end is connected to the driving gas pipeline through the mechanical arm connecting device, the first section, and the second section.

[0011] Further preferably, a personnel maintenance device is provided at the transport rotary conveyor, and the surface of the personnel maintenance device is covered with a flexible material; the transport rotary conveyor belt can rotate around the rotation center, and after rotating 90 degrees counterclockwise or clockwise, it is connected to the conveyor belt connecting device located on the side wall.

[0012] Preferably, a plurality of lifting ears for fixing crane cables are provided at the edge of the top surface of the rescue sub-boat.

[0013] Preferably, the fully autonomous multi-ship collaborative rescue control module includes a data acquisition system, a control system, a data processing system and an execution system. The data acquisition system includes sensors arranged at multiple locations of the rescue sub-ship for collecting the position, posture, motion information of the rescue sub-ship itself and the relative position information with the rescue mother ship, a laser radar and an infrared camera arranged on a sensor bracket at the front of the rescue sub-ship, a lateral millimeter-wave radar arranged on the side of the rescue sub-ship, a forward millimeter-wave radar arranged on a flexible claw connection device, a pressure sensor arranged under the transport rotating conveyor belt, and a dual-antenna high-precision GPS and accelerometer module IMU;

[0014] The control system includes a navigation controller, a salvage controller, a transport controller, and an emergency controller; the navigation controller controls the rescue mother ship controller to autonomously navigate, and the salvage controller controls the rescue sub-ship to autonomously search for people in distress who have fallen into the water, and completes the identification, positioning, and salvage of the people in distress; the transport controller is distributed in the rescue sub-ship and the rescue mother ship, and is responsible for the autonomous deployment and recovery of the rescue sub-ship, as well as transporting the rescued people in distress to the rescue cabin located in the rescue mother ship; the emergency controller includes manual control functions for the recovery of the rescue sub-ship and the safe return of the rescue platform;

[0015] The data processing system includes an information processing workstation located on the rescue mother ship, an industrial computer located on the rescue daughter ship, and a communication cable connecting the rescue mother ship and the rescue daughter ship. The information processing workstation collects, records, analyzes and processes various sensor information of the acquisition system in real time through the communication cable, and the industrial computer is responsible for receiving and executing control instructions from the upper information processing workstation;

[0016] The execution system includes a propulsion device, a salvage device and a transportation device. The propulsion device includes a stern longitudinal thruster and a bow lateral thruster, and corresponding electronic speed regulators. The salvage device includes a mechanical arm, a flexible claw and a flexible claw driving air pump. The mechanical arm is driven by a hydraulic device or a servo motor, and the flexible claw is driven by compressed air generated by the flexible claw driving air pump; the transportation device includes the front salvage conveyor belt, the transport rotating conveyor belt, the salvage conveyor belt driving motor, the rotating conveyor belt driving motor on the rescue daughter ship, and the transmission belt and the lifting and conveying platform on the rescue mother ship.

[0017] Further preferably, it includes two left and right longitudinal thrusters and one bow lateral thruster.

[0018] Preferably, the rescue mother ship is provided with a daughter ship recovery device, a daughter ship fixing device, and a slide rail for the daughter ship recovery device to slide and compensate for lateral swing during recovery, and the daughter ship is connected to the mother ship by a loose sling.

[0019] The working method of the unmanned autonomous rescue platform in the aforementioned high sea condition and complex scene is characterized by comprising the following steps:

[0020] Step 1, autonomous navigation process of the rescue mother ship:

[0021] Step 101, the rescue platform receives the rescue mission instruction, starts the navigation controller of the rescue platform, and plans to obtain the optimal global path based on the coordinate information of the mission location, combined with the nautical chart and the real-time marine environment;

[0022] Step 102, by using a multimodal perception system of laser radar, millimeter wave radar, and infrared camera, local obstacle information is collected during autonomous navigation, and local path replanning is performed to obtain a local path that avoids obstacles and deviates from the global path as little as possible;

[0023] Step 103, the autonomous navigation control system controls the propulsion actuator of the rescue mother ship to track the global path and the local path, completes local autonomous obstacle avoidance and navigates to the vicinity of the rescue mission point;

[0024] Step 2, deploying the rescue boat:

[0025] Step 201, the rescue mother ship arrives near the mission point, starts the fully autonomous multi-ship coordinated rescue control module, connects the sling with the lifting lug, removes the fixing device of the daughter ship recovery device, completes the unlocking and prepares to deploy the rescue daughter ship;

[0026] Step 202, the crane lifts the rescue daughter boat from the daughter boat recovery device, and the daughter boat recovery device moves laterally along the slide rail, and dynamically compensates for the lateral swing of the rescue daughter boat caused by the rolling motion of the rescue mother ship in real time, until the rescue daughter boat is lifted above the daughter boat recovery device;

[0027] Step 203, after the crane lifts the rescue daughter boat above the daughter boat recovery device, the crane rotates to lift the rescue daughter boat outboard and slowly puts it into the water. After the rescue daughter boat is completely in the water, the sling connected to the lifting lug is in a loose state, but the two are not unhooked, and the rescue daughter boat is not constrained by the movement of the rescue mother ship;

[0028] Step 3: Autonomous salvage process of the rescue sub-vessel:

[0029] Step 301, after multiple rescue sub-ships enter the water, the control system performs a decentralized search control mode, determines the relative position of the rescue sub-ships and the rescue mother ship through the positioning and acquisition system, and controls the rescue mother ship to search for a circular path around the mission point in a global fixed coordinate system with the mission point as the origin, and at the same time controls the propeller of the rescue sub-ship to search for a fan-shaped path around the center of gravity of the rescue mother ship in a local moving coordinate system with the center of gravity of the rescue mother ship as the origin. In this process, the release length of the sling is dynamically adjusted with the distance between the rescue sub-ship and the rescue mother ship; the characteristic information of the water surface is collected by laser radar, infrared camera and lateral millimeter wave radar, and the people in distress are identified and located through the data processing system;

[0030] Step 302: Based on the position coordinates of the personnel in the local dynamic coordinate system with the center of gravity of the rescue mother ship as the origin obtained by the acquisition system, the data processing system calculates the thrust to be allocated to each propeller based on the relative position information of the rescue sub-ship and the distressed personnel. The execution system further controls the propeller based on the thrust information to realize the dynamic tracking of the distressed personnel by the rescue sub-ship, and determines whether the distressed personnel are included in the working range of the flexible claw and stably tracked by the forward millimeter-wave radar installed on the flexible claw connection device.

[0031] Step 303, the execution system controls the flexible claw to drive the air pump to control the flexible claw to grab the person in distress, then controls the mechanical arm to slowly retract the flexible claw to the top of the front salvage conveyor belt, controls the flexible claw to drive the air pump to control the flexible claw to open and place the person on the front salvage conveyor belt, then the mechanical arm extends forward, the front salvage conveyor belt is lifted around the rotating shaft fixed on the rescue sub-ship, and controls the salvage conveyor belt driving motor to transport the rescued person in distress to the transport rotating transmission belt;

[0032] Step 304, after the data processing system confirms that the persons in distress have been rescued onto the transport rotating conveyor belt through the information obtained by the acquisition system, the control system calculates the optimal thrust distribution of each propeller according to the current relative position of the rescue sub-ship and the rescue mother ship, and the execution system further controls the propeller according to the thrust information to realize the rescue sub-ship to quickly return to the side of the rescue mother ship, and controls the rescue sub-ship to stably accompany the rescue mother ship according to the current speed and attitude of the rescue mother ship;

[0033] Step 4, recovery of rescue sub-ship process:

[0034] Step 401, the crane is lifted so that the sling connected to the lifting lug is tightened again, and the rescued person in distress is lifted out of the water together with the rescue boat;

[0035] Step 402, after the crane further lifts the rescue daughter boat above the daughter boat recovery device, the crane rotates to lift the rescue daughter boat back to the top of the daughter boat recovery device, and then the crane slowly lowers the rescue daughter boat, while the daughter boat recovery device moves laterally along the slide rail, and dynamically compensates for the lateral swing of the rescue daughter boat caused by the rolling motion of the rescue mother ship in real time, until the sling connecting the lifting lug is loosened and the rescue daughter boat is smoothly placed into the daughter boat recovery device;

[0036] Step 403, the daughter boat recovery device 2 moves along the slide rail to connect the conveyor belt connection device to the conveyor belt, and the fixing device of the daughter boat recovery device 2 is opened to complete the recovery process of the rescue daughter boat;

[0037] Step 5, the process of transporting and placing rescued persons:

[0038] Step 501, after the rescue sub-boat is recovered and fixed, the transport rotating transmission belt is rotated 90 degrees to connect with the conveyor belt connecting device, the conveyor belt connecting device is connected with the conveyor belt, and the transport controller controls the transport rotating conveyor belt to transport the rescued personnel to the conveyor belt 3;

[0039] Step 502: the lifting and conveying platform rises and connects to the conveyor belt. The conveying controller controls the conveyor belt to transport the rescued personnel to the lifting and conveying platform. After the data processing system confirms that the rescued personnel have been transported to the lifting and conveying platform through the information obtained by the acquisition system, the lifting and conveying platform descends and docks with the rescue cabin.

[0040] Step 503, the door of the rescue cabin is opened, and the lifting platform transports the rescued person into the rescue cabin. After the data processing system confirms that the rescued person has been transported to the rescue cabin through the information obtained by the acquisition system, the door of the rescue cabin is closed. At the same time, the automatic vital sign monitoring equipment in the rescue cabin monitors the vital signs of the rescued person in real time and sends them back to the rescue center on the ground. The life support equipment adjusts the environment of the rescue cabin according to the vital sign information of the rescued person.

[0041] Step 6, the rescue mother ship's autonomous return process:

[0042] Step 601, after completing the rescue and resettlement mission for all persons in distress, the fully autonomous multi-vessel collaborative rescue control module is turned off, and the navigation controller of the rescue platform is started. The rescue platform plans the optimal global path based on the current position, combined with the nautical chart and the real-time marine environment, so as to return to the nearest port as soon as possible.

[0043] Step 602: During the return process, a multi-modal perception system including a laser radar, a millimeter-wave radar, and an infrared camera is used to collect local obstacle information during the autonomous navigation process, and local path replanning is performed to obtain a local path that avoids obstacles and deviates from the global path as little as possible.

[0044] Step 603, the autonomous navigation control system controls the propulsion actuator of the rescue mother ship to track the global path and the local path, completes local autonomous obstacle avoidance and autonomously returns to the nearest port to complete the fully autonomous rescue mission.

[0045] The beneficial effects of the present invention are as follows:

[0046] The unmanned autonomous rescue platform for complex scenes in high sea conditions of the present invention adopts multiple rescue sub-ships equipped with flexible mechanical claws with autonomous sensing and dynamic positioning functions. The rescue sub-ships are connected to the mother ship for energy and data through connectable cables, and are decoupled from the mother ship through a retractable device. Each rescue sub-ship realizes the salvage task of the drowned person through an autonomous salvage system based on flexible mechanical claws, which can realize autonomous salvage of drowned people under strong winds and waves without causing secondary damage to the drowned people. An automatic personnel transportation system based on a transmission device and an identification device is adopted to realize the safe and rapid transportation of rescued personnel from the rescue sub-ship to the safe location of the rescue cabin of the rescue platform mother ship. The automatic personnel transportation device and the intelligent rescue cabin system are used to realize the automatic transfer and intelligent management of rescued personnel. The rescue platform mother ship and sub-ships both adopt an autonomous identification and positioning system based on multi-sensor fusion and an unmanned ship multi-degree-of-freedom control method based on multi-actuators to realize accurate identification of personnel and stable power tracking under high sea conditions. Based on the above-mentioned autonomous multi-ship collaborative rescue platform system, a set of rescue task frameworks and specific working methods are provided to ensure the safety, efficiency and reliability of rescue tasks under high sea conditions.

[0047] Specifically,

[0048] 1) By designing an unmanned rescue sub-ship with autonomous sensing and dynamic positioning functions and equipped with a flexible mechanical claw, the problem of traditional rescue ships accurately identifying and safely rescuing people who fall into the water in high sea conditions is solved; and the rescue sub-ship and the rescue platform mother ship use a soft-connected retraction and deployment device to decouple their movements, avoiding the mother ship platform's movement constraining the rescue sub-ship, and ensuring the safety and reliability of the rescue process.

[0049] 2) By adopting a flexible mechanical claw made of rubber material, including two actuators, each actuator is composed of a retractable top layer and a non-retractable but elastic bottom layer. The actuator is driven by pneumatic force, and the additional force and torque on personnel are very small, which solves the problem that rigid salvage structures are prone to secondary injuries; the flexible claw is connected to the rescue sub-boat through a connector and a mechanical arm to achieve the extension and retraction of the flexible claw, solving the active rescue of people in distress who lack autonomous action ability.

[0050] 3) By adopting an automatic transport device with a flexible maintenance device, the position of the rescued persons is limited to prevent secondary injuries caused by the movement of the rescue platform when the rescue platform moves significantly due to high sea conditions and strong waves. The rescued persons can be safely and quickly transported to a safe position in the rescue cabin, solving the problem of transporting rescued persons who lack the ability to move independently from the rescue boat to the safety cabin under high sea conditions.

[0051] 4) By adopting a movable motion compensation recovery device arranged on a slide rail, including an identification system and a control system, the swing of the rescue sub-boat caused by the rolling motion of the rescue platform mother ship can be compensated in real time and dynamically, so as to achieve smooth deployment and recovery of the rescue sub-boat, and solve the problem of high difficulty and high risk in lifting the rescue sub-boat in strong winds and waves.

[0052] 5) By adopting an intelligent rescue cabin system with vertical independent compartments, real-time vital signs monitoring and intelligent environmental management of the rescued persons are achieved through automatic vital signs monitoring equipment and life-support equipment in each compartment. At the same time, the vital signs information of the rescued persons is fed back to the shore rescue agencies in real time, solving the problem of different vital signs of the rescued persons on the way back autonomously, which requires targeted emergency monitoring and rescue cabin environmental management.

[0053] 6) By adopting an autonomous navigation control system including an acquisition system, a control system, a data processing system and an execution system, accurate and rapid control of multiple degrees of freedom of motion of the position, attitude and speed of the present invention can be achieved. The unmanned ship multi-degree-of-freedom motion control method provided by the present invention has high accuracy and robustness, and can achieve accurate and stable path tracking and dynamic positioning of the tugboat platform and the rescue sub-ship under high sea conditions, solving the problem that it is difficult for unmanned ships to accurately track their paths and stably dynamically position their autonomous navigation under high sea conditions.

[0054] 7) By adopting a multimodal perception system of lidar, millimeter-wave radar, and infrared camera, and based on the perception range and accuracy characteristics of the three sensors, the system uses artificial intelligence algorithms to adaptively integrate perception information for different rescue scenarios, solving the problems of single sensor degradation in complex dynamic environments such as rain and fog, and the difficulty in accurately identifying and locating people who fall into the water under strong winds and waves, as well as autonomous perception and obstacle avoidance.

[0055] 8) Based on the above-mentioned rescue sub-ship, multimodal perception system, autonomous navigation control system, and intelligent rescue cabin management system, a complete unmanned autonomous multi-ship collaborative rescue platform fully autonomous rescue mission method is proposed, which solves the problem faced by unmanned rescue ships in high sea conditions that it is difficult to fully autonomously complete the entire rescue process of searching, identifying, dynamically positioning, autonomously salvaging, and autonomously returning to the port.

[0056] In summary, the present invention provides an unmanned offshore rescue platform and a working method thereof with good controllability, strong salvage capability and wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 Schematic diagram of the three-dimensional structure of the rescue sub-boat in Example 1 of the present invention (mechanical arm extended state),

[0058] Figure 2 Schematic diagram of the three-dimensional structure of the rescue sub-boat in Example 1 of the present invention (mechanical arm retracted state),

[0059] Figure 3 FIG. 1 is a side view schematic diagram of a rescue sub-boat according to Embodiment 1 of the present invention.

[0060] Figure 4 FIG. 1 is a schematic top view of a rescue sub-boat according to Embodiment 1 of the present invention.

[0061] Figure 5 FIG. 1 is a front view schematic diagram of a rescue sub-boat according to Embodiment 1 of the present invention,

[0062] Figure 6 This is a schematic diagram of the process of deploying a rescue daughter ship from a rescue mother ship in Example 1 of the present invention.

[0063] Figure 7 This is a front view schematic diagram of the process of a rescue mother ship recovering a rescue daughter ship according to Embodiment 1 of the present invention.

[0064] Figure 8 This is a top view schematic diagram of the process of a rescue mother ship recovering a rescue daughter ship according to Embodiment 1 of the present invention.

[0065] Fig. 9 This is a schematic diagram of the composition of a fully autonomous multi-ship collaborative rescue control module according to Embodiment 2 of the present invention.

[0066] Fig.10 This is a framework diagram of the working method of Example 2 of the present invention.

[0067] The reference numbers in the figure are listed as follows:

[0068] 1- rescue mother ship, 2- daughter ship recovery device, 3- conveyor belt, 5- crane, 6- sling, 7- lifting and conveying platform, 8- rescue cabin,

[0069] 100-rescue sub-boat, 101-conveyor belt connection device, 102-lifting ear, 103-sensor bracket, 104-mechanical arm connection device, 105-compressed air pipeline, 106-first section mechanical arm, 107-second section mechanical arm, 108-flexible claw connection device, 109-flexible claw, 110-driving gas pipeline, 111-front rescue conveyor belt, 112-transport rotary conveyor belt, 113-personnel maintenance device, 114-rescue conveyor belt connection device, 115-sheet body,

[0070] 200-stern longitudinal thruster, 201-fore lateral thruster, 202-rotating conveyor belt drive motor, 203-salvage conveyor belt drive motor, 204-flexible claw drive air pump,

[0071] 300-LiDAR, 301-Infrared camera, 302-Side millimeter-wave radar, 303-Forward millimeter-wave radar. DETAILED DESCRIPTION

[0072] In order to better understand the present invention, the present invention is described in detail below by way of examples in conjunction with the accompanying drawings. It is necessary to point out here that the following examples are only used to further illustrate the present invention and cannot be understood as limiting the scope of protection of the present invention. Some non-essential improvements and adjustments made by professionals and technicians in this field based on the content of the present invention above still belong to the scope of protection of the present invention.

[0073] Example 1

[0074] The unmanned autonomous rescue platform of this embodiment includes a rescue daughter ship, a rescue mother ship main structure carrying multiple rescue daughter ships, and a fully autonomous multi-ship collaborative rescue control module composed of a collection system, a control system, a data processing system and an execution system. Figures 1 to 8 shown.

[0075] The rescue sub-ship 100 is as follows Figures 1 to 5As shown, the bow has an opening in the middle, which is divided into two left and right plates 115. The two plates have a streamlined diversion shape. The space between the two plates 15 is used to salvage people in distress who fall into the water. The stern is square. The rescue sub-boat 100 can be made of a metal shell or other buoyant materials, and the strength is sufficient to withstand wind and waves of level 5 or above high sea conditions; there are two mechanical arm connecting devices 104, which are symmetrically installed at the front of the two plates 115, respectively, for connecting the two first-stage mechanical arms 106 to the rescue sub-boat 100, and the two first-stage mechanical arms 106 are connected to the rescue sub-boat 100 through the servo motor. The two second-segment mechanical arms 107 are respectively connected to the two first-segment mechanical arms 106 at one end, and the two second-segment mechanical arms 107 are driven by a servo motor or a hydraulic device to rotate around the connection axis with the first-segment mechanical arms 106; the other ends of the two second-segment mechanical arms 107 are connected to the flexible claw connection device 108, and the flexible claw connection device 108 is driven by a servo motor or a hydraulic device to rotate around the connection axis with the second-segment mechanical arms 107. The flexible claw connection device 108 is designed with a pipeline interface for introducing compressed air; two flexible claws 109 are connected to the flexible claw connection device 108, and the two flexible claws 109 are made of flexible materials and driven by pneumatic force. The additional force and torque generated by grabbing the distressed person who falls into the water are very small, which can avoid secondary damage to the distressed person; the compressed air that drives the two flexible claws 109 is transported through two driving gas pipelines 110, one end of the two driving gas pipelines 110 is connected to the pipeline interface on the flexible claw connection device 108, and the other end is respectively The two compressed air pipelines 105 are connected; one end of the two compressed air pipelines 105 is respectively connected to the two flexible claw driving air pumps 204 symmetrically arranged on the rescue daughter boat 100, and the other end is respectively connected to the two driving gas pipelines 110 through the two mechanical arm connecting devices 104, the two first section mechanical arms 106, and the two second section mechanical arms 107; the telescopic mechanical arm structure composed of the two mechanical arm connecting devices 104, the two first section mechanical arms 106, the two second section mechanical arms 107, and the flexible claw connecting device 108, which is extended and retracted as shown in FIG. Figure 1 and Figure 2As shown, its function is to grasp the person in distress who falls into the water through the flexible claw 109 after it is extended, so as to prevent the rescue sub-boat 100 from colliding with the person in distress who falls into the water and causing secondary injury. After the flexible claw 109 grasps the person in distress who falls into the water, the telescopic mechanical arm structure is retracted to place the person in distress who falls into the water on the front rescue conveyor belt 111; the front rescue conveyor belt 111 is connected to the rescue sub-boat 100 through the rescue conveyor belt connecting device 114, and can rotate around the connection axis with the rescue sub-boat 100. The function of the front rescue conveyor belt 111 is to place the telescopic mechanical arm structure on the person in distress who falls into the water The rescue conveyor belt 111 can be used to transport the rescued persons to the transport rotating conveyor belt 112; after the rescue conveyor belt 111 transports the rescued persons to the transport rotating conveyor belt 112, the personnel maintenance device 113 installed on the transport rotating conveyor belt 112 can limit the position of the rescued persons in high sea conditions to prevent the rescued persons from moving significantly with the rescue ship in strong winds and waves. The surface of the personnel maintenance device 113 is coated with flexible materials such as rubber to prevent secondary injuries to the rescued persons; the transport rotating conveyor belt 112 can rotate around the rotation center and rotate 90 degrees counterclockwise or clockwise to connect with the conveyor belt connecting device 101 as shown in FIG. Figure 1 and Figure 2 As shown; 4 or more lifting ears 102 are provided at the edge of the top surface of the rescue daughter boat 100 for fixing the crane cable.

[0076] The fully autonomous multi-ship collaborative rescue control module includes a collection system, a control system, a data processing system and an execution system. Among them, the data collection system includes various sensors arranged at various locations of the rescue sub-ship 100 for collecting the position, posture, motion information of the rescue sub-ship 100 itself and the relative position information with the rescue mother ship 1, including a laser radar 300 and an infrared camera 301 arranged on the sensor bracket 103 located at the front of the rescue sub-ship 100, a lateral millimeter wave radar 302 arranged on the side of the rescue sub-ship 100, a forward millimeter wave radar 303 arranged on the flexible claw connection device 108, a pressure sensor arranged under the transport rotating conveyor belt 112, and a dual-antenna high-precision GPS, an accelerometer module IMU, etc. The control system includes a navigation controller, a salvage controller, a transport controller, and an emergency controller; the navigation controller is located in the rescue mother ship 1, and outputs corresponding thruster control signals according to the set rescue mission point and the planned route, so that the rescue mother ship 1 autonomously sails to the set rescue mission point, and autonomously returns after completing the rescue; the salvage controller controls the rescue sub-ship 100 to autonomously search for the distressed persons who have fallen into the water, and completes the identification, positioning and salvage of the distressed persons; the transport controller is distributed in the rescue sub-ship 100 and the rescue mother ship 1, and is responsible for the autonomous deployment and recovery of the rescue sub-ship 100, and transporting the rescued distressed persons to the rescue cabin 8 located in the rescue mother ship 1; when the navigation controller, salvage controller or transport controller fails, the emergency controller can take over, including basic manual control functions, to ensure the normal recovery of the rescue sub-ship 100 and the safe return of the rescue platform in an emergency. The data processing system is composed of an information processing workstation located on the rescue mother ship 1, an industrial computer located on the rescue daughter ship 100, and a communication cable connecting the rescue mother ship 1 and the rescue daughter ship 100. The information processing workstation located on the rescue mother ship 1 collects, records, analyzes and processes various sensor information of the acquisition system in real time through the communication cable, and the industrial computer on the rescue daughter ship 100 is responsible for receiving and executing the control instructions of the upper information processing workstation. The execution system includes a propulsion device, a salvage device and a transportation device, wherein the propulsion device includes a stern longitudinal propeller 200 and a bow lateral propeller 201, as well as their corresponding electronic speed regulators. The stern longitudinal propeller 200 can provide the following: Figure 8The power Fx in the positive and negative directions of the X-axis and the rotational torque Mxy in the XY plane are shown. The bow lateral thruster 201 can provide the power Fy in the positive and negative directions of the Y-axis and the rotational torque Mxy in the XY plane. At least two left and right longitudinal thrusters and one bow lateral thruster are needed to realize the autonomous navigation and positioning functions of the rescue platform, and multiple thrusters can also be set according to actual conditions; the salvage device includes the aforementioned mechanical arm, flexible claw 109 and flexible claw driving air pump 204, the mechanical arm is driven by a hydraulic device or a servo motor, and the flexible claw 109 is driven by the compressed air generated by the flexible claw driving air pump 204; the transportation device includes the front salvage conveyor belt 111, the transportation rotating conveyor belt 112, the salvage conveyor belt driving motor 203, the rotating conveyor belt driving motor 202 on the rescue daughter ship 100, and the transmission belt 3 and the lifting and conveying platform 7 on the rescue mother ship 1.

[0077] The rescue mother ship structure includes a rescue daughter ship deployment and recovery system, an automatic transportation system and an intelligent rescue cabin system. The rescue daughter ship deployment and recovery system includes a crane 5, a sling 6, and a daughter ship recovery device 2. The crane 5 is arranged on the side of the rescue mother ship 1. Figure 6-7 The single crane shown in the figure is arranged on the port side only as an implementation example; the rescue mother ship 1 can have multiple rescue daughter boat deployment and recovery systems, which can be arranged on both the port and starboard sides, so the rescue mother ship 1 can realize the simultaneous deployment and recovery of multiple rescue daughter boats 100; the daughter boat recovery device 2 is arranged on the slide rail, and the rescue daughter boat 100 lifted by the crane 5 during the recovery process is identified and located by machine vision, optical recognition and other methods. According to the relative position with the rescue daughter boat 100, the daughter boat recovery device 2 can move laterally along the slide rail, and dynamically compensate for the lateral swing of the rescue daughter boat 100 caused by the rolling motion of the rescue mother ship 1 in real time, so as to realize the smooth deployment and recovery of the rescue daughter boat 100. The automatic transport system includes a conveyor belt 3 and a lifting and conveying platform 7. After the daughter ship recovery device 2 completes the recovery of the rescue daughter ship 100, the conveyor belt 3 is connected to the conveyor belt connecting device 101 on the side of the rescue daughter ship 100, and then connected to the transport rotating conveyor belt 112 to complete the transfer of the rescued personnel from the rescue daughter ship 100 to the rescue mother ship 1. The conveyor belt 3 is also equipped with a personnel maintenance device covered with flexible material to prevent secondary injuries to personnel caused by the large movement of the rescue mother ship 1 in wind and waves; the lifting and conveying platform 7 is connected with the conveyor belt 3 and can rise and fall in the vertical direction to transfer the rescued personnel from the conveyor belt 3 to the rescue cabin 8. Figure 6-7The vertical movement achieved by the screw rod structure shown in is only an implementation case. According to the actual application process, it can also be achieved by means of sprocket rack structure, magnetic suspension, etc.; the intelligent rescue cabin system includes a rescue cabin 8 and automatic vital signs monitoring equipment and life-support equipment; the automatic vital signs monitoring equipment is not limited to infrared thermometers, microwave heart rate meters, etc., which are used to automatically detect the body temperature, heart rate and other vital signs information of the rescued person in the case of separation; the life-support equipment is not limited to oxygen supply equipment, temperature and humidity regulators, etc., so as to meet the personalized rescue cabin environment requirements according to the vital signs information obtained by monitoring. The intelligent rescue cabin system on the rescue platform mother ship adopts a three-dimensional independent compartment design. Each independent rescue cabin is equipped with an autonomous vital signs monitoring device and life-support equipment to realize real-time vital signs monitoring of the rescued person and conduct intelligent rescue cabin environment management.

[0078] Example 2

[0079] This embodiment is a working method of the unmanned autonomous rescue platform based on Embodiment 1. Figure 9-10 As shown, the method includes six basic steps: autonomous navigation of the rescue mother ship, deployment of the rescue daughter ship, autonomous salvage of the rescue daughter ship, recovery of the rescue daughter ship, transfer and placement of rescued personnel, and autonomous return of the rescue mother ship. The specific working method of the present invention is as follows:

[0080] Step 1, autonomous navigation process of rescue mother ship 1:

[0081] Step 101, the rescue platform receives the rescue mission instruction, starts the navigation controller of the rescue platform, and plans to obtain the optimal global path based on the coordinate information of the mission location, combined with the nautical chart and the real-time ocean environment, so as to reach the vicinity of the mission point as soon as possible.

[0082] Step 102, by using a multimodal perception system of laser radar, millimeter wave radar, and infrared camera, local obstacle information during autonomous navigation is collected, and local path replanning is performed to obtain a local path that avoids obstacles and deviates from the global path as little as possible.

[0083] Step 103, the autonomous navigation control system controls the propulsion actuator of the rescue mother ship 1 to track the global path and the local path, complete local autonomous obstacle avoidance and navigate to the vicinity of the rescue mission point.

[0084] Step 2, deploying rescue boat: Figure 6 (shown)

[0085] Step 201, the rescue mother ship 1 arrives near the mission point, starts the fully autonomous multi-ship collaborative rescue control module, connects the sling 6 to the lifting lug 102, removes the fixing device of the daughter ship recovery device 2, completes the unlocking and prepares for the deployment of the rescue daughter ship 100.

[0086] In step 202, the crane 5 lifts the rescue sub-boat 100 from the sub-boat recovery device 2, and at the same time the sub-boat recovery device 2 moves laterally along the slide rail, and dynamically compensates for the lateral swing of the rescue sub-boat 100 caused by the rolling motion of the rescue mother ship 1 in real time, until the rescue sub-boat 100 is lifted to a level higher than the sub-boat recovery device 2, to prevent the rescue sub-boat 100 from colliding with the sub-boat recovery device 2 during the lifting process.

[0087] Step 203, after the crane 5 lifts the rescue sub-boat 100 above the sub-boat recovery device 2, the crane 5 rotates to lift the rescue sub-boat 100 outboard and slowly puts it into the water. During this process, the rescue sub-boat 100 should be kept at a safe distance greater than L / 2 from the side of the rescue mother ship 1, where L is the length of the rescue sub-boat 100. After the rescue sub-boat 100 is completely in the water, the sling 6 connected to the lifting lug 102 is in a relaxed state, but the two are not unhooked, and the rescue sub-boat 100 is not constrained by the movement of the rescue mother ship 1.

[0088] Step 3: Autonomous salvage process of the rescue sub-vessel:

[0089] Step 301, after multiple rescue sub-boats 100 enter the water, the control system performs a decentralized search control mode, determines the relative position of the rescue sub-boats 100 and the rescue mother ship 1 through the positioning and acquisition system, and controls the rescue mother ship 1 to search for a circular path around the task point in a global fixed coordinate system with the task point as the origin, and at the same time controls the propeller of the rescue sub-boat 100 to search for a fan-shaped path around the center of gravity of the rescue mother ship 1 in a local moving coordinate system with the center of gravity of the rescue mother ship 1 as the origin. In this process, the release length of the sling 6 is dynamically adjusted with the distance between the rescue sub-boat 100 and the rescue mother ship 1. The characteristic information of the water surface is collected by the laser radar 300, the infrared camera 301 and the lateral millimeter wave radar 302, and the person in distress is identified and located by the data processing system.

[0090] Step 302, after completing the identification and positioning of the persons in distress in step 301, the data processing system calculates the thrust to be allocated to each propeller based on the relative position information of the rescue sub-ship 100 and the persons in distress according to the position coordinates of the persons in the local dynamic coordinate system with the center of gravity of the rescue mother ship 1 as the origin, and the execution system further controls the propeller based on the thrust information to realize the dynamic tracking of the persons in distress by the rescue sub-ship 100, and determines whether the persons in distress are included in the working range of the flexible claw 109 and stably tracked through the forward millimeter wave radar 303 installed on the flexible claw connecting device 108.

[0091] Step 303, the execution system controls the flexible claw to drive the air pump 204 to control the flexible claw 109 to grab the person in distress, and then controls the robotic arm to slowly retract the flexible claw 109 to above the front salvage conveyor belt 111, controls the flexible claw to drive the air pump 204 to control the flexible claw 109 to open and place the person on the front salvage conveyor belt 111, and then extends the robotic arm forward, and the front salvage conveyor belt 111 is lifted around the rotating shaft fixed on the rescue sub-boat 100, and controls the salvage conveyor belt drive motor 203 to transport the rescued person in distress to the transport rotating transmission belt 112.

[0092] Step 304, after the data processing system confirms through the information obtained by the acquisition system that the persons in distress have been rescued onto the transport rotating conveyor belt 112, the control system calculates the optimal thrust distribution of each propeller according to the current relative position of the rescue sub-boat 100 and the rescue mother ship 1, and the execution system further controls the propeller according to the thrust information to enable the rescue sub-boat 100 to quickly return to the side of the rescue mother ship 1, and controls the rescue sub-boat 100 to stably accompany the rescue mother ship 1 according to the current speed and posture of the rescue mother ship 1.

[0093] Step 4, recovery of rescue sub-ship process: (such as Figure 7-8 (shown)

[0094] Step 401, after the rescue sub-boat 100 stably accompanies the rescue mother ship 1 at step 304, the crane 5 is lifted so that the sling 6 connected to the lifting lug 102 is tightened again, and the rescued persons in distress are lifted out of the water together with the rescue sub-boat 100.

[0095] In step 402, after the crane 5 further lifts the rescue sub-boat 100 above the sub-boat recovery device 2, the crane 5 rotates to lift the rescue sub-boat 100 back to the top of the sub-boat recovery device 2, and then the crane 5 slowly lowers the rescue sub-boat 100. At the same time, the sub-boat recovery device 2 moves laterally along the slide rail, and dynamically compensates for the lateral swing of the rescue sub-boat 100 caused by the rolling motion of the rescue mother ship 1 in real time, until the sling 6 connected to the lifting ear 102 is relaxed and the rescue sub-boat 100 is smoothly placed into the sub-boat recovery device 2.

[0096] Step 403, the daughter boat recovery device 2 moves along the slide rail to connect the conveyor belt connection device 101 with the conveyor belt 3, and the fixing device of the daughter boat recovery device 2 is opened to complete the recovery process of the rescue daughter boat.

[0097] Step 5, the process of transporting and placing rescued persons:

[0098] Step 501, after the rescue sub-boat 100 is recovered and fixed, the transport rotating transmission belt 112 is rotated 90 degrees to connect with the conveyor belt connecting device 101, and the conveyor belt connecting device 101 is connected to the conveyor belt 3, and the transport controller controls the transport rotating conveyor belt 112 to transport the rescued persons to the conveyor belt 3.

[0099] Step 502, the lifting and conveying platform 3 rises and connects with the conveyor belt 3, the transport controller controls the conveyor belt 3 to transport the rescued persons to the lifting and conveying platform 3, and after the data processing system confirms that the rescued persons have been transported to the lifting and conveying platform 3 through the information obtained by the acquisition system, the lifting and conveying platform 3 descends and docks with the rescue cabin 8.

[0100] In step 503, the door of the rescue cabin 8 is opened, and the lifting platform 3 transports the rescued persons into the rescue cabin 8. After the data processing system confirms that the rescued persons have been transported to the rescue cabin 8 through the information obtained by the acquisition system, the door of the rescue cabin 8 is closed. At the same time, the automatic vital signs monitoring equipment in the rescue cabin 8 monitors the vital signs of the rescued persons in real time and sends them back to the rescue center on the ground. The life support equipment adjusts the environment of the rescue cabin 8 according to the vital signs information of the rescued persons.

[0101] Step 6, the rescue mother ship's autonomous return process:

[0102] Step 601, after completing the rescue and resettlement mission for all persons in distress, the fully autonomous multi-vessel collaborative rescue control module is turned off, and the navigation controller of the rescue platform is started. The rescue platform plans to obtain the optimal global path based on the current position, combined with the nautical chart and real-time marine environment, so as to return to the nearest port as soon as possible.

[0103] Step 602: During the return journey, a multimodal perception system including a laser radar, a millimeter-wave radar, and an infrared camera is used to collect local obstacle information during autonomous navigation, and local path replanning is performed to obtain a local path that avoids obstacles and deviates from the global path as little as possible.

[0104] Step 603, the autonomous navigation control system controls the propulsion actuator of the rescue mother ship 1 to track the global path and the local path, completes local autonomous obstacle avoidance and autonomously returns to the nearest port to complete the fully autonomous rescue mission.

[0105] The above is only a preferred embodiment of the present invention and is not intended to limit the invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. Unmanned autonomous rescue platform for high sea conditions and complex scenes, characterized by It includes a rescue daughter ship, a rescue mother ship that can carry multiple rescue daughter ships, and a fully autonomous multi-ship collaborative rescue control module; The rescue sub-boat is a rectangular parallelepiped with an open top, and the bow portion includes three parts. The two side parts are sheets with streamlined flow-guiding shapes, and the middle part is recessed inwards. The front ends of the sheets are respectively connected to mechanical arms, and the front ends of the mechanical arms are respectively connected to flexible claws; the recessed part has a front salvage conveyor belt for obliquely transporting upward to the inside of the rescue sub-boat, and the end of the front salvage conveyor belt is located at the top of the ship wall of the recessed part and can be connected to the transport rotating conveyor belt located in the cabin, and the transport rotating conveyor belt can correspond to the conveyor belt on the rescue mother ship; The fully autonomous multi-ship collaborative rescue control module controls the navigation of the rescue mother ship, and the deployment, recovery and rescue of the rescue daughter ship.

2. The rescue platform according to claim 1, characterized in that A robotic arm connecting device is installed at the front end of the sheet body, and the robotic arm includes a first section and a second section. The robotic arm connecting device is connected to the first section, and the first section can be driven by a servo motor or a hydraulic device to rotate around a connecting axis connected to the robotic arm connecting device. One end of the second section is connected to the first section, and the second section can be driven by a servo motor or a hydraulic device to rotate around a connecting axis connected to the first section. The other end of the second section is connected to a flexible claw connecting device, and the flexible claw connecting device can be driven by a servo motor or a hydraulic device to rotate around a connecting axis connected to the second section. The two flexible claws are connected to the flexible claw connecting device, and the flexible claws are made of flexible material and driven by pneumatic force.

3. The rescue platform according to claim 2, characterized in that The compressed air for driving the flexible claw is transported through a driving gas pipeline, one end of which is connected to the pipeline interface on the flexible claw connecting device, and the other end is connected to the compressed air pipeline; one end of the compressed air pipeline is respectively connected to two flexible claw driving air pumps symmetrically arranged on the rescue daughter boat, and the other end is connected to the driving gas pipeline through the mechanical arm connecting device, the first section, and the second section.

4. The rescue platform according to claim 2, characterized in that The transport rotary conveyor is provided with a personnel maintenance device, the surface of which is covered with a flexible material; the transport rotary conveyor belt can rotate around the rotation center, and after rotating 90 degrees counterclockwise or clockwise, it is connected to the conveyor belt connecting device located on the side wall.

5. The rescue platform according to claim 1, characterized in that A plurality of lifting ears for fixing crane cables are arranged at the edge of the top surface of the rescue sub-boat.

6. The rescue platform according to claim 1, characterized in that The fully autonomous multi-ship collaborative rescue control module includes a data acquisition system, a control system, a data processing system and an execution system. The data acquisition system includes sensors arranged at multiple locations on the rescue sub-ship for collecting the rescue sub-ship's own position, posture, motion information and relative position information with the rescue mother ship, a laser radar and an infrared camera arranged on a sensor bracket at the front of the rescue sub-ship, a lateral millimeter-wave radar arranged on the side of the rescue sub-ship, a forward millimeter-wave radar arranged on a flexible claw connection device, a pressure sensor arranged under the transport rotating conveyor belt, and a dual-antenna high-precision GPS and accelerometer module IMU; The control system includes a navigation controller, a salvage controller, a transport controller, and an emergency controller; the navigation controller controls the rescue mother ship controller to autonomously navigate, and the salvage controller controls the rescue sub-ship to autonomously search for people in distress who have fallen into the water, and completes the identification, positioning, and salvage of the people in distress; the transport controller is distributed in the rescue sub-ship and the rescue mother ship, and is responsible for the autonomous deployment and recovery of the rescue sub-ship, as well as transporting the rescued people in distress to the rescue cabin located in the rescue mother ship; the emergency controller includes manual control functions for the recovery of the rescue sub-ship and the safe return of the rescue platform; The data processing system includes an information processing workstation located on the rescue mother ship, an industrial computer located on the rescue daughter ship, and a communication cable connecting the rescue mother ship and the rescue daughter ship. The information processing workstation collects, records, analyzes and processes various sensor information of the acquisition system in real time through the communication cable, and the industrial computer is responsible for receiving and executing control instructions from the upper information processing workstation; The execution system includes a propulsion device, a salvage device and a transportation device. The propulsion device includes a stern longitudinal thruster and a bow lateral thruster, and corresponding electronic speed regulators. The salvage device includes a mechanical arm, a flexible claw and a flexible claw driving air pump. The mechanical arm is driven by a hydraulic device or a servo motor, and the flexible claw is driven by compressed air generated by the flexible claw driving air pump; the transportation device includes the front salvage conveyor belt, the transport rotating conveyor belt, the salvage conveyor belt driving motor, the rotating conveyor belt driving motor on the rescue daughter ship, and the transmission belt and the lifting and conveying platform on the rescue mother ship.

7. The rescue platform according to claim 6, characterized in that It includes two longitudinal thrusters on the left and right and one bow lateral thruster.

8. The rescue platform according to claim 1, characterized in that The rescue mother ship is provided with a daughter ship recovery device, a daughter ship fixing device, and a slide rail for the daughter ship recovery device to slide and compensate for lateral swing during recovery. The daughter ship is connected to the mother ship by a loose sling.

9. The working method of the unmanned autonomous rescue platform in high sea conditions and complex scenes according to any one of claims 1 to 8, characterized in that The following steps are involved: Step 1, autonomous navigation process of the rescue mother ship: Step 101, the rescue platform receives the rescue mission instruction, starts the navigation controller of the rescue platform, and plans to obtain the optimal global path based on the coordinate information of the mission location, combined with the nautical chart and the real-time marine environment; Step 102, by using a multimodal perception system of laser radar, millimeter wave radar, and infrared camera, local obstacle information is collected during autonomous navigation, and local path replanning is performed to obtain a local path that avoids obstacles and deviates from the global path as little as possible; Step 103, the autonomous navigation control system controls the propulsion actuator of the rescue mother ship to track the global path and the local path, completes local autonomous obstacle avoidance and navigates to the vicinity of the rescue mission point; Step 2, deploying the rescue boat: Step 201, the rescue mother ship arrives near the mission point, starts the fully autonomous multi-ship coordinated rescue control module, connects the sling with the lifting lug, removes the fixing device of the daughter ship recovery device, completes the unlocking and prepares to deploy the rescue daughter ship; Step 202, the crane lifts the rescue daughter boat from the daughter boat recovery device, and the daughter boat recovery device moves laterally along the slide rail, and dynamically compensates for the lateral swing of the rescue daughter boat caused by the rolling motion of the rescue mother ship in real time, until the rescue daughter boat is lifted above the daughter boat recovery device; Step 203, after the crane lifts the rescue daughter boat above the daughter boat recovery device, the crane rotates to lift the rescue daughter boat outboard and slowly puts it into the water. After the rescue daughter boat is completely in the water, the sling connected to the lifting lug is in a loose state, but the two are not unhooked, and the rescue daughter boat is not constrained by the movement of the rescue mother ship; Step 3: Autonomous salvage process of the rescue sub-vessel: Step 301, after multiple rescue sub-ships enter the water, the control system performs a decentralized search control mode, determines the relative position of the rescue sub-ships and the rescue mother ship through the positioning and acquisition system, and controls the rescue mother ship to search for a circular path around the mission point in a global fixed coordinate system with the mission point as the origin, and at the same time controls the propeller of the rescue sub-ship to search for a fan-shaped path around the center of gravity of the rescue mother ship in a local moving coordinate system with the center of gravity of the rescue mother ship as the origin. In this process, the release length of the sling is dynamically adjusted with the distance between the rescue sub-ship and the rescue mother ship; the characteristic information of the water surface is collected by laser radar, infrared camera and lateral millimeter wave radar, and the people in distress are identified and located through the data processing system; Step 302: Based on the position coordinates of the personnel in the local dynamic coordinate system with the center of gravity of the rescue mother ship as the origin obtained by the acquisition system, the data processing system calculates the thrust to be allocated to each propeller based on the relative position information of the rescue sub-ship and the distressed personnel. The execution system further controls the propeller based on the thrust information to realize the dynamic tracking of the distressed personnel by the rescue sub-ship, and determines whether the distressed personnel are included in the working range of the flexible claw and stably tracked by the forward millimeter-wave radar installed on the flexible claw connection device. Step 303, the execution system controls the flexible claw to drive the air pump to control the flexible claw to grab the person in distress, then controls the mechanical arm to slowly retract the flexible claw to the top of the front salvage conveyor belt, controls the flexible claw to drive the air pump to control the flexible claw to open and place the person on the front salvage conveyor belt, then the mechanical arm extends forward, the front salvage conveyor belt is lifted around the rotating shaft fixed on the rescue sub-ship, and controls the salvage conveyor belt driving motor to transport the rescued person in distress to the transport rotating transmission belt; Step 304, after the data processing system confirms that the persons in distress have been rescued onto the transport rotating conveyor belt through the information obtained by the acquisition system, the control system calculates the optimal thrust distribution of each propeller according to the current relative position of the rescue sub-ship and the rescue mother ship, and the execution system further controls the propeller according to the thrust information to realize the rescue sub-ship to quickly return to the side of the rescue mother ship, and controls the rescue sub-ship to stably accompany the rescue mother ship according to the current speed and attitude of the rescue mother ship; Step 4, recovery of rescue sub-ship process: Step 401, the crane is lifted so that the sling connected to the lifting lug is tightened again, and the rescued person in distress is lifted out of the water together with the rescue boat; Step 402, after the crane further lifts the rescue daughter boat above the daughter boat recovery device, the crane rotates to lift the rescue daughter boat back to the top of the daughter boat recovery device, and then the crane slowly lowers the rescue daughter boat, while the daughter boat recovery device moves laterally along the slide rail, and dynamically compensates for the lateral swing of the rescue daughter boat caused by the rolling motion of the rescue mother ship in real time, until the sling connecting the lifting lug is loosened and the rescue daughter boat is smoothly placed into the daughter boat recovery device; Step 403, the daughter boat recovery device 2 moves along the slide rail to connect the conveyor belt connection device to the conveyor belt, and the fixing device of the daughter boat recovery device 2 is opened to complete the recovery process of the rescue daughter boat; Step 5, the process of transporting and placing rescued persons: Step 501, after the rescue sub-boat is recovered and fixed, the transport rotating transmission belt is rotated 90 degrees to connect with the conveyor belt connecting device, the conveyor belt connecting device is connected with the conveyor belt, and the transport controller controls the transport rotating conveyor belt to transport the rescued personnel to the conveyor belt 3; Step 502: the lifting and conveying platform rises and connects to the conveyor belt. The conveying controller controls the conveyor belt to transport the rescued personnel to the lifting and conveying platform. After the data processing system confirms that the rescued personnel have been transported to the lifting and conveying platform through the information obtained by the acquisition system, the lifting and conveying platform descends and docks with the rescue cabin. Step 503, the door of the rescue cabin is opened, and the lifting platform transports the rescued person into the rescue cabin. After the data processing system confirms that the rescued person has been transported to the rescue cabin through the information obtained by the acquisition system, the door of the rescue cabin is closed. At the same time, the automatic vital sign monitoring equipment in the rescue cabin monitors the vital signs of the rescued person in real time and sends them back to the rescue center on the ground. The life support equipment adjusts the environment of the rescue cabin according to the vital sign information of the rescued person. Step 6, the rescue mother ship's autonomous return process: Step 601, after completing the rescue and resettlement mission for all persons in distress, the fully autonomous multi-vessel collaborative rescue control module is turned off, and the navigation controller of the rescue platform is started. The rescue platform plans the optimal global path based on the current position, combined with the nautical chart and the real-time marine environment, so as to return to the nearest port as soon as possible. Step 602: During the return process, a multi-modal perception system including a laser radar, a millimeter-wave radar, and an infrared camera is used to collect local obstacle information during the autonomous navigation process, and local path replanning is performed to obtain a local path that avoids obstacles and deviates from the global path as little as possible. Step 603, the autonomous navigation control system controls the propulsion actuator of the rescue mother ship to track the global path and the local path, completes local autonomous obstacle avoidance and autonomously returns to the nearest port to complete the fully autonomous rescue mission.

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