A shore-based intelligent lifesaving method, system and computer readable medium

Abstract

This invention discloses an intelligent shore-based rescue method, system, and computer-readable medium. The method involves a first device determining the respective rescue routes of a drone and an unmanned vessel based on a user's distress call. The drone conducts a search and rescue operation according to its route, generating the current location of the person in the water. The first device detects the consciousness state of the person in the water based on real-time image data collected by the drone at the current location. Then, based on the detection results, different surface rescue tasks are performed on the person in the water according to the determined rescue method. Therefore, this embodiment determines different rescue methods based on the consciousness state of the person in the water, which not only enables rapid rescue but also improves the success rate of rescue. This provides an automated rescue solution with intelligent perception, precise positioning, and rapid response, solving the technical problem of low rescue rates for people in the water due to mismatched rescue methods, inaccurate positioning, or untimely rescue in existing technologies.

Description

Technical Field

[0001] This application belongs to the field of water rescue technology, and more specifically, relates to an intelligent shore rescue method, system, and computer-readable medium. Background Technology

[0002] Water rescue is a crucial emergency scenario for ensuring human safety, especially in open waters such as oceans and lakes, where the survival probability of a person falling into the water is highly correlated with the speed of the rescue response. However, existing water rescue technologies and systems still have many shortcomings that urgently need to be addressed, as follows:

[0003] 1. Traditional water rescue methods have inherent limitations. First, the timeliness of rescue is difficult to guarantee. People who fall into open water typically face life-threatening situations within 4-6 minutes due to suffocation or hypothermia. However, open water is vast and complex, and traditional manual search and rescue methods rely on visual searches by rescuers and vessel patrols, which are not only inefficient but also have delayed responses, making it difficult to locate the target within the golden rescue time. Second, the accuracy of life-saving equipment delivery is insufficient. In existing technologies, life rings and other life-saving equipment are mostly thrown manually, and their landing point is easily affected by water currents, wind direction, and the thrower's experience, resulting in significant deviations. This makes it difficult for the life-saving equipment to accurately reach the location of the person in the water, hindering effective rescue. Third, it has poor adaptability to harsh environments. In extreme weather conditions such as rough seas and torrential rain, the movement of traditional rescue vessels and personnel is severely restricted, not only further prolonging rescue time but also potentially threatening the safety of rescuers themselves. 2. Existing surveillance and search and rescue technologies have functional deficiencies. On the one hand, monitoring systems are passive. Current safety supervision in open waters primarily relies on video surveillance equipment. Such systems depend on manual identification of hazards, resulting in high false negative rates and response delays. They can only provide post-incident tracking and cannot proactively detect hazards or intervene in the rescue process. On the other hand, search and rescue positioning capabilities are weak. In manual search mode, limited by human and environmental factors, target positioning accuracy is low and time-consuming. In vast waters, it is difficult to quickly pinpoint the exact location of a person in the water, directly leading to a decrease in rescue success rates. Furthermore, rescue costs and risks are high. Traditional maritime rescue requires large vessels and professional rescue personnel, resulting in significant material and human resource investment. Moreover, rescue personnel face high safety risks when performing rescue missions in extreme environments. 3. There are integration gaps in the application of emerging rescue technologies. In recent years, emerging equipment such as unmanned surface vessels (USVs) and unmanned aerial vehicles (UAVs) have been gradually applied to the field of water rescue. USVs possess fully automated navigation capabilities, can execute pre-set tasks through satellite positioning and sensor components, and have strong endurance, making them suitable for long-term water operations. They can mobilely search for people in the water and provide initial rescue support such as flotation devices and supplies. UAVs, on the other hand, have the advantages of high flight speed and flexible, controllable routes, enabling them to quickly reach target areas and achieve high-precision airdrops of life-saving equipment such as lifebuoys, solving the technical challenge of "first-time delivery." However, in existing technical solutions, USVs and UAVs mostly operate independently, lacking an effective collaborative control mechanism. This fails to organically combine the long-term search capabilities of USVs with the rapid delivery capabilities of UAVs, resulting in a broken rescue process and preventing the formation of a complete closed loop of "search-location-instant rescue," thus hindering the full realization of the rescue value of these emerging technologies. In summary, the current water rescue system generally suffers from core technological bottlenecks such as "delayed detection, slow response, and inefficient execution." There is an urgent need for an automated rescue solution that integrates intelligent sensing, precise positioning, and rapid response functions to overcome the limitations of time, environment, and human factors, improve the survival rate of people who fall into the water, and solve many of the shortcomings of existing technologies. Summary of the Invention

[0004] The main purpose of this application is to provide a shore-based intelligent rescue method, system, and computer-readable medium that can quickly respond to user distress calls and accurately locate and rescue people who have fallen into the water, thereby improving the success rate of rescue.

[0005] To achieve the above objectives, according to a first aspect of this application, a shore-based intelligent rescue method is proposed. This method includes a drone and an unmanned surface vessel (USV) capable of communicating with each other; both the USV and the drone are communicatively connected to a first device; the method is applied to the first device and includes: determining a first rescue route corresponding to the drone and a second rescue route corresponding to the USV based on user distress information sent from a user terminal; wherein the user distress information includes at least: the number of people in the water, the initial location of the people in the water, and the time of falling into the water; controlling the drone to search for the people in the water according to the first rescue route, generating the current location of the people in the water; and controlling the USV to autonomously navigate to the rescue location based on the current location of the people in the water and the second rescue route; detecting the current state of consciousness of the people in the water based on real-time image data collected by the drone at the current location; and controlling the USV to perform a surface rescue mission for the people in the water according to the rescue location based on the rescue method corresponding to the detection result.

[0006] Optionally, the unmanned surface vessel (USV) is equipped with a micro-robot; the USV and the micro-robot are connected via a multi-functional integrated cable; multiple grippers are configured around the USV; the rescue method based on the detection results, controlling the USV to perform a surface rescue mission for the person in the water according to the rescue location, includes: if the detection results indicate that the person in the water is conscious, then controlling the USV to autonomously navigate from the rescue location to the current location, and adjusting its posture and angle so that the grippers are aligned with the person in the water; when the real-time image data indicates that the person in the water has grasped the grippers, then controlling the USV to tow the person back to shore; if the detection results indicate that the person in the water is not conscious, then based on the USV's rescue location, controlling the USV to release the micro-robot to the current location, and controlling the micro-robot to perform a surface rescue mission for the person in the water through the USV; wherein, the rescue location is used to indicate a rescue location at a preset distance from the current location of the person in the water.

[0007] Optionally, the unmanned surface vessel (USV) and the microrobot are connected via a multi-functional integrated cable; the USV is equipped with a camera and sonar equipment; the step of controlling the USV to release the microrobot to the current location based on the USV's rescue position includes: real-time acquisition of surface image data of the person in the water using the camera on the USV, and real-time acquisition of underwater sound wave data of the person in the water using the sonar equipment on the USV; determining the current pose information of the person in the water based on the surface image data and the underwater sound wave data; updating the movement path of the microrobot in real-time based on the USV's rescue position and the current pose information of the person in the water; controlling the microrobot to autonomously navigate to a position directly in front of the person's head based on the updated movement path, generating a dive trigger command; and controlling the microrobot to execute the dive task corresponding to the dive trigger command.

[0008] Optionally, the step of controlling the microrobot via the unmanned vessel to perform a water rescue mission for the person in the water includes: detecting the movement of the released microrobot; if the detection result indicates that the microrobot has submerged below the person in the water, then using the unmanned vessel as an observation window, adjusting the position of the microrobot; if the position adjustment result indicates that the center of the microrobot is located in the upper half of the person's torso, and the distance between the microrobot and the person is less than a preset value, then adjusting the attitude of the microrobot; if the attitude adjustment result indicates that the forward axis of the microrobot is parallel to the direction of the person's spine, then using the unmanned vessel to control the microrobot to fix the person in the water, and after fixing, deploying a folded airbag to inflate it, so that the inflated folded airbag propels the person in the water upward under the propulsion of buoyancy; when the real-time image data collected by the unmanned vessel indicates that the person's upper body surface, then controlling the unmanned vessel to drag the microrobot back to the unmanned vessel or the shore.

[0009] Optionally, controlling the drone to search for the person in the water according to the first rescue route and generate the current location of the person in the water; and controlling the unmanned vessel to autonomously navigate to the rescue location according to the current location of the person in the water and the second rescue route; includes: controlling the drone to reach the initial location of the person in the water according to the first rescue route to search for the person in the water; relocating the current location of the person in the water based on image data collected in real time during the drone search and rescue process; and sending the current location to the unmanned vessel through the drone; controlling the unmanned vessel to autonomously optimize the second rescue route according to the current location of the person in the water; and controlling the unmanned vessel to autonomously navigate to the rescue location based on the optimized second rescue route.

[0010] To achieve the above objectives, according to a second aspect of this application, a shore-based intelligent lifesaving method is also provided, the method being applied to a user terminal; based on the trigger of a user scanning a drowning emergency rescue QR code, the user is authenticated by a third party; if the user authentication is successful, a rescue interface is generated; wherein, the rescue interface includes at least a user distress message option; based on the user's response to the user distress message option in the rescue interface, user distress message is generated; the user distress message is sent to a first device, and a successful transmission result is fed back to the user.

[0011] To achieve the above objectives, according to a third aspect of this application, a shore-based intelligent rescue system is also provided. This system includes: a monitoring unit, and a drone and an unmanned surface vessel (USV) moored on the shore. The drone, the USV, and the monitoring unit are all communicatively connected. The drone is used to search for and rescue a person who has fallen into the water according to a first rescue route, generating the current location of the person in the water; and feeding back the collected real-time image data and the current location of the person in the water to the monitoring unit, and simultaneously feeding back the current location of the person in the water to the USV. The USV is equipped with a micro-robot, which is connected to the USV via a cable. The USV is used to autonomously navigate to a rescue location based on the current location of the person in the water and the second rescue route, and then perform a surface rescue mission for the person in the water using different rescue methods. The monitoring unit is used to detect the current state of consciousness of the person in the water based on the real-time image data collected by the drone at the current location, and, based on the rescue method corresponding to the detection result, control the USV to perform a surface rescue mission for the person in the water according to the rescue location.

[0012] Optionally, the monitoring unit is also used to detect the rescue process of the person in the water based on real-time image data collected by the UAV when the unmanned vessel is performing a water rescue mission, and control the unmanned vessel to drag the person in the water to the shore based on the detection results.

[0013] Optionally, the system further includes a wireless charging unit, a photovoltaic unit, an energy storage unit, and a communication unit; the wireless charging unit is used to receive electrical energy from the energy storage unit and wirelessly transmit the electrical energy to each unit of the system through electromagnetic induction or magnetic resonance; the photovoltaic unit is used to convert solar energy into electrical energy and can transmit the electrical energy to the energy storage unit; the energy storage unit is used to store the electrical energy transmitted by the photovoltaic unit and can transmit the electrical energy to each unit of the system through the wireless charging unit; the communication unit is used to establish communication connections between the drone, the unmanned vessel, and the monitoring unit and a remote server; the monitoring unit is electrically connected to the wireless charging unit, the photovoltaic unit, the energy storage unit, the unmanned vessel, the drone, and the communication unit, and is used to monitor the working status of each unit of the system and debug each unit of the system; and after monitoring the appearance of the system and the surrounding environment, the monitoring information is sent to the remote server.

[0014] Optionally, the system further includes: a dock structure; the dock structure includes: a lifting mechanism and a dock structure compartment connected to the lifting mechanism; the dock structure compartment is used to hold drones, unmanned vessels, monitoring units, wireless charging units, photovoltaic units, energy storage units, and communication units; the lifting mechanism is communicatively connected to the monitoring unit, and the lifting mechanism can raise the dock structure compartment to a safe position when the monitoring results indicate that the surrounding environment of the system is experiencing rising water, and can lower the dock structure compartment to the water surface when the monitoring results indicate that the surrounding environment of the system is in a normal state.

[0015] To achieve the above objectives, according to a fourth aspect of this application, a computer-readable medium is also provided, having a computer program stored thereon that, when executed by a processor, implements the method as described in the first or second aspect.

[0016] The technical solutions provided by the embodiments of this application may include the following beneficial effects: This embodiment provides a shore-based intelligent rescue method, which includes a drone and an unmanned surface vessel (USV) capable of communicating with each other. Both the USV and the USV are communicatively connected to a first device. The method is applied to the first device and is specifically as follows: First, based on user distress information sent by a user terminal, a first rescue route corresponding to the USV and a second rescue route corresponding to the USV are determined. The user distress information includes at least the number of people in the water, their initial location, and the time of falling into the water. Second, the USV is controlled to search for the people in the water according to the first rescue route, generating the current location of the people in the water. The USV is then controlled to autonomously navigate to the rescue location based on the current location of the people in the water and the second rescue route. Afterward, based on real-time image data collected by the USV at the current location, the current state of consciousness of the people in the water is detected. Finally, based on the rescue method corresponding to the detection result, the USV is controlled to perform a surface rescue mission for the people in the water according to the rescue location. In this embodiment, the first device can quickly search for and rescue a person who has fallen into the water after receiving a distress message from the user terminal, thus improving the speed of the first device's response to the rescue. During the search and rescue process, by determining the current location of the person who has fallen into the water, the device can accurately detect the current state of consciousness of the person who has fallen into the water. Then, based on the rescue method corresponding to the current state of consciousness of the person who has fallen into the water, the device can provide timely and effective rescue. Therefore, this embodiment provides an automated rescue solution that can effectively rescue a person who has fallen into the water after accurate positioning, thus improving the success rate of the rescue. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 This is a flowchart illustrating an intelligent shoreline rescue method according to an embodiment of the present invention. Figure 2 A flowchart illustrating another embodiment of the present invention provides a method for intelligent shore rescue. Figure 3 This is a schematic diagram of the structure of an intelligent shoreline rescue system according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an intelligent shore rescue device provided in an embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0019] like Figure 1 The diagram shown is a flowchart illustrating an intelligent shoreline rescue method according to an embodiment of the present invention.

[0020] A shore-based intelligent rescue method includes a drone and an unmanned boat capable of communicating with each other; both the unmanned boat and the drone are communicatively connected to a first device; the method is applied to the first device; and includes at least the following steps: S101, based on the user distress message sent by the user terminal, determine the first rescue route corresponding to the drone and the second rescue route corresponding to the unmanned vessel; wherein, the user distress message includes at least: the number of people who fell into the water, the initial location of the people who fell into the water, and the time of falling into the water. S102, control the drone to search for the person in the water according to the first rescue route, generate the current location of the person in the water; and control the unmanned boat to autonomously navigate to the rescue location according to the current location of the person in the water and the second rescue route; S103, based on real-time image data collected by the drone at the current location, detects the current state of consciousness of the person who fell into the water; S104, Based on the detection results and corresponding rescue methods, control the unmanned vessel to perform surface rescue missions for people who have fallen into the water according to the rescue location.

[0021] In S101 and S102, the first device can be a monitoring unit or a server. In this embodiment, both the unmanned boat and the drone are located in a shore-based dock structure.

[0022] The first device uses a path planning algorithm to determine a primary rescue route based on the drone's current location and the initial location of the person in the water, generating a rescue command. The first device then sends the rescue command and the primary rescue route to the drone. Responding to the rescue command, the drone autonomously navigates to the initial location of the person in the water according to the primary rescue route and performs a search and rescue mission. The first device also sends user distress signals to the drone, which calculates the remaining rescue time for the person in the water in real time based on the time of fall into the water. During the search and rescue mission, the drone also conducts targeted searches based on the number of people in the water to avoid missing any rescuers.

[0023] The first device uses a path planning algorithm to determine a second rescue route based on the current location of the unmanned surface vessel (USV) and the initial location of the person in the water. After determining the second rescue route, the first device also selects an appropriate USV for rescue based on the number of people in the water in the user's distress call. The first device sends the second rescue route to the selected USV and sends rescue commands to it. The USV then autonomously navigates according to the second rescue route based on the rescue commands from the first device. The first device also sends the user's distress call information to the USV to facilitate subsequent search and rescue operations. During the search and rescue mission, the USV needs to locate the current position of the person in the water in real time and send the updated position to the USV. The USV optimizes the second rescue route based on the updated position, generating an updated rescue route. Then, based on the updated route, the USV autonomously navigates to the rescue location. The rescue location indicates a position at a preset distance from the current location of the person in the water.

[0024] The path planning algorithm can be any existing algorithm, and no specific restrictions are made here.

[0025] It should be noted that the first device can also send the user's distress message to both the drone and the unmanned boat. Based on the user's distress message, the drone and the unmanned boat will generate corresponding rescue routes and launch a rescue operation for the person in the water. During the rescue, the drone will also send the real-time location of the person in the water to the unmanned boat so that the unmanned boat can update its rescue route, thereby facilitating the rapid rescue of the person in the water by the unmanned boat.

[0026] For example, controlling a drone to search for the person in the water according to a first rescue route and generating the current location of the person in the water; and controlling an unmanned surface vessel to autonomously navigate to the rescue location according to the current location of the person in the water and the second rescue route; including: controlling the drone to reach the initial location of the person in the water according to the first rescue route to search for the person in the water; relocating the current location of the person in the water based on image data collected in real time during the drone search and rescue process; and sending the current location to the unmanned surface vessel via the drone; controlling the unmanned surface vessel to autonomously optimize the second rescue route according to the current location of the person in the water; and controlling the unmanned surface vessel to autonomously navigate to the rescue location based on the optimized second rescue route.

[0027] In S103, the YOLOv8 algorithm is used to train the labeled data to generate a state recognition model. Then, based on the real-time image data collected by the UAV at the current location, the state recognition model is used to detect the current state of consciousness of the person who fell into the water and generate the detection result.

[0028] Since the model cannot directly read consciousness, it is necessary to convert conscious states into specific visual action features to label the training data before training. Training samples carrying labels indicating conscious abilities include: obvious limb paddling movements, body waving, frequent head lifting or shaking, and body maintaining a vertical up-and-down motion. Training samples carrying labels indicating no conscious abilities include: lying face down and remaining motionless for a long time, body drifting erratically with the water current without active limb movements, and head submerged in water.

[0029] During the training phase, due to the low accuracy of judging individual frames, a temporal dimension needs to be introduced into the video stream. YOLOv8 is used for object detection, and DeepSORT / ByteTrack is used for object tracking. For each person who falls into the water, the system typically extracts a sequence of consecutive frames from 5 seconds before and 10 seconds after the moment of falling in, rather than randomly shuffling individual images, as the training data is based on the individual's ID. When training the state recognition model, higher weights are given to the "hands" and "head" key points, as the activity of these two parts is crucial for determining consciousness. If the model's calculated "motion acceleration" and "limb angle change rate" are both below a set threshold, the state recognition model outputs "unconscious."

[0030] During the prediction phase, a state recognition model is used to detect the consciousness state of the image sequences corresponding to the real-time image data collected by the UAV, generating detection results. The detection results include two types: the person in the water is conscious, and the person is not conscious. The detection results are mapped to corresponding rescue methods; for example, when the person is conscious, an unmanned boat is used for rescue; when the person is not conscious, a micro-robot is used for rescue.

[0031] For example, if the detection result indicates that the person in the water is conscious, the unmanned vessel is controlled to autonomously navigate from the rescue location to the current location, and adjust its posture and angle so that the gripper is aligned with the person in the water; when the real-time image data indicates that the person in the water has grabbed the gripper, the unmanned vessel is controlled to tow the person back to shore; if the detection result indicates that the person in the water is not conscious, based on the rescue location of the unmanned vessel, the unmanned vessel is controlled to release a micro-robot to the current location, and the micro-robot is controlled by the unmanned vessel to perform a water rescue task for the person in the water; wherein, the rescue location is used to indicate a rescue location at a preset distance from the current location of the person in the water.

[0032] We will not make too many restrictions on how micro-robots can perform water rescues on people who have fallen into the water.

[0033] In this embodiment, the unmanned surface vessel (USV) and the microrobot are connected via a multi-functional integrated cable; the USV is equipped with a camera and sonar equipment. For example, based on the USV's rescue location, the USV is controlled to release the microrobot to that location; this includes: real-time acquisition of surface image data of the person in the water using the camera on the USV, and real-time acquisition of underwater sound wave data of the person in the water using the sonar equipment on the USV; determination of the person's current pose information based on the surface image data and the underwater sound wave data; real-time updating of the microrobot's movement path based on the USV's rescue location and the person's current pose information; autonomous navigation of the microrobot to a position directly in front of the person's head based on the updated movement path, generating a dive trigger command; and execution of the dive task corresponding to the dive trigger command by the USV. The microrobot descends based on the updated motion path, and its position is monitored in real time during the descent. If the monitoring indicates that the microrobot has descended below the person in the water, the unmanned surface vessel (USV) is used as the observation window to adjust the microrobot's position. If the position adjustment indicates that the center of the microrobot is located in the upper part of the person's torso, and the shortest distance between the microrobot and the person is less than a preset value, the microrobot's attitude is adjusted. If the attitude adjustment indicates that the microrobot's forward axis is parallel to the direction of the person's spine, the USV controls the microrobot to fix the person in the water, and after fixing, a folded airbag is deployed and inflated, causing the inflated airbag to propel the person upward under buoyancy. When the real-time image data collected by the USV indicates that the person's upper body (chest to top) has surfaced, the USV controls the USV to drag the microrobot back to the USV or the shore.

[0034] For example: First, before releasing the microrobot, the unmanned surface vessel (USV) moves to a predetermined distance from the person in the water. Using its onboard cameras and sonar, it conducts a comprehensive panoramic observation of the person's above-water and underwater portions, determining their attitude information. This person's position and attitude information serve as the microrobot's target information, allowing it to plan a movement path and release the microrobot. During its movement, the microrobot confirms its path using its onboard IMU attitude system. Second, the USV's cameras and sonar are aligned with both the person and the microrobot. The USV's observations are used as a reference for the microrobot's own motion navigation, further improving its motion accuracy. Position adjustments are achieved through its propellers and control algorithms. Finally, once the USV determines that the microrobot has reached the person's head, it issues a dive command, and the microrobot dives using its motion control system. The torso of a normal person typically spans 50-70 centimeters. Under the IMU control of the microrobot, centimeter-level precision can be achieved in descent. Simultaneously, the unmanned surface vessel (USV) serves as an observation window, allowing for centimeter-level measurement of the distance between the two, ensuring the microrobot's center is positioned within the upper half of the person's torso, and that the microrobot's forward axis is parallel to the person's spine. Finally, the microrobot deploys its flexible suction cups, draining water from them. The suction cups automatically attach to the person's body, securing both the microrobot and the person. Once secured, the microrobot deploys its folding airbags. The inflated airbags generate buoyancy, propelling the person's upper torso above the water with the microrobot at the bottom and the person above, ensuring their head remains above the surface.

[0035] This embodiment utilizes advanced sensing, navigation, and control technologies through the collaborative operation of unmanned vessels and microrobots to achieve high-precision positioning and reliable, contactless fixation of people who have fallen into the water. It also enables the rapid lifting of critical parts of the person out of the water in the optimal posture (i.e., head priority), while minimizing the risks to rescuers and significantly improving the success rate and safety of drowning rescue.

[0036] This embodiment first determines the current location of the person in the water based on real-time image data collected during the drone search and rescue process; secondly, it detects the person's state of consciousness based on real-time image data collected by the drone at the current location; then, it performs different water rescue tasks on the person in the water according to the rescue method determined by the detection results. Thus, this embodiment determines different rescue methods based on the state of consciousness of the person in the water, which not only enables rapid rescue but also improves the success rate of rescuing the person in the water. It provides an automated rescue solution with intelligent perception, precise positioning, and rapid response functions, solving the problem of untimely rescue of people in the water due to mismatched rescue methods or inaccurate positioning in existing technologies.

[0037] like Figure 2 The diagram shown is a flowchart illustrating a shoreline intelligent rescue method according to another embodiment of the present invention.

[0038] A shore-based intelligent rescue method, wherein the user terminal is communicatively connected to the first device; the method is applied to the user terminal and includes at least the following steps: S201, Based on the user scanning the drowning emergency rescue QR code, the user is authenticated by a third party; S202, If the user authentication is successful, a rescue interface is generated; wherein, the rescue interface includes at least the user's distress information option; S203, Based on the user's triggering of the user's distress message option in the rescue interface, generate user distress message; S204: The user's distress message is sent to the server, and a successful transmission result is returned to the user.

[0039] For example, emergency rescue QR codes for drowning incidents are widely posted along the shores of waterways, with textual reminders that users can call the "Shoreside Intelligent Lifesaving System" by scanning the QR code when someone falls into the water.

[0040] Here, the user end can be a smart mobile device or a client terminal.

[0041] Upon discovering a drowning incident nearby, on-site personnel scan the nearest "Drowning Emergency Rescue QR Code" with their mobile phones. The user terminal, triggered by the scan, verifies identity via WeChat or Alipay's digital technology, generating an identity verification interface. After successful verification, the user terminal automatically redirects to the WeChat or Alipay mini-program "Drowning Emergency Rescue APP," generating a rescue interface. The user enters observed information, such as the number of people in the water, their initial location, and the time of drowning, and clicks "Confirm," generating a distress signal. The user terminal sends the distress signal to a primary device, which then sends a successful transmission notification back to the user. Upon receiving the initial location of the drowning person, the primary device quickly plans rescue routes for both drones and unmanned boats, sending these routes to their respective destinations.

[0042] This embodiment verifies user identity at the user end, thus preventing false distress calls from consuming rescue resources and delaying genuine distress responses. Based on the communication connection between the user end and the first device, this embodiment enables timely detection and automated rescue, thereby improving the success rate of rescuing people who have fallen into the water.

[0043] The following describes in detail an intelligent shoreline rescue method provided in this embodiment, taking into account specific application scenarios.

[0044] A shore-based intelligent rescue method includes a drone and an unmanned surface vessel (USV) capable of communicating with each other; the USV is equipped with multiple grippers around its perimeter; the USV also carries a micro-robot, which is connected to the USV via a multi-functional integrated cable. Both the USV and the drone are communicatively connected to a first device; the first device is communicatively connected to a user terminal; the method includes at least the following steps: S1, the user terminal verifies the user's identity through a third party based on the user scanning the drowning emergency rescue QR code; if the user's identity verification is successful, a rescue interface is generated; the rescue interface includes at least the user's distress message option; the user terminal generates the user's distress message based on the user's response to the user's distress message option in the rescue interface; the user terminal sends the user's distress message to the first device and sends a successful transmission result back to the user.

[0045] S2, the first device determines the first rescue route corresponding to the drone and the second rescue route corresponding to the unmanned vessel based on the user distress information sent by the user terminal; wherein, the user distress information includes at least: the number of people who fell into the water, the initial location of the people who fell into the water and the time of falling into the water.

[0046] S3, the first device controls a drone to reach the initial location of the person in the water according to a first rescue route to conduct a search and rescue operation; then, based on real-time image data collected by the drone during the search and rescue process, it repositions the current location of the person in the water and controls the drone to autonomously navigate to the current location. Simultaneously, the first device also transmits the current location to an unmanned surface vessel (USV) via the drone and controls the USV to autonomously optimize a second rescue route based on the current location of the person in the water; then, based on the optimized second rescue route, it controls the USV to autonomously navigate to the rescue location; wherein, the rescue location indicates a rescue position at a preset distance from the current location of the person in the water.

[0047] S4, the first device detects the current state of consciousness of the person who fell into the water based on real-time image data collected by the drone at the current location.

[0048] S5, if the detection results indicate that the person in the water is conscious, the first device controls the unmanned boat to autonomously navigate from the rescue location to the current location and adjust its attitude and angle so that the gripper is aligned with the person in the water; when the real-time image data collected by the drone indicates that the person in the water has grabbed the gripper, the first device controls the unmanned boat to tow the person back to shore.

[0049] S6. If the detection results indicate that the person who fell into the water is not conscious, the first device will collect the above-water image data of the person in real time through the camera on the unmanned vessel, and collect the underwater sound wave data of the person in real time through the sonar equipment on the unmanned vessel.

[0050] S7, the first device determines the current position and orientation information of the person in the water based on the surface image data and underwater sound wave data; and updates the movement path of the micro-robot in real time based on the rescue position of the unmanned vessel and the current position and orientation information of the person in the water; the first device controls the micro-robot through the unmanned vessel to autonomously navigate to the position directly in front of the head of the person in the water based on the updated movement path, and generates a dive trigger command; and controls the micro-robot through the unmanned vessel to execute the dive task corresponding to the dive trigger command.

[0051] S8, the first device detects the descent process of the microrobot; if the detection result indicates that the microrobot has descended below the person in the water, the unmanned boat is used as the observation window to adjust the position of the microrobot; if the position adjustment result indicates that the center of the microrobot is located in the upper part of the torso of the person in the water, and the distance between the microrobot and the person in the water is less than a preset value, the attitude of the microrobot is adjusted; if the attitude adjustment result indicates that the forward axis of the microrobot is parallel to the direction of the spine of the person in the water, the unmanned boat controls the microrobot to fix the person in the water, and after fixing, the folded airbag is deployed and inflated, so that the inflated folded airbag pushes the person in the water upward under the buoyancy; when the real-time image data collected by the drone indicates that the part of the person above the chest floats out of the water, the unmanned boat is controlled to drag the microrobot back to the unmanned boat or the shore.

[0052] like Figure 3 The diagram shown is a structural schematic of an intelligent shoreline rescue system provided in an embodiment of the present invention.

[0053] A shore-based intelligent lifesaving system 300 includes: a monitoring unit 301, and a drone 302 and an unmanned boat 303 parked on the shore; the drone 302, the unmanned boat 303, and the monitoring unit 301 are all capable of communication connection. The drone 302 is used to search for and rescue people who have fallen into the water according to the first rescue route, generate the current location of the people who have fallen into the water, and feed back the collected real-time image data and the current location of the people who have fallen into the water to the monitoring unit 301, and at the same time feed back the current location of the people who have fallen into the water to the unmanned boat 303. Unmanned boat 303 is equipped with a micro-robot, which is connected to the unmanned boat 303 via a cable. The unmanned boat 303 is used to autonomously navigate to the rescue location based on the current location of the person in the water and the second rescue route, and then perform water rescue missions for the person in the water using different rescue methods. The monitoring unit 301 is used to detect the current state of consciousness of the person who fell into the water based on the real-time image data collected by the drone 302 at the current location, and control the unmanned boat 303 to perform a water rescue mission for the person who fell into the water according to the rescue location based on the rescue method corresponding to the detection result.

[0054] In a preferred embodiment of this example, the monitoring unit 301 is also used to detect the rescue process of the person in the water based on the real-time image data collected by the drone 302 when the unmanned boat 303 is performing a water rescue mission, and to control the unmanned boat 303 to drag the person in the water to the shore based on the detection results.

[0055] In a preferred embodiment of this invention, the system further includes a wireless charging unit 304, a photovoltaic unit 305, an energy storage unit 306, and a communication unit 307. The wireless charging unit 304 receives electrical energy from the energy storage unit 306 and wirelessly transmits the electrical energy to various units of the system via electromagnetic induction or magnetic resonance. The photovoltaic unit 305 converts solar energy into electrical energy and transmits the electrical energy to the energy storage unit 306. The energy storage unit 306 stores the electrical energy transmitted by the photovoltaic unit 305 and can transmit the electrical energy to the wireless charging unit 307. The system transmits electrical energy to each unit; the communication unit 307 is used to establish communication connections between the drone 302, the unmanned boat 303, and the monitoring unit 301 and the remote server respectively; the monitoring unit 301 is electrically connected to the wireless charging unit 304, the photovoltaic unit 305, the energy storage unit 306, the unmanned boat 303, the drone 302, and the communication unit 307 respectively, and is used to monitor the working status of each unit of the system and then debug each unit of the system; and after monitoring the appearance of the system and the surrounding environment, the monitoring information is sent to the remote server.

[0056] In a preferred embodiment of this invention, the system further includes: a dock structure; the dock structure includes: a lifting mechanism and a dock structure compartment 308 connected to the lifting mechanism; the dock structure compartment 308 is used to hold a drone 302, an unmanned boat 303, a monitoring unit 301, a wireless charging unit 304, a photovoltaic unit 305, an energy storage unit 306, and a communication unit 307; the lifting mechanism is communicatively connected to the monitoring unit 301, and the lifting mechanism can raise the dock structure compartment to a safe position when the monitoring results indicate that the surrounding environment of the system is experiencing rising water, and can lower the dock structure compartment to the water surface when the monitoring results indicate that the surrounding environment of the system is in a normal state.

[0057] like Figure 4 The diagram shown is a structural schematic of an intelligent shoreline rescue device provided in an embodiment of the present invention.

[0058] A shore-based intelligent rescue device 400 includes a drone and an unmanned surface vessel (USV) capable of communicating with each other; both the USV and USV are communicatively connected to a first device; the device is applied to the first device; and includes: a determination module 401, used to determine a first rescue route corresponding to the USV and a second rescue route corresponding to the USV based on user distress information sent from a user terminal; wherein the user distress information includes at least: the number of people in the water, the initial location of the people in the water, and the time of falling into the water; a control module 402, used to control the USV to search for and rescue the people in the water according to the first rescue route, generate the current location of the people in the water; and control the USV to autonomously navigate to the rescue location according to the current location of the people in the water and the second rescue route; a detection module 403, used to detect the current state of consciousness of the people in the water based on real-time image data collected by the USV at the current location; and an execution module 404, used to control the USV to perform a surface rescue task for the people in the water according to the rescue location based on the rescue method corresponding to the detection result.

[0059] In a preferred embodiment of this invention, the unmanned surface vessel (USV) carries a micro-robot; the USV and the micro-robot are connected via a multi-functional integrated cable; multiple grippers are configured around the USV; the execution module includes: a first execution unit, used to control the USV to autonomously navigate from the rescue location to its current location and adjust its posture and angle to align the grippers with the person in the water if the detection results indicate that the person in the water is conscious; and to control the USV to tow the person back to shore if real-time image data indicates that the person in the water has grasped the grippers; and a second execution unit, used to control the USV to release the micro-robot to its current location based on the USV's rescue location if the detection results indicate that the person in the water is not conscious, and to control the USV to perform a water rescue task on the person in the water using the micro-robot controlled by the USV; wherein, the rescue location is used to indicate a rescue location at a preset distance from the current location of the person in the water.

[0060] In a preferred embodiment of this invention, the unmanned surface vessel (USV) and the microrobot are connected via a multi-functional integrated cable. The USV is equipped with a camera and sonar equipment. The second execution unit includes: a data acquisition subunit, used to acquire surface image data of the person in the water in real time using the camera on the USV, and to acquire underwater sound wave data of the person in the water in real time using the sonar equipment on the USV; a determination subunit, used to determine the current pose information of the person in the water based on the surface image data and the underwater sound wave data; and to update the movement path of the microrobot in real time based on the rescue position of the USV and the current pose information of the person in the water; a generation subunit, used to control the microrobot via the USV to autonomously navigate to the position directly in front of the head of the person in the water based on the updated movement path, and generate a dive trigger command; and an execution subunit, used to control the microrobot via the USV to execute the dive task corresponding to the dive trigger command.

[0061] In a preferred embodiment of this example, the second execution unit further includes: a position adjustment subunit, used to detect the movement process of the released microrobot; if the detection result indicates that the microrobot has submerged below the person in the water, then using the unmanned vessel as an observation window, the position of the microrobot is adjusted; an attitude adjustment subunit, used to adjust the attitude of the microrobot if the position adjustment result indicates that the center of the microrobot is located in the upper half of the torso of the person in the water, and the distance between the microrobot and the person in the water is less than a preset value; a pushing subunit, used to control the microrobot to fix the person in the water via the unmanned vessel if the attitude adjustment result indicates that the forward axis of the microrobot is parallel to the direction of the spine of the person in the water, and after fixing, the folded airbag is deployed and inflated, so that the inflated folded airbag pushes the person in the water upward under the buoyancy; and a control subunit, used to control the unmanned vessel to drag the microrobot back to the unmanned vessel or the shore when the real-time image data collected by the UAV indicates that the part of the person above the chest has floated on the surface.

[0062] In a preferred embodiment of this example, the control module includes: a first control unit, used for... The system controls the drone to reach the initial location of the person in the water according to the first rescue route in order to search for and rescue the person in the water; a positioning unit is used to reposition the current location of the person in the water based on image data collected in real time during the drone search and rescue process; and sends the current location to the unmanned vessel through the drone; a first optimization unit is used to control the unmanned vessel to autonomously optimize a second rescue route according to the current location of the person in the water; a second control subunit is used to control the unmanned vessel to autonomously navigate to the rescue location based on the optimized second rescue route.

[0063] A shore-based intelligent lifesaving device is provided, the device being applied to a user terminal; the user terminal is communicatively connected to a first device; an authentication module is used to authenticate the user through a third party based on the user scanning a drowning emergency rescue QR code; a first generation module is used to generate a rescue interface if the user authentication is successful; wherein the rescue interface includes at least a user distress message option; a second generation module is used to generate user distress information based on the user's response to the user distress information option in the rescue interface; and a sending module is used to send the user distress information to the first device and provide feedback on successful transmission to the user.

[0064] The aforementioned intelligent shore-based rescue device can execute an intelligent shore-based rescue method provided in an embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects for executing such a method. Technical details not described in detail in this embodiment can be found in an intelligent shore-based rescue method provided in an embodiment of the present invention.

[0065] The present invention also provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the instructions to implement the intelligent shore rescue method of the present invention.

[0066] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0067] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to the following embodiments of this application described in the "Exemplary Methods" section above.

[0069] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0070] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0071] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0072] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0073] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0074] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0075] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0076] 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 at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0077] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart shore rescue method, characterized in that, This includes unmanned aerial vehicles (UAVs) and unmanned vessels that are capable of communicating with each other; both the unmanned vessels and the UAVs are communicatively connected to the first device. The method is applied to a first device; including: Based on the user distress message sent by the user terminal, a first rescue route corresponding to the drone and a second rescue route corresponding to the unmanned vessel are determined; wherein, the user distress message includes at least: the number of people who fell into the water, the initial location of the people who fell into the water, and the time of falling into the water; The system controls the drone to search for the person who fell into the water according to the first rescue route and generates the current location of the person who fell into the water; and controls the unmanned boat to autonomously navigate to the rescue location according to the current location of the person who fell into the water and the second rescue route. Based on the real-time image data collected by the drone at the current location, the current state of consciousness of the person who fell into the water is detected; Based on the rescue method corresponding to the detection results, the unmanned vessel is controlled to perform a water rescue mission for the person who has fallen into the water according to the rescue location.

2. The method according to claim 1, characterized in that, The unmanned vessel is equipped with a micro-robot; the unmanned vessel and the micro-robot are connected by a multi-functional integrated cable; multiple grippers are configured around the unmanned vessel. The rescue method based on the detection results involves controlling the unmanned vessel to perform a surface rescue mission for the person in the water according to the rescue location; including: If the detection results indicate that the person who fell into the water is conscious, then the unmanned boat is controlled to autonomously navigate from the rescue location to the current location and adjust its attitude and angle so that the gripper is aligned with the person who fell into the water; when the real-time image data indicates that the person who fell into the water has grabbed the gripper, then the unmanned boat is controlled to tow the person back to shore. If the detection results indicate that the person who fell into the water is not conscious, then based on the rescue position of the unmanned vessel, the unmanned vessel is controlled to release a micro-robot to the current position, and the micro-robot is controlled by the unmanned vessel to perform a water rescue mission for the person who fell into the water; wherein, the rescue position is used to indicate a rescue position at a preset distance from the current position of the person who fell into the water.

3. The method according to claim 2, characterized in that, The unmanned vessel and the micro-robot are connected by a multi-functional integrated cable; the unmanned vessel is equipped with a camera and sonar equipment. The step of controlling the unmanned vessel to release a microrobot to the current location based on the rescue location of the unmanned vessel includes: The unmanned vessel uses cameras to collect real-time surface image data of the person who fell into the water, and uses sonar equipment on board the unmanned vessel to collect real-time underwater sound wave data of the person who fell into the water. Based on the above-water image data and the underwater acoustic wave data, the current pose information of the person who fell into the water is determined; and based on the rescue location of the unmanned vessel and the current pose information of the person who fell into the water, the movement path of the micro-robot is updated in real time. The unmanned vessel controls the micro-robot to autonomously navigate to the position directly in front of the drowning person's head based on the updated motion path, and generates a dive trigger command. The unmanned vessel controls the microrobot to perform the diving task corresponding to the diving trigger command.

4. The method according to claim 2, characterized in that, The method of controlling the microrobot via the unmanned vessel to perform a water rescue mission for the person who has fallen into the water includes: The movement of the released microrobot is monitored; if the monitoring results indicate that the microrobot has submerged below the person who fell into the water, the position of the microrobot is adjusted using the unmanned vessel as an observation window. If the position adjustment result indicates that the center of the microrobot is located in the upper half of the torso of the person who fell into the water, and the distance between the microrobot and the person who fell into the water is less than a preset value, then the posture of the microrobot is adjusted. If the posture adjustment result indicates that the forward axis of the microrobot is parallel to the direction of the spine of the person who fell into the water, then the microrobot is controlled by the unmanned boat to fix the person who fell into the water, and after fixing, the folding airbag is popped out and inflated, so that the inflated folding airbag pushes the person who fell into the water to float upward under the buoyancy. When the real-time image data collected by the drone indicates that the person who fell into the water has risen above the chest, the drone will control the unmanned boat to drag the micro-robot back to the unmanned boat or the shore.

5. The method according to claim 1, characterized in that, The system controls the drone to search for the person who fell into the water according to the first rescue route and generates the current location of the person who fell into the water; The unmanned vessel is controlled to autonomously navigate to the rescue location based on the current location of the person in the water and the second rescue route; including: The drone is controlled to reach the initial location of the person who fell into the water according to the first rescue route in order to search for and rescue the person who fell into the water; The current location of the person who fell into the water is repositioned based on image data collected in real time during the drone search and rescue process; and the current location is transmitted to the unmanned vessel via the drone. The unmanned vessel is controlled to autonomously optimize a second rescue route based on the current location of the person who fell into the water; Based on the optimized second rescue route, the unmanned vessel is controlled to autonomously navigate to the rescue location.

6. A method for intelligent shoreline rescue, characterized in that, The user terminal is communicatively connected to a first device applied to any one of the shoreline intelligent lifesaving methods according to claims 1 to 5; the method is applied to the user terminal; including: Based on the user scanning the drowning emergency rescue QR code, the user is identified through a third party; If the user's identity is verified, a rescue interface is generated; wherein the rescue interface includes at least the user's distress information option; Based on the user's triggering of the "User SOS Message" option in the rescue interface, a user SOS message is generated; The device sends the user's distress message to the first device and sends a successful transmission result back to the user.

7. A shore-based intelligent lifesaving system, characterized in that, include: The monitoring unit, as well as the drones and unmanned boats moored on the shore, are all capable of communicating with each other. The drone is used to search for the person who fell into the water according to the first rescue route, generate the current location of the person who fell into the water, and feed back the collected real-time image data and the current location of the person who fell into the water to the monitoring unit, and at the same time feed back the current location of the person who fell into the water to the unmanned boat. The unmanned boat is equipped with a micro-robot, which is connected to the unmanned boat via a cable. The unmanned boat is used to autonomously navigate to the rescue location based on the current location of the person who fell into the water and the second rescue route, and then perform water rescue tasks for the person who fell into the water using different rescue methods. The monitoring unit is used to detect the current state of consciousness of the person who has fallen into the water based on real-time image data collected by the drone at the current location, and to control the unmanned boat to perform a water rescue mission for the person who has fallen into the water according to the rescue location based on the rescue method corresponding to the detection result.

8. The system according to claim 7, characterized in that, The monitoring unit is also used to detect the rescue process of the person in the water based on the real-time image data collected by the drone when the unmanned vessel is performing a water rescue mission, and to control the unmanned vessel to drag the person in the water to the shore based on the detection results.

9. The system according to claim 7, characterized in that, The system also includes a wireless charging unit, a photovoltaic unit, an energy storage unit, and a communication unit; The wireless charging unit is used to receive electrical energy from the energy storage unit and wirelessly transmit the electrical energy to each unit of the system through electromagnetic induction or magnetic resonance. The photovoltaic unit is used to convert solar energy into electrical energy and can transmit the electrical energy to the energy storage unit; The energy storage unit is used to store the electrical energy transmitted by the photovoltaic unit and can transmit the electrical energy to each unit of the system through the wireless charging unit; The communication unit is used to establish communication connections between the drone, the unmanned vessel, and the monitoring unit and a remote server, respectively. The monitoring unit is electrically connected to the wireless charging unit, photovoltaic unit, energy storage unit, unmanned boat, drone, and communication unit, respectively. It is used to monitor the working status of each unit of the system and then debug each unit of the system; and after monitoring the appearance of the system and the surrounding environment, it sends the monitoring information to a remote server.

10. The system according to claim 9, characterized in that, The system also includes: a dock structure; The dock structure includes: a lifting mechanism and a dock structure compartment connected to the lifting mechanism; the dock structure compartment is used to hold drones, unmanned vessels, monitoring units, wireless charging units, photovoltaic units, energy storage units, and communication units; the lifting mechanism is communicatively connected to the monitoring unit, and the lifting mechanism can raise the dock structure compartment to a safe position when the monitoring results indicate that the surrounding environment of the system is experiencing rising water, and can lower the dock structure compartment to the water surface when the monitoring results indicate that the surrounding environment of the system is in a normal state.

11. A computer-readable medium having a computer program stored thereon, the program being executed by a processor. The method described in any one of claims 1 to 5 or the method described in claim 6 is implemented during the process.

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