Water surface unmanned rescue device

Abstract

The invention relates to the field of rescue equipment, in particular to a water surface unmanned rescue device with high stability, full-time sensing capability and accurate active rescue function, which comprises a hull assembly, a sensing and navigation system, a power propulsion assembly, a rescue execution assembly and a communication module, the ship body assembly comprises a main floating body and auxiliary floating barrels arranged on the two sides of the main floating body, a sealed cabin is arranged in the main floating body, a battery pack and a main control unit are arranged in the sealed cabin, the gravity center position of the ship body assembly is lower than the buoyancy center position, and a balancing weight is arranged at the top of the main floating body through an adjusting mechanism. When the overturning angle of the ship body assembly exceeds a preset threshold value, restoring torque is generated through gravitational torque so as to achieve automatic righting, and the power propelling assembly is arranged on the ship body assembly and used for driving the ship body assembly to move on the water surface.

Description

Technical Field

[0001] This invention relates to the field of rescue equipment, and more particularly to an unmanned water rescue device. Background Technology

[0002] Currently, some unmanned rescue boats already exist on the market. For example, Chinese patent application number 201620350458.4 discloses a portable surface rapid rescue device, which includes a float, a grabbing clamping device, a propulsion device, a control device, a trigger switch, and a pull-back rope. This device uses the pull-back rope to tow the drowning person for rescue. However, rescuers need to wear the rescue device to carry out the rescue, which poses a significant safety hazard.

[0003] However, some existing unmanned rescue boats are prone to capsizing in strong winds, waves, or collisions. Once capsized, the device often loses power or cannot recover autonomously, leading to the failure of the rescue mission or even becoming an obstacle on the water. Furthermore, most devices rely solely on visual cameras or GPS positioning, which significantly reduces recognition accuracy in low-visibility environments such as nighttime, heavy fog, or heavy rain, making it difficult to accurately locate the person in the water and easily causing misjudgments or missed detections. Summary of the Invention

[0004] Therefore, in order to address the above-mentioned problems, the present invention provides an unmanned water rescue device with high stability, all-time perception capability, and precise active rescue function.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An unmanned surface rescue device includes a hull assembly, a sensing and navigation system, a power propulsion assembly, a rescue execution assembly, and a communication module. The hull assembly includes a main float and auxiliary floats disposed on both sides of the main float. The main float has a sealed chamber inside, which houses a battery pack and a main control unit. The center of gravity of the hull assembly is lower than the center of buoyancy. The top of the main float has a counterweight block installed on it through an adjustment mechanism, so that when the hull assembly capsizes at an angle exceeding a preset threshold, it can automatically right itself by using gravitational torque to generate a restoring torque. The power propulsion assembly is disposed on the hull assembly and is used to drive the hull assembly to move on the water surface. The perception and navigation system includes an environmental sensor group mounted on the hull components and an auxiliary control unit electrically connected to the main control unit. The environmental sensor group is used to collect surrounding environmental data and information on the target that fell into the water. The auxiliary control unit is used to generate a navigation path and control the operation of the propulsion component based on the collected surrounding environmental data and information on the target that fell into the water. The environmental sensor group includes a camera for identifying the human characteristics of the person who fell into the water, an infrared thermal imager for identifying body temperature signals at night or in low visibility environments, a millimeter-wave radar for detecting obstacles on the water surface and measuring the distance to the person who fell into the water, a GPS module for measuring the position and speed information of the hull components in real time, and an inertial measurement unit for measuring the attitude of the hull components in real time. The rescue execution component includes a throwing mechanism, which is equipped with an air tank and an inflatable life ring. After confirming that it is close to a preset distance from the person who has fallen into the water, the main control unit triggers the electric switch valve on the air tank to release gas and launch the inflatable life ring to the vicinity of the person who has fallen into the water.

[0006] Furthermore, the adjustment mechanism includes a guide rail, a lead screw, and a drive motor. The guide rail is located on the top of the main float. The lead screw is rotatably connected to the guide rail along the length of the main float. The counterweight is threadedly connected to the lead screw. The bottom of the counterweight is provided with a slider, which is embedded in the groove of the guide rail. The mating surface between the slider and the groove is provided with a wear-resistant layer. The output shaft of the drive motor is connected to one end of the lead screw. The drive motor drives the lead screw to rotate, thereby causing the counterweight to move along the axial direction of the lead screw.

[0007] Furthermore, a position sensor is provided inside the guide rail. The position sensor is used to detect the real-time position of the counterweight on the lead screw and feed the position signal back to the main control unit. The main control unit controls the rotation direction and angle of the drive motor based on the attitude information obtained by the sensing and navigation system, so as to precisely adjust the position of the counterweight.

[0008] Furthermore, the adjustment method of the adjustment mechanism includes the following steps: S1) Pre-set the automatic correction threshold and safety threshold; S2) The inertial measurement unit in the perception and navigation system collects the roll and pitch angles of the hull components in real time and transmits the angle data to the main control unit; S3) The main control unit compares the real-time roll angle and pitch angle with the preset automatic straightening threshold; S4) When the overturning angle is detected to exceed the preset automatic righting threshold, the main control unit generates a counterweight adjustment command based on the overturning direction and sends it to the drive motor; S5) The drive motor drives the lead screw to rotate according to the command, which drives the counterweight to move away from the overturning side until the center of gravity of the hull component generates a restoring torque relative to the center of buoyancy that is sufficient to overcome the overturning moment. S6) When the tilt angle of the hull component is less than the safety threshold, the main control unit issues a stop command, and the counterweight maintains its current position.

[0009] Furthermore, in step S4), the main control unit calculates the required moving speed and acceleration of the counterweight based on the size of the overturning angle. The larger the overturning angle, the greater the output power of the drive motor and the faster the moving speed of the counterweight.

[0010] Furthermore, the main control unit has a built-in nonlinear mapping function module, which is used to establish the overturning angle. With the acceleration of the counterweight A positive correlation between them; when the overturning angle Satisfying 0°< ≤ At that time, the main control unit outputs the first reference power. Drive the drive motor, and the counterweight moves at a constant speed. Move; when overturning angle satisfy < ≤ At that time, the main control unit controls the output power of the drive motor. According to linear proportion Increase, that is The counterweight accelerates Accelerate movement; when the overturning angle satisfy <θ≤ At that time, the main control unit controls the drive motor to output the maximum emergency power. The counterweight accelerates at maximum speed Move at full speed to the limit of the travel position to generate the maximum restoring torque.

[0011] Furthermore, while driving the counterweight to move, the main control unit monitors the actual position of the counterweight as fed back by the position sensor in real time, thereby eliminating mechanical transmission errors.

[0012] Furthermore, the control method of the perception and navigation system includes the following steps: A1) The auxiliary control unit synchronously receives visual image data from the camera, thermal radiation data from the infrared thermal imager, obstacle point cloud and distance data from the millimeter-wave radar, position and velocity data from the GPS module, and attitude data from the inertial measurement unit. A2) The auxiliary control unit analyzes visual images and thermal radiation data to extract human characteristics and body temperature signals of suspected drowning victims; at the same time, it uses millimeter-wave radar data to remove fixed obstacles on the water surface, and uses a data fusion algorithm to align the confirmed target location information with GPS data to generate a local environmental map containing the target location and the distribution of obstacles. A3) The auxiliary control unit plans an optimal navigation path that avoids obstacles and points to the location of the person who fell into the water, based on the local environment map, the current attitude and speed of the hull components. A4) The auxiliary control unit converts the generated navigation path into speed and heading control commands and sends them to the propulsion assembly to drive the hull assembly to move toward the target position.

[0013] Furthermore, the auxiliary control unit automatically switches the recognition mode according to the ambient light conditions and visibility; when in daylight or high visibility environment, it mainly uses the visual images captured by the camera for target recognition; when in night or low visibility environment, it automatically enhances the data weight of the infrared thermal imager, combines the contour detection data of the millimeter-wave radar, and locks the target of the person who has fallen into the water by matching the thermal signal with the contour features.

[0014] By adopting the aforementioned technical solution, the beneficial effects of this invention are as follows: This unmanned surface rescue device, by employing a catamaran structure, namely a design where the center of gravity of the main float and auxiliary float is lower than the center of buoyancy, fundamentally ensures the static stability of the hull; combined with the moving mechanism of the counterweight block 9, dynamic torque adjustment is achieved, greatly enhancing the anti-capsulation capability; in addition, by integrating an environmental sensor group including an infrared thermal imager and a millimeter-wave radar, all-weather, all-time target identification and obstacle avoidance are achieved; finally, by using an air tank to eject an inflatable lifebuoy, "non-contact" precise rescue is achieved, and even if the unmanned vessel does not directly dock, the rescue equipment can still be delivered to the person in the water. Attached Figure Description

[0015] Figure 1 This is a top view of the structure according to an embodiment of the present invention; Figure 2 This is a top view of the sealed chamber in the open state in an embodiment of the present invention; Figure 3 This is a top view of the rescue execution component in an embodiment of the present invention; Figure 4 This is a front view structural diagram of the rescue execution component in an embodiment of the present invention; Figure 5 This is a cross-sectional view of the transmitting tube in an embodiment of the present invention; Figure 6 This is a circuit module diagram of an embodiment of the present invention. Detailed Implementation

[0016] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0017] The embodiments of the present invention are as follows: refer to Figures 1 to 6 As shown, an unmanned surface rescue device includes a hull assembly 1, a sensing and navigation system 2, a power propulsion assembly 3, a rescue execution assembly 4, and a communication module 5. The hull assembly 1 includes a main float 11 and auxiliary floats 12 disposed on both sides of the main float 11. The main float 11 has a sealed chamber 13 inside, and the sealed chamber 13 has a battery pack 6 and a main control unit 7. The center of gravity of the hull assembly 1 is lower than the center of buoyancy. The top of the main float 11 is provided with a counterweight 9 through an adjustment mechanism 8, so that when the hull assembly 1 capsizes at an angle exceeding a preset threshold, it can automatically right itself by using gravitational torque to generate a restoring torque. The power propulsion assembly 3 is disposed on the hull assembly 1 and is used to drive the hull assembly 1 to move on the water surface. The perception and navigation system 2 includes an environmental sensor group mounted on the hull assembly 1 and an auxiliary control unit 21 electrically connected to the main control unit 7. The environmental sensor group is used to collect surrounding environmental data and information on the target that fell into the water. The auxiliary control unit 21 is used to generate a navigation path and control the operation of the propulsion assembly 3 based on the collected surrounding environmental data and information on the target that fell into the water. The environmental sensor group includes a camera 22 for identifying the human characteristics of the person who fell into the water, an infrared thermal imager 23 for identifying body temperature signals at night or in low visibility environments, a millimeter-wave radar 24 for detecting obstacles on the water surface and measuring the distance to the person who fell into the water, a GPS module 25 for measuring the position and speed information of the hull assembly 1 in real time, and an inertial measurement unit 26 for measuring the attitude of the hull assembly 1 in real time. The rescue execution component 4 includes a throwing mechanism 41, which is equipped with an air tank 42 and an inflatable life ring 43. After confirming that it is close to the person in the water at a preset distance, the main control unit 7 triggers the electric switch valve 44 on the air tank 42 to release gas and launch the inflatable life ring 43 to the vicinity of the person in the water.

[0018] This unmanned surface rescue device, through the adoption of a catamaran structure, namely the main float 11 and the auxiliary float 12, with the center of gravity lower than the center of buoyancy, fundamentally ensures the static stability of the hull; combined with the moving mechanism of the counterweight block 9, it realizes dynamic torque adjustment, greatly enhancing the anti-capsulation capability; in addition, by integrating an environmental sensor group including an infrared thermal imager 23 and a millimeter-wave radar 24, it achieves all-weather, all-time target identification and obstacle avoidance; finally, by using the air tank 42 to eject the inflatable life ring 43, it achieves "non-contact" precise rescue, even if the unmanned boat does not directly dock, it can still deliver the rescue equipment to the person who has fallen into the water.

[0019] Specifically, the adjustment mechanism 8 includes a guide rail 81, a lead screw 82, and a drive motor 83. The guide rail 81 is located at the top of the main float 11. The lead screw 82 is rotatably connected to the guide rail 81 along the length of the main float 11. The counterweight 9 is threadedly connected to the lead screw 82. A slider 84 is provided at the bottom of the counterweight 9. The slider 84 is embedded in the groove of the guide rail 81. The mating surface between the slider 84 and the groove is provided with a wear-resistant layer. The output shaft of the drive motor 83 is connected to one end of the lead screw 82. The drive motor 83 drives the lead screw 82 to rotate, thereby driving the counterweight 9 to move along the axial direction of the lead screw 82, realizing the linear reciprocating motion of the counterweight 9. This mechanical structure has high transmission precision and can quickly respond to control commands. The cooperation between the slider 84 and the guide rail 81 ensures the smooth movement of the counterweight. The wear-resistant layer design extends the service life of the adjustment mechanism in high humidity and high salt spray environments.

[0020] Furthermore, a position sensor 85 is provided inside the guide rail 81. The position sensor 85 is used to detect the real-time position of the counterweight 9 on the lead screw 82 and feeds back the position signal to the main control unit 7. The main control unit 7 controls the rotation direction and angle of the drive motor 83 based on the attitude information obtained by the sensing and navigation system 2, so as to precisely adjust the position of the counterweight 9. The main control unit 7 can not only issue commands, but also determine the actual position of the counterweight 9 in real time, thereby accurately correcting the rotation angle of the motor, eliminating errors caused by mechanical wear or slippage, ensuring the accuracy of the counterweight 9 adjustment, and thus ensuring the precision of the hull attitude adjustment.

[0021] Furthermore, the adjustment method of the adjustment mechanism 8 includes the following steps: S1) Pre-set the automatic correction threshold and safety threshold; S2) The inertial measurement unit 26 in the perception and navigation system 2 collects the roll and pitch angles of the hull component 1 in real time and transmits the angle data to the main control unit 7; S3) The main control unit 7 compares the real-time roll angle and pitch angle with the preset automatic straightening threshold; S4) When the overturning angle is detected to exceed the preset automatic righting threshold, the main control unit 7 generates a counterweight adjustment command according to the overturning direction and sends it to the drive motor; S5) The drive motor 83 drives the lead screw 82 to rotate according to the command, which drives the counterweight 9 to move away from the overturning side until the center of gravity of the hull assembly 1 generates a restoring torque relative to the center of buoyancy that is sufficient to overcome the overturning moment. S6) When the tilt angle of hull component 1 is less than the safety threshold, the main control unit issues a stop command, and the counterweight 9 maintains its current position.

[0022] By setting thresholds, different states such as normal navigation, dangerous overturning, and restoration to safety are distinguished, so that the movement of the counterweight has clear triggering and termination conditions, avoiding ineffective and frequent actions of the equipment, and ensuring that the system can quickly intervene at critical moments (such as overturning) and use gravity torque to achieve automatic righting.

[0023] Furthermore, in step S4), the main control unit 7 calculates the required moving speed and acceleration of the counterweight block based on the size of the overturning angle. The larger the overturning angle, the greater the output power of the drive motor 83, and the faster the moving speed of the counterweight block 9. Adjusting the moving speed of the counterweight block 9 according to the size of the overturning angle allows the system to remain stable when facing slight shaking, and to move the counterweight block 9 at the fastest speed to generate a restoring torque when facing a serious overturning crisis (such as a large angle), thereby improving the emergency response capability of the system and gaining valuable time for righting.

[0024] In this embodiment, the main control unit 7 has a built-in nonlinear mapping function module 14, which is used to establish the overturning angle. With the acceleration of the counterweight A positive correlation between them; when the overturning angle Satisfying 0°< ≤ At that time, the main control unit outputs the first reference power. Drive the drive motor, and the counterweight moves at a constant speed. Move; when overturning angle satisfy < ≤ At that time, the main control unit controls the output power of the drive motor. According to linear proportion Increase, that is The counterweight accelerates Accelerate movement; when the overturning angle satisfy <θ≤ At that time, the main control unit controls the drive motor to output the maximum emergency power. The counterweight accelerates at maximum speed The motor moves at full speed to its travel limit to generate maximum restoring torque. A segmented power output strategy—constant speed-acceleration-full speed—is employed, balancing energy consumption control and stability at small angles while ensuring explosive power at large angles. This stepped power increase maximizes motor performance and prevents secondary risks caused by excessively abrupt starts or slow responses.

[0025] Furthermore, while driving the counterweight 9 to move, the main control unit 7 monitors the actual position of the counterweight 9 fed back by the position sensor 85 in real time, eliminating mechanical transmission errors. During the movement, the main control unit 7 continuously feeds back position information, enabling the main control unit 7 to make dynamic fine adjustments. This effectively overcomes the gap error and inertial overshoot problem in the transmission of the lead screw 82, ensuring the accuracy of the final stop of the counterweight 9, thereby precisely controlling the center of gravity position of the hull.

[0026] In this embodiment, the control method of the perception and navigation system 2 includes the following steps: A1) The auxiliary control unit 21 synchronously receives visual image data from camera 22, thermal radiation data from infrared thermal imager 23, obstacle point cloud and distance data from millimeter-wave radar 24, position and velocity data from GPS module 25, and attitude data from inertial measurement unit 26. A2) The auxiliary control unit 21 analyzes visual images and thermal radiation data to extract human characteristics and body temperature signals of suspected drowning victims; at the same time, it uses millimeter-wave radar 24 data to remove fixed obstacles on the water surface, and uses a data fusion algorithm to align the confirmed target location information with GPS data to generate a local environmental map containing the target location and the distribution of obstacles. A3) The auxiliary control unit 21 plans an optimal navigation path that avoids obstacles and points to the location of the person who fell into the water based on the local environment map, the current attitude and speed of the hull component 1. A4) The auxiliary control unit 21 converts the generated navigation path into speed and heading control commands and sends them to the propulsion assembly 3 to drive the hull assembly 1 to move toward the target position.

[0027] By simultaneously collecting visual, infrared, radar, and positioning data, and using data fusion algorithms to generate accurate local environmental maps, the problem of incomplete information from a single sensor is solved. Based on this map, dynamic path planning is performed, enabling unmanned rescue devices to autonomously avoid obstacles and accurately navigate to targets in complex waters.

[0028] Furthermore, the auxiliary control unit 21 automatically switches the recognition mode according to ambient light conditions and visibility. When in daylight or high-visibility environments, it primarily uses the visual images captured by the camera 22 for target recognition. When in nighttime or low-visibility environments, it automatically enhances the data weight of the infrared thermal imager 23 and combines it with the contour detection data of the millimeter-wave radar 24. By matching thermal signals with contour features, it locks onto the target of the person who has fallen into the water, thus achieving environmentally adaptive recognition. The system no longer relies on a single recognition source but automatically switches or adjusts the sensor weights according to light and visibility conditions. For example, it emphasizes visual recognition during the day and infrared and radar recognition at night. This intelligent switching mechanism significantly improves the accuracy of identifying people who have fallen into the water in harsh environments, ensuring the continuity and reliability of rescue missions.

[0029] In this embodiment, the throwing mechanism 41 includes a launcher 411 and a launch tube 412 mounted on the launcher 411. The gas tank 42 is connected to the inner cavity of the launch tube 412 via a connecting pipe 413. The electric switch valve 44 is mounted on the connecting pipe 413 and is used to control the connection between the gas tank 42 and the launch tube 412. A piston plate 414 is provided inside the launch tube 412, and the piston plate 414 abuts against the tail of the inflatable lifebuoy 43. When the gas tank 42 releases high-pressure gas into the launch tube 411... At time 2, high-pressure gas pushes piston plate 414 forward, using the thrust of piston plate 414 to smoothly launch inflatable lifebuoy 43. The launch frame 411 includes a base 101, a rotary support platform 102 mounted on the base 101, a swing frame 103 hinged at one end to the rotary support platform 102, and a drive cylinder 104 connecting the swing frame 103 and the rotary support platform 102. The launch tube 412 is mounted on the swing frame 103, and the drive cylinder 104 drives the swing frame 103 to swing up and down, thus achieving launch. The launch angle of the launch tube 412 is adjustable. The outer wall of the launch tube 412 is provided with a mounting lug 105. The mounting lug 105 of the launch tube 412 is connected to the swing frame 103 via a shock-absorbing and buffering assembly. The shock-absorbing and buffering assembly includes a connecting bolt 201, a compression spring 202 sleeved on the connecting bolt 201, a rubber damping pad 203 disposed between the mounting lug 105 and the swing frame 103, and a hydraulic damper 204. The compression spring 202 is in a pre-compressed state to absorb the impact of the hull assembly 1 on its movement in waves. The high-frequency vibration transmitted to the launch tube is transmitted in time. One end of the hydraulic damper 204 is hinged to the swing frame 103, and the other end is hinged to the outer wall of the launch tube 412. The damping direction of the hydraulic damper 204 is parallel to the recoil direction of the launch tube 412. It is used to suppress the instantaneous reverse displacement of the launch tube 412 when the gas tank 42 releases gas to launch the life ring. The high-pressure gas in the gas tank 42 is used as the launch power. Compared with the traditional spring mechanical launch, the thrust is more stable, more controllable, and less susceptible to seawater corrosion. The electric switch valve 44 allows for precise and controllable triggering, ensuring that the lifebuoy is only thrown when it is within a preset distance of the person in the water. This improves the accuracy and safety of the lifebuoy's landing point. Furthermore, the compression spring 202, rubber damping pad 203, and hydraulic damper 204 effectively absorb the high-frequency vibrations generated by the hull sailing in waves, protecting the precision mechanisms inside the launch tube 412. In particular, at the moment of ejection, the hydraulic damper 204 can suppress the recoil force, ensuring the stability of the throwing direction and preventing throwing deviations caused by hull shaking, thereby improving the hit rate of rescue supplies delivery.

[0030] It is worth noting that the inflatable lifebuoy 43 is equipped with a compressed gas generator inside. After the inflatable lifebuoy 43 is ejected from the launch tube, the compressed gas generator reacts to form gas, which inflates the inflatable lifebuoy and causes it to expand. This type of inflatable lifebuoy is existing technology and will not be described in detail here.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0034] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A surface unmanned rescue device, characterized in that: The system includes a hull assembly, a sensing and navigation system, a propulsion assembly, a rescue execution assembly, and a communication module. The hull assembly includes a main float and auxiliary floats located on both sides of the main float. The main float has a sealed compartment inside, which houses a battery pack and a main control unit. The center of gravity of the hull assembly is lower than the center of buoyancy. The top of the main float has a counterweight block installed through an adjustment mechanism, so that when the hull assembly capsizes at an angle exceeding a preset threshold, it can automatically right itself by using gravitational torque to generate a restoring torque. The propulsion assembly is located on the hull assembly and is used to drive the hull assembly to move on the water surface. The perception and navigation system includes an environmental sensor group mounted on the hull components and an auxiliary control unit electrically connected to the main control unit. The environmental sensor group is used to collect surrounding environmental data and information on the target that fell into the water. The auxiliary control unit is used to generate a navigation path and control the operation of the propulsion component based on the collected surrounding environmental data and information on the target that fell into the water. The environmental sensor group includes a camera for identifying the human characteristics of the person who fell into the water, an infrared thermal imager for identifying body temperature signals at night or in low visibility environments, a millimeter-wave radar for detecting obstacles on the water surface and measuring the distance to the person who fell into the water, a GPS module for measuring the position and speed information of the hull components in real time, and an inertial measurement unit for measuring the attitude of the hull components in real time. The rescue execution component includes a throwing mechanism, which is equipped with an air tank and an inflatable life ring. After confirming that it is close to a preset distance from the person who has fallen into the water, the main control unit triggers the electric switch valve on the air tank to release gas and launch the inflatable life ring to the vicinity of the person who has fallen into the water.

2. The unmanned water rescue device according to claim 1, characterized in that: The adjustment mechanism includes a guide rail, a lead screw, and a drive motor. The guide rail is located on the top of the main float. The lead screw is rotatably connected to the guide rail along the length of the main float. The counterweight is threadedly connected to the lead screw. The bottom of the counterweight is provided with a slider, which is embedded in the groove of the guide rail. The mating surface between the slider and the groove is provided with a wear-resistant layer. The output shaft of the drive motor is connected to one end of the lead screw. The drive motor drives the lead screw to rotate, thereby causing the counterweight to move along the axial direction of the lead screw.

3. The unmanned water rescue device according to claim 2, characterized in that: The guide rail is equipped with a position sensor, which is used to detect the real-time position of the counterweight on the lead screw and feed the position signal back to the main control unit. The main control unit controls the rotation direction and angle of the drive motor based on the attitude information obtained by the sensing and navigation system, so as to precisely adjust the position of the counterweight.

4. The unmanned water rescue device according to claim 3, characterized in that: The adjustment method of the adjustment mechanism includes the following steps: S1) Pre-set the automatic correction threshold and safety threshold; S2) The inertial measurement unit in the perception and navigation system collects the roll and pitch angles of the hull components in real time and transmits the angle data to the main control unit; S3) The main control unit compares the real-time roll angle and pitch angle with the preset automatic straightening threshold; S4) When the overturning angle is detected to exceed the preset automatic righting threshold, the main control unit generates a counterweight adjustment command based on the overturning direction and sends it to the drive motor; S5) The drive motor drives the lead screw to rotate according to the command, which drives the counterweight to move away from the overturning side until the center of gravity of the hull component generates a restoring torque relative to the center of buoyancy that is sufficient to overcome the overturning moment. S6) When the tilt angle of the hull component is less than the safety threshold, the main control unit issues a stop command, and the counterweight maintains its current position.

5. The unmanned water rescue device according to claim 4, characterized in that: In step S4), the main control unit calculates the required moving speed and acceleration of the counterweight based on the overturning angle. The larger the overturning angle, the greater the output power of the drive motor and the faster the moving speed of the counterweight.

6. The unmanned water rescue device according to claim 5, characterized in that: The main control unit has a built-in nonlinear mapping function module, which is used to establish the overturning angle. With the acceleration of the counterweight A positive correlation between them; when the overturning angle Satisfying 0°< ≤ At that time, the main control unit outputs the first reference power. Drive the drive motor, and the counterweight moves at a constant speed. Move; when overturning angle satisfy < ≤ At that time, the main control unit controls the output power of the drive motor. According to linear proportion Increase, that is The counterweight accelerates Accelerate movement; when the overturning angle satisfy <θ≤ At that time, the main control unit controls the drive motor to output the maximum emergency power. The counterweight accelerates at maximum speed Move at full speed to the limit of the travel position to generate the maximum restoring torque.

7. The unmanned water rescue device according to claim 4, characterized in that: While driving the counterweight to move, the main control unit monitors the actual position of the counterweight in real time, as fed back by the position sensor, to eliminate mechanical transmission errors.

8. The unmanned surface rescue device according to any one of claims 1 to 7, characterized in that: The control method of the perception and navigation system includes the following steps: A1) The auxiliary control unit synchronously receives visual image data from the camera, thermal radiation data from the infrared thermal imager, obstacle point cloud and distance data from the millimeter-wave radar, position and velocity data from the GPS module, and attitude data from the inertial measurement unit. A2) The auxiliary control unit analyzes visual images and thermal radiation data to extract human characteristics and body temperature signals of suspected drowning victims; at the same time, it uses millimeter-wave radar data to remove fixed obstacles on the water surface, and uses a data fusion algorithm to align the confirmed target location information with GPS data to generate a local environmental map containing the target location and the distribution of obstacles. A3) The auxiliary control unit plans an optimal navigation path that avoids obstacles and points to the location of the person who fell into the water, based on the local environment map, the current attitude and speed of the hull components. A4) The auxiliary control unit converts the generated navigation path into speed and heading control commands and sends them to the propulsion assembly to drive the hull assembly to move toward the target position.

9. The unmanned water rescue device according to claim 8, characterized in that: The auxiliary control unit automatically switches the recognition mode according to the ambient light conditions and visibility. When in daylight or high visibility environment, it mainly uses the visual images captured by the camera for target recognition. When in night or low visibility environment, it automatically enhances the data weight of the infrared thermal imager and combines it with the contour detection data of the millimeter-wave radar to lock the target of the person who has fallen into the water by matching the thermal signal with the contour features.

Images