Control system and control method of search and rescue unmanned ship integrated with multiple rescue devices
The search and rescue unmanned surface vessel control system, which integrates multiple rescue devices, utilizes the catamaran's motion and information acquisition system for precise positioning. Combined with devices such as electromagnetic swimming rings, it achieves efficient and safe rescue of people who have fallen into the water, solving the problems of secondary injury and high difficulty in existing rescue methods.
Patent Information
- Application Number
- CN202511702682.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-19
- Publication Date
- 2026-02-24
AI Technical Summary
Existing unmanned rescue boats are prone to causing secondary injuries when rescuing people who have fallen into the water, and it is difficult to rescue unconscious people who have fallen into the water, making it impossible to carry out rescues efficiently.
The search and rescue unmanned surface vessel control system integrates multiple rescue devices. It uses the catamaran motion control system and information acquisition system to accurately locate people who have fallen into the water, and combines devices such as electromagnetic swimming rings and life nets to carry out precise rescue. The operation of each component is coordinated through a central control system.
It improved the accuracy and efficiency of rescue, reduced the difficulty of rescue, and enabled efficient rescue and initial first aid for multiple people who fell into the water, resulting in good economic benefits.
Smart Images
Figure CN121553330A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned surface vessel (USV) water rescue technology, and in particular to a control system and control method for a search and rescue USV that integrates multiple rescue devices. Background Technology
[0002] In today's world, with countries worldwide vigorously developing their marine economies, unmanned surface vessels (USVs), freed from human limitations, can effectively perform tasks in various harsh environments, including, in many cases, search and rescue operations for people who have fallen into the water. Currently, there are two main methods for USV rescue operations: one is to use a robotic arm to deliver lifebuoys, ropes, or floats to the person in the water, wait for them to approach the USV, and then tow them onto the vessel; the other is for the person in the water to climb into the rescue USV themselves. The former may cause secondary injuries to the person in the water; the latter is particularly difficult for rescuing unconscious individuals, and traditional methods are ineffective in providing efficient rescue.
[0003] In view of the problems existing in the above-mentioned existing technologies, it is necessary to study and design a new control system and control method for a search and rescue unmanned surface vessel integrating multiple rescue devices, so as to overcome the problems existing in the existing technologies. Summary of the Invention
[0004] Existing rescue methods based on the aforementioned technologies are prone to causing secondary injuries to those who have fallen into the water, and rescuing unconscious individuals is difficult and inefficient. Therefore, this invention provides a control system and method for a search and rescue unmanned surface vessel integrating multiple rescue devices. This invention primarily utilizes the interior of the catamaran as a temporary shelter for those who have fallen into the water. The catamaran's own movement allows for a rough approach to the person, followed by a precise rescue using a person-rescue device alignment mechanism. This results in simple operation, high rescue efficiency, and effectively improves the efficiency and economy of rescuing those in the water.
[0005] The technical means employed in this invention are as follows: A control system for a multi-rescue integrated search and rescue unmanned surface vessel uses wireless remote control to control the rotation of the main thruster and the propulsion motion of the catamaran motion control system to approach and rescue people who have fallen into the water. Furthermore, the control system includes: an information acquisition system, a central control system, a centering system for personnel falling into the water and rescue devices, and a catamaran motion control system; Furthermore, the information collection system is connected to the central control system, transmitting the collected information on people who have fallen into the water to the central control system. Furthermore, the central control system is integrated with the centering system for the person-rescue device and the catamaran motion control system; Furthermore, the central control system controls the catamaran's motion control system to reach the vicinity of the person who fell into the water, in preparation for rescue. Furthermore, the central control system controls the centering system of the person-rescue device to center and locate the person in the water and carry out the rescue.
[0006] Furthermore, the information acquisition system includes: air and sea dual positioning, infrared positioning cameras, and high-definition cameras; the location of a person who has fallen into the water can be determined through the information acquisition system. Furthermore, the system uses both air and sea positioning to collect the location information of the person who fell into the water, infrared positioning cameras to collect the real-time angle information of the person who fell into the water, and high-definition cameras to collect the real-time video information of the person who fell into the water. The collected information is then fed back to the central control system.
[0007] Furthermore, the central control system includes: a power supply unit, a main control chip, a wireless remote control unit, and a central control system component control unit. By controlling the central control system, the centering system for the person in the water-rescue device and the catamaran motion control system can be controlled. Furthermore, the power supply unit is electrically connected to the main control chip; Furthermore, the wireless remote control unit is connected to the main control chip to control the catamaran's active propulsion system; Furthermore, the central control system component control unit is connected to the power supply unit, main control chip and wireless remote control unit to achieve direct control of all components.
[0008] Furthermore, the catamaran motion control system includes: a motion control unit, a slewing mechanism, a main propeller, and a propeller; Furthermore, the motion control unit is connected to the central control system and to the rotary mechanism; Furthermore, the slewing mechanism is connected to both the main propeller and the propeller. Furthermore, after receiving information from the central control system, the motion control unit issues motion commands to the slewing mechanism. The slewing mechanism accepts the commands and controls the main propeller and the propeller to rotate, achieving forward and slewing motion, and driving the catamaran to the vicinity of the person who fell into the water.
[0009] Furthermore, the centering system for the person falling into the water and the rescue device includes: a centralized control box, an angle base for deploying and retracting the lifenet, a lifenet launcher, an electromagnetic swimming ring and track deployment and retraction device, and a telescopic tow rake; Furthermore, the angle base for deploying and retracting the lifenet, the lifenet launcher, the electromagnetic swimming ring and track deployment and retraction device, and the telescopic rake are all connected to the centralized control box; Furthermore, the centralized control box is connected to the central control system, receives control commands from the central control system, and issues operation commands to the angle base for deploying and retracting the lifenet, the lifenet launcher, the electromagnetic swimming ring and the track deployment and retraction device, and the telescopic rake, and provides local power to complete the rescue of people who have fallen into the water.
[0010] Furthermore, a control method for a search and rescue unmanned surface vessel control system integrating multiple rescue devices includes: S61, first positioning stage; S62, second positioning stage; S63, first rescue stage; and S64, second rescue stage. S61, First Positioning Phase: When a distress signal is received from a person who has fallen into the water, the unmanned aircraft is released into the sea area near the person who has fallen into the water. At this time, the air-sea dual positioning of the information collection system is activated to locate the person who has fallen into the water in the first phase. S611. The sea-air dual positioning is activated to perform the first positioning of the person in distress. If the distance between the unmanned surface vessel and the person in distress is less than 5000m, it is determined whether the target has been captured. If so, it is determined whether the coordinates of the sea-air dual positioning are consistent with those of the person in distress. S612. If the sea-air dual positioning is determined to be inconsistent with the coordinates of the person in distress in step S611, then sea-air dual positioning is performed again until the coordinates are consistent. S613. If the distance between the unmanned surface vessel and the person in distress is ≥5000m in step S611, then the central control system sends an instruction to the catamaran operation control system to control the unmanned surface vessel to reduce the distance between the unmanned surface vessel and the person in distress until the distance is <5000m, then the air-sea dual positioning is re-performed. S62. Second positioning phase: The air and sea dual positioning system of the information collection system and the high-definition camera are activated to conduct the second phase of positioning of the person in distress; S621. Based on step S61, further instructions are sent from the central control system to the catamaran operation control system to control the unmanned surface vessel to reduce the distance between the unmanned surface vessel and the person in distress until the distance is less than 1000m. S622. Activate the high-definition camera for visual positioning, and determine whether the target has been captured through real-time images. If so, proceed with the rescue of the person who fell into the water. S623. If the visual assessment in step S622 does not identify the person who fell into the water, then perform a new air-sea dual-positioning until the coordinates match and then proceed with the rescue. S624. If the distance between the person in distress and the person in distress is ≥1000m in step S621, then perform air-sea dual positioning again until the distance is within 1000m, and repeat step S622. S63. First rescue phase: The person in distress enters the rescue range of the unmanned surface vessel (USV) as the USV and the USV move relative to each other, and the USV carries out the first phase of rescue. S631. The high-definition camera of the information collection system determines whether the person who fell into the water is conscious. If so, the electromagnetic swimming ring and track deployment device of the person-rescue device alignment system adjust the pre-launch angle, and the person-electromagnetic swimming ring is positioned and aligned. It is determined whether the person can be effectively captured. If so, a single swimming ring is launched for rescue. S632. If it is determined in step S631 that the person who fell into the water cannot be effectively captured, then the positioning and centering of the person who fell into the water and the electromagnetic swimming ring is repeated until the person can be effectively captured, and the rescue net is launched and retrieved for rescue. S633. If it is determined in step S631 that the person who fell into the water cannot be effectively captured, then the positioning and centering of the person who fell into the water and the electromagnetic swimming ring should be repeated. S634. If it is determined in step S631 that the person who fell into the water is not conscious of falling into the water, then the life-retrieval net of the person-rescue device centering system is adjusted to the pre-launch angle, the person-life-retrieval net is positioned and centered, and it is determined whether the person who fell into the water can be effectively captured. If so, the life-retrieval net launching action is performed. S635. If it is determined in step S634 that the person in the water cannot be effectively captured by the rescue net, then the positioning and alignment of the person in the water and the rescue net is re-performed. After completing the single electromagnetic swimming ring throwing action or the rescue net ring throwing action, the camera of the information collection system determines whether there is still a person in the water. If so, the first rescue stage of S63 is repeated. S636. If it is determined in step S635 that there is no person who has fallen into the water, then proceed to the second rescue stage. S64. Second rescue phase: Life-saving equipment is recovered, and the unmanned surface vessel returns to the mother ship or the coast / port, ending the rescue operation.
[0011] Compared with the prior art, the present invention has the following advantages: 1. The control system and control method of the search and rescue unmanned surface vessel integrating multiple rescue devices provided by the present invention rely on the movement of the catamaran and use the Phantom 4 multispectral version UAV and underwater rescue robot to correct the position information of the person who fell into the water, which can greatly improve the rescue accuracy and reduce the rescue time. 2. The control system and method for the multi-rescue unmanned surface vessel integrating multiple rescue devices provided by this invention can simultaneously rescue multiple people who have fallen into the water. Furthermore, relying on the catamaran's water rescue fire-fighting device, it can also provide initial first aid to those in the water. This greatly improves the efficiency and success rate of rescue efforts. 3. The control system and control method of the search and rescue unmanned surface vessel integrating multiple rescue devices provided by the present invention, and the centering device between the person in the water and the rescue device can reduce the difficulty in the rescue process and improve the efficiency of the rescue. 4. The control system and control method of the search and rescue unmanned boat integrating multiple rescue devices provided by the present invention are safe and simple to operate, eliminating the need for manual rescue of people who have fallen into the water, and have good economic benefits.
[0012] In summary, the technical solution of this invention solves the problems of existing rescue methods in the prior art, which easily cause secondary injuries to people who fall into the water, and make it difficult to rescue unconscious people who have fallen into the water, thus making it impossible to carry out rescues efficiently. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0014] Figure 1 This is a system framework diagram of the present invention; Figure 2 This is a block diagram of the rescue method of the present invention; Figure 3 This is a schematic diagram of the unmanned surface vessel structure of the present invention; Figure 4 This is a schematic diagram of the unmanned surface vessel rescue of the present invention.
[0015] In the picture: 1. Electromagnetic projectile device; 2. Communication and positioning device; 3. Electromagnetic swimming ring deployment and retrieval device; 4. Water rescue device; 5. Double buoy hull; 6. Telescopic rake; 7. Main propulsion propeller; 8. Underwater positioning robot frame; 9. Underwater positioning robot; 10. Wind turbine and solar panel; 11. Person who fell into the water. Detailed Implementation
[0016] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0018] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0019] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0020] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.
[0021] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0022] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.
[0023] like Figure 3-4As shown, this invention provides a dual-positioning search and rescue unmanned surface vessel integrating electromagnetic coil deployment and telescopic rake, comprising: an electromagnetic launching device 1, a communication and positioning device 2, an electromagnetic coil and track deployment and retrieval device 3, a water rescue device 4, a dual-buoy hull 5, a telescopic rake 6, a main propulsion propeller 7, an underwater positioning robot frame 8, an underwater positioning robot 9, and a wind turbine and solar panel 10; the main propulsion propeller 7 is located at the front of the bottom of the dual-buoy hull 5, and the underwater positioning robot frame 8 is located at the rear; the underwater positioning robot 9 is located in the underwater positioning robot frame 8; the water rescue device 4 is located on the upper part of the dual-buoy hull 5; the electromagnetic coil and track deployment and retrieval device 3 is also located at the front of the upper part of the dual-buoy hull 5, and the electromagnetic coil and track deployment and retrieval device 3 is located on the upper part of the water rescue device 4; the electromagnetic coil and track deployment and retrieval device 3 generates local electromagnetic coil ejection through the local effect of a magnetic generator, and cooperates with the electromagnetic launching device 1 and the telescopic rake 6. The electromagnetic swimming ring and track deployment device 3 is equipped with a communication and positioning device 2 at the rear of its upper end, a wind turbine and solar panel 10 in the middle, and an electromagnetic launching device 1 at the front. The front of the twin-buoy hull 5 is equipped with a telescopic rake 6, which is located in the middle of the front of the electromagnetic swimming ring and track deployment device 3 and the water rescue device 4. When the communication and positioning device 2, the underwater positioning robot frame 8, and the underwater positioning robot 9 detect a person in the water during the cruise, they can determine whether the person is conscious or not and then deploy the electromagnetic swimming ring and track deployment device 3 or the electromagnetic launching device 1. In this process, the telescopic rake 6 is used to rescue the person in the water smoothly and efficiently into the boat. The water rescue device 4 is then used for further rescue, and the main propulsion propeller 7 is used to quickly drive the boat to the shore for treatment.
[0024] like Figure 1 As shown, the control system of the multi-rescue integrated search and rescue unmanned surface vessel (USV) uses wireless remote control to control the rotation of the main thruster and the propulsion motion of the catamaran motion control system to approach and rescue people who have fallen into the water. The control system includes: an information acquisition system, a central control system, a person-rescue device alignment system, and a catamaran motion control system. The information acquisition system is connected to the central control system and transmits the information of the person who has fallen into the water to the central control system. The central control system connects with the person-rescue device alignment system and the catamaran motion control system. The central control system controls the catamaran motion control system to reach the vicinity of the person who has fallen into the water to prepare for rescue. The central control system controls the person-rescue device alignment system to locate the person who has fallen into the water and carry out the rescue.
[0025] The information acquisition system includes: air-sea dual positioning, infrared positioning camera and high-definition camera; the information acquisition system can be used to locate the position of the person who fell into the water; the air-sea dual positioning system collects the position information of the person who fell into the water, the infrared positioning camera collects the real-time angle information of the person who fell into the water, and the high-definition camera collects the real-time image information of the person who fell into the water, and the above-mentioned information is fed back to the central control system.
[0026] The central control system includes a power supply unit, a main control chip, a wireless remote control unit, and a central control system component control unit. By controlling the central control system, the centering system for the person in the water-rescue device and the catamaran motion control system can be controlled. The power supply unit is electrically connected to the main control chip. The wireless remote control unit is connected to the main control chip and controls the catamaran's active propeller. The central control system component control unit is connected to the power supply unit, the main control chip, and the wireless remote control unit to directly control all components.
[0027] The catamaran motion control system includes: a motion control unit, a slewing mechanism, a main propeller, and a propeller; the motion control unit is connected to the central control system and to the slewing mechanism; the slewing mechanism is connected to the main propeller and the propeller respectively; after receiving information from the central control system, the motion control unit issues motion commands to the slewing mechanism, which then controls the main propeller and the propeller to rotate, achieving forward and slewing motion, and propelling the catamaran to the vicinity of the person who fell into the water.
[0028] The drowning person-rescue device centering system includes: a centralized control box, a life-net deployment and retrieval angle base, a life-net deployment and retrieval launcher, an electromagnetic swimming ring and track deployment and retrieval device, and a telescopic drag. The life-net deployment and retrieval angle base, life-net deployment and retrieval launcher, electromagnetic swimming ring and track deployment and retrieval device, and telescopic drag are all connected to the centralized control box. The centralized control box is connected to the central control system, receives control commands from the central control system, issues operation commands to the life-net deployment and retrieval angle base, life-net deployment and retrieval launcher, electromagnetic swimming ring and track deployment and retrieval device, and telescopic drag, and provides partial power to complete the rescue of the drowning person.
[0029] like Figure 2 As shown, the control method of the control system of the search and rescue unmanned surface vessel integrating multiple rescue devices includes: S61, first positioning stage; S62, second positioning stage; S63, first rescue stage; and S64, second rescue stage. S61, First Positioning Phase: When a distress signal is received from a person who has fallen into the water, the unmanned aircraft is released into the sea area near the person who has fallen into the water. At this time, the air-sea dual positioning of the information collection system is activated to locate the person who has fallen into the water in the first phase. S611. The sea-air dual positioning is activated to perform the first positioning of the person in distress. If the distance between the unmanned surface vessel and the person in distress is less than 5000m, it is determined whether the target has been captured. If so, it is determined whether the coordinates of the sea-air dual positioning are consistent with those of the person in distress. S612. If the sea-air dual positioning is determined to be inconsistent with the coordinates of the person in distress in step S611, then sea-air dual positioning is performed again until the coordinates are consistent. S613. If the distance between the unmanned surface vessel and the person in distress is ≥5000m in step S611, then the central control system sends an instruction to the catamaran operation control system to control the unmanned surface vessel to reduce the distance between the unmanned surface vessel and the person in distress until the distance is <5000m, then the air-sea dual positioning is re-performed. S62. Second positioning phase: The air and sea dual positioning system of the information collection system and the high-definition camera are activated to conduct the second phase of positioning of the person in distress; S621. Based on step S61, further instructions are sent from the central control system to the catamaran operation control system to control the unmanned surface vessel to reduce the distance between the unmanned surface vessel and the person in distress until the distance is less than 1000m. S622. Activate the high-definition camera for visual positioning, and determine whether the target has been captured through real-time images. If so, proceed with the rescue of the person who fell into the water. S623. If the visual assessment in step S622 does not identify the person who fell into the water, then perform a new air-sea dual-positioning until the coordinates match and then proceed with the rescue. S624. If the distance between the person in distress and the person in distress is ≥1000m in step S621, then perform air-sea dual positioning again until the distance is within 1000m, and repeat step S622. S63. First rescue phase: The person in distress enters the rescue range of the unmanned surface vessel (USV) as the USV and the USV move relative to each other, and the USV carries out the first phase of rescue. S631. The high-definition camera of the information collection system determines whether the person who fell into the water is conscious. If so, the electromagnetic swimming ring and track deployment device of the person-rescue device alignment system adjust the pre-launch angle, and the person-electromagnetic swimming ring is positioned and aligned. It is determined whether the person can be effectively captured. If so, a single swimming ring is launched for rescue. S632. If it is determined in step S631 that the person who fell into the water cannot be effectively captured, then the positioning and centering of the person who fell into the water and the electromagnetic swimming ring is repeated until the person can be effectively captured, and the rescue net is launched and retrieved for rescue. S633. If it is determined in step S631 that the person who fell into the water cannot be effectively captured, then the positioning and centering of the person who fell into the water and the electromagnetic swimming ring should be repeated. S634. If it is determined in step S631 that the person who fell into the water is not conscious of falling into the water, then the life-retrieval net of the person-rescue device centering system is adjusted to the pre-launch angle, the person-life-retrieval net is positioned and centered, and it is determined whether the person who fell into the water can be effectively captured. If so, the life-retrieval net launching action is performed. S635. If it is determined in step S634 that the person in the water cannot be effectively captured by the rescue net, then the positioning and alignment of the person in the water and the rescue net is re-performed. After completing the single electromagnetic swimming ring throwing action or the rescue net ring throwing action, the camera of the information collection system determines whether there is still a person in the water. If so, the first rescue stage of S63 is repeated. S636. If it is determined in step S635 that there is no person who has fallen into the water, then proceed to the second rescue stage. S64. Second rescue phase: Life-saving equipment is recovered, and the unmanned surface vessel returns to the mother ship or the coast / port, ending the rescue operation.
[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not make the corresponding The nature of the technical solution deviates from the scope of the technical solutions in the various embodiments of this invention.
Claims
1. A control system for a search and rescue unmanned surface vessel integrating multiple rescue devices, characterized in that: The control system described above uses a wireless remote control method to control the rotation of the main thruster in the catamaran motion control system and the propulsion motion to approach and rescue people who have fallen into the water; The control system includes: an information acquisition system, a central control system, a centering system for the person in the water and the rescue device, and a catamaran motion control system; The information collection system is connected to the central control system and transmits the collected information on people who have fallen into the water to the central control system. The central control system is connected to the centering system for the person-rescue device and the catamaran motion control system. The central control system controls the catamaran's motion control system to reach the vicinity of the person who fell into the water, in preparation for rescue. The central control system controls the centering system of the person-rescue device to center and locate the person in the water and carry out the rescue.
2. The control system for the search and rescue unmanned surface vessel integrating multiple rescue devices according to claim 1, characterized in that: The information acquisition system includes: a dual-positioning system for sea and air, an infrared positioning camera, and a high-definition camera; the location of a person who has fallen into the water can be determined through the information acquisition system. The aforementioned air-sea dual positioning system collects the location information of the person who fell into the water, the infrared positioning camera collects the real-time angle information of the person who fell into the water, and the high-definition camera collects the real-time image information of the person who fell into the water. The collected information is then fed back to the central control system.
3. The control system for the search and rescue unmanned surface vessel integrating multiple rescue devices according to claim 1, characterized in that: The central control system includes a power supply unit, a main control chip, a wireless remote control unit, and a central control system component control unit. By controlling the central control system, the centering system for the person in the water-rescue device and the catamaran motion control system can be controlled. The power supply unit is electrically connected to the main control chip; The wireless remote control unit is connected to the main control chip and controls the active propulsion of the catamaran. The central control system component control unit is connected to the power supply unit, main control chip and wireless remote control unit to achieve direct control of all components.
4. The control system for the search and rescue unmanned surface vessel integrating multiple rescue devices according to claim 1, characterized in that: The catamaran motion control system includes: a motion control unit, a slewing mechanism, a main propeller, and a propeller; The motion control unit is connected to the central control system and to the rotary mechanism; The slewing mechanism is connected to the main propeller and the propeller respectively; After receiving information from the central control system, the motion control unit issues motion commands to the slewing mechanism. The slewing mechanism then controls the main propeller and the propeller to rotate, achieving forward and slewing motion, and driving the catamaran to the vicinity of the person who fell into the water.
5. The control system for the search and rescue unmanned surface vessel integrating multiple rescue devices according to claim 1, characterized in that: The aforementioned drowning person-rescue device centering system includes: a centralized control box, a life-saving net deployment angle base, a life-saving net deployment launcher, an electromagnetic swimming ring and track deployment device, and a telescopic tow rake; The aforementioned life-saving net angle base, life-saving net launcher, electromagnetic swimming ring, track deployment and retrieval device, and telescopic rake are all connected to the centralized control box; The centralized control box is connected to the central control system, receives control commands from the central control system, and issues operation commands to the angle base for deploying and retracting the lifenet, the lifenet launcher, the electromagnetic swimming ring and the track deployment and retraction device, and the telescopic rake. It also provides partial power to complete the rescue of people who have fallen into the water.
6. A control method for a search and rescue unmanned surface vessel integrating multiple rescue devices, characterized in that: The control method of the control system of the search and rescue unmanned surface vessel integrating multiple rescue devices includes: S61, first positioning stage; S62, second positioning stage; S63, first rescue stage; and S64, second rescue stage. S61, First Positioning Phase: When a distress signal is received from a person who has fallen into the water, the unmanned aircraft is released into the sea area near the person who has fallen into the water. At this time, the air-sea dual positioning of the information collection system is activated to locate the person who has fallen into the water in the first phase. S611. The sea-air dual positioning is activated to perform the first positioning of the person in distress. If the distance between the unmanned surface vessel and the person in distress is less than 5000m, it is determined whether the target has been captured. If so, it is determined whether the coordinates of the sea-air dual positioning are consistent with those of the person in distress. S612. If the sea-air dual positioning is determined to be inconsistent with the coordinates of the person in distress in step S611, then sea-air dual positioning is performed again until the coordinates are consistent. S613. If the distance between the unmanned surface vessel (USV) and the person in distress is ≥5000m in step S611, the central control system sends a command to the catamaran operation control system. The motion control unit of the USV motion control system sends a motion command to the slewing mechanism, which controls the main propeller and the propeller to move. At the same time, the slewing mechanism feeds back the motion status to the motion control unit, thereby moving the USV and reducing the distance between the USV and the person in distress until the distance is <5000m. Then, the air-sea dual positioning is re-established. S62. Second positioning phase: The air and sea dual positioning system of the information collection system and the high-definition camera are activated to conduct the second phase of positioning of the person in distress; S621. Based on step S61, the central control system sends instructions to the catamaran operation control system, and the motion control unit of the unmanned surface vessel motion control system sends motion instructions to the slewing mechanism to control the main propeller and the propeller to move. At the same time, the slewing mechanism feeds back the motion status to the motion control unit, thereby controlling the unmanned surface vessel to move and reduce the distance between the unmanned surface vessel and the rescue personnel until the distance is <1000m. S622. Activate the high-definition camera and infrared positioning camera for visual positioning, and determine whether the target has been captured through real-time images. If so, proceed with the rescue of the person who fell into the water. S623. If the visual assessment in step S622 does not identify the person who fell into the water, then perform a new air-sea dual-positioning until the coordinates match and then proceed with the rescue. S624. If the distance between the person in distress and the person in distress is ≥1000m in step S621, then perform air-sea dual positioning again until the distance is within 1000m, and repeat step S622. S63. First rescue phase: The person in distress enters the rescue range of the unmanned surface vessel (USV) as the USV and the USV move relative to each other, and the USV carries out the first phase of rescue. S631, the high-definition camera and infrared positioning camera of the information collection system determine whether the person who fell into the water is conscious. If so, the electromagnetic swimming ring and track deployment device of the person-rescue device alignment system adjust the pre-launch angle, the person-electromagnetic swimming ring is aligned, and it is determined whether the person can be effectively captured. If so, a single swimming ring is launched for rescue. S632. If it is determined in step S631 that the person who fell into the water cannot be effectively captured, then the positioning and centering of the person who fell into the water and the electromagnetic swimming ring is repeated until the person can be effectively captured, and the rescue net is launched and retrieved for rescue. S633. If it is determined in step S631 that the person who fell into the water cannot be effectively captured, then the positioning and centering of the person who fell into the water and the electromagnetic swimming ring should be repeated. S634. If it is determined in step S631 that the person who fell into the water is not conscious of falling into the water, then the life-retrieval net of the person-rescue device centering system is adjusted to the pre-launch angle, the person-life-retrieval net is positioned and centered, and it is determined whether the person who fell into the water can be effectively captured. If so, the life-retrieval net launching action is performed. S635. If it is determined in step S634 that the person in the water cannot be effectively captured by the rescue net, then the positioning and alignment of the person in the water and the rescue net is re-performed. After completing the single electromagnetic swimming ring throwing action or the rescue net ring throwing action, the camera and infrared positioning camera of the information collection system determine whether there is still a person in the water. If so, repeat the first rescue stage of S63. S636. If it is determined in step S635 that there is no person who has fallen into the water, then proceed to the second rescue stage. S64. Second rescue phase: Life-saving equipment is recovered, and the unmanned surface vessel returns to the mother ship or the coast / port, ending the rescue operation.