Self-powered air-sea cooperative search and rescue robot system and multi-source fusion energy supply method

Abstract

The application discloses a self-powered air-sea cooperative search and rescue robot system, which comprises a launching unmanned aerial vehicle, a self-powered air-sea cooperative search and rescue robot and a ground station system. The launching unmanned aerial vehicle undertakes the task of carrying and launching the search and rescue equipment, and provides the approximate direction data of the fallen personnel for the whole system. The self-powered air-sea cooperative search and rescue robot is internally provided with a high-precision positioning chip, can accurately identify the fallen personnel by using the advanced camera carried thereon and autonomously approach the fallen personnel, then releases an emergency first-aid neck support to provide necessary buoyancy support for the fallen personnel. The ground station system is responsible for sending the initial position information of the fallen personnel to the launching unmanned aerial vehicle and the search and rescue robot, and real-time and comprehensively monitors the overall operation state of the system. The application further discloses a multi-source fusion energy supply method of the self-powered air-sea cooperative search and rescue robot system. The application solves the problems of short endurance, slow response, weak cooperation and poor adaptability of the existing marine rescue equipment.

Description

Technical Field

[0001] This invention belongs to the field of water surface emergency rescue technology, specifically relating to a self-powered air-sea collaborative search and rescue robot system. This invention also relates to a multi-source fusion power supply method for a self-powered air-sea collaborative search and rescue robot system. Background Technology

[0002] Currently common methods of water rescue include emergency communication buoys, unmanned boats, rescue helicopters, and water rescue robots, which have the following problems: 1. Limited rescue capabilities.

[0003] Among them, emergency communication buoys only have basic communication functions and lack rescue functions; small water rescue boats have poor endurance and small operating radius, making them unable to be effectively used on the sea surface; rescue helicopters are expensive; and water rescue robots are large in size and weight, and their real-time rescue capabilities are relatively poor.

[0004] 2. The rescue device's energy supply is limited.

[0005] In the international forefront, the wave energy buoy developed by the MIT team (2023) achieved continuous power supply for 7 days, but its volume of 0.5m³ made it unsuitable for deployment by drones. The smart lifebuoy of the EU's H2020 project (2024), while integrating UWB positioning, did not solve the problem of inter-device coordination. In the field of triboelectric nanogenerators (wave energy), the Institute of Nano-Tech and Nano-Bionics of the Chinese Academy of Sciences has achieved a wave energy conversion efficiency of 35%, but it has not yet been engineered.

[0006] 3. Failure to achieve effective collaboration among components.

[0007] The ineffective coordination of tasks among the components led to increased rescue costs. If the robot independently undertakes search and rescue work, its long range and heavy load can easily result in insufficient endurance.

[0008] Multiple entities are forming a collaborative sea-air rescue system, such as a three-in-one sea-air rescue system that combines rescue drones, unmanned boats, and surface rescue robots. However, these systems suffer from drawbacks such as functional redundancy and high costs. Summary of the Invention

[0009] The purpose of this invention is to provide a self-powered air-sea collaborative search and rescue robot system, which solves the problems of short endurance, slow response, weak coordination, and poor adaptability of existing maritime rescue equipment.

[0010] Another objective of this invention is to provide a multi-source fusion power supply method for a self-powered air-sea collaborative search and rescue robot system.

[0011] The first technical solution adopted in this invention is a self-powered air-sea collaborative search and rescue robot system, comprising three parts: a deployment drone, a self-powered air-sea collaborative search and rescue robot, and a ground station system. The deployment drone is responsible for carrying and deploying search and rescue equipment, and at the same time provides the entire system with approximate location data of the person who has fallen into the water. The self-powered air-sea collaborative search and rescue robot has a built-in high-precision positioning chip (SR28UT), which can accurately identify the person who has fallen into the water using its advanced camera and autonomously approach them, and then release an emergency rescue neck brace to provide necessary buoyancy support for the person who has fallen into the water. The ground station system is responsible for sending the initial location information of the person who has fallen into the water to the deployment drone and the search and rescue robot, and for monitoring the overall operating status of the system in real time and comprehensively.

[0012] The first technical solution of the present invention is further characterized in that, The specific structure of the drone deployment module is as follows: The deployment module includes a shell, with upper and lower hatches at the top and bottom respectively. A mounting plate and servo motor protective cover are also provided on the top of the shell. The mounting plate is fixedly installed on the top of the shell and is used to mount the air-sea collaborative search and rescue robot onto the drone. An internal cavity is formed within the shell, with the upper hatch located at the top opening and the lower hatch at the bottom opening. The drive servo motor is installed inside the servo motor protective cover. The output shaft of the drive servo motor is connected to a driving spur gear, which meshes with a driven spur gear. The driven spur gear is connected to one end of the servo motor linkage via connecting screws, and the other end of the servo motor linkage is hinged to the lower hatch via a thrust ball bearing.

[0013] The specific structure of the air-sea collaborative search and rescue robot includes: an outer shell module, a foldable multi-source power supply module, a hand-cranked power generation module, an emergency rescue module, and a drive module; the outer shell module includes a camera protective cover, a top cover, a motor protective shell, a base plate, and a mounting plate for the foldable multi-source power supply module; the foldable multi-source power supply module is mounted on the mounting plate and includes a multi-source power supply unit, a retractable rod, a distal folding plate, a proximal folding plate, a folding drive motor, a folding drive motor mounting base, a small coupling, a small lead screw, a left motion link, a right motion link, an end limiter, a moving nut, and a mounting base; the foldable multi-source power supply module has several multi-source power supply units, divided into left and right groups, with the multi-source power supply units in each group connected end-to-end and linked together by a retractable rod in the middle, and each group has a... A distal folding plate is positioned, and a proximal folding plate is located on the innermost side. A folding drive motor is mounted on a folding drive motor mounting base, and its output shaft is connected to a small lead screw via a small coupling. A movable nut is threaded onto the small lead screw, and the movable nut is hinged to the proximal ends of the two retractable rods via a left and right motion link. The distal end of the retractable rod is fixedly connected to the distal folding plate, and the proximal folding plate is fixed to the mounting base. During operation, the folding drive motor drives the small lead screw to rotate, causing the movable nut to move linearly along the small lead screw. The movable nut pulls the proximal end of the retractable rod through the left and right motion links. Since the retractable rod is incompressible and cannot be extended, it drives the distal folding plate to move. In conjunction with the fixed proximal folding plate, the W-shaped folding and unfolding of the multi-source power supply unit is achieved.

[0014] The hand-cranked emergency generator mechanism includes two sets of hand-cranked generator modules, symmetrically arranged on both sides of the mechanism. The transmission gear sets of both sets of hand-cranked generator modules are connected to the gearbox. Each hand-cranked generator module includes a rotating handwheel, a protective housing, an input bevel gear, a transmission gear set, and a gearbox input bevel gear. The transmission gear set is located inside the protective housing. The rotating handwheel is coaxially and fixedly connected to the input bevel gear. The input bevel gear meshes with the transmission gear set, which is then connected to the gearbox input bevel gear. The gearbox input bevel gear is located at the input end of the gearbox, and the output end of the gearbox is connected to the generator. The housing and base plate enclose a mounting cavity, with an internal isolation plate inside. The gearbox, generator, and transmission mechanism are housed within the mounting cavity. An emergency rescue light is mounted on the housing, and the generator is electrically connected to the emergency rescue light. The protective outer shell is a frame structure that protects the outer sides of the rotating handwheel, input bevel gear, and transmission gear set. The gearbox is a speed-increasing gearbox that increases the generator's input speed through multi-stage gear transmission. The base plate and internal isolation plate cooperate to form a sealed cavity, allowing the mechanism to float on water.

[0015] The emergency rescue module includes a gearbox with a transmission gear at its output end. The module comprises a compression neck brace, a compression spring release rod, a compression spring, and a spring seat. These components are installed within a mounting cavity formed by the upper cover and the base plate. One end of the compression spring abuts against the spring seat, while the other end is limited and compressed by the compression spring release rod. The transmission gear is connected to the compression spring release rod. A generator is connected to the other output end of the gearbox and electrically connected to the emergency rescue light. During operation, the person in the water manually rotates the handwheel. Power is transmitted through the input bevel gear and transmission gear set to the input bevel gear of the gearbox. After entering the gearbox, the power is split into two output paths. One path drives the compression spring release rod to rotate via the transmission gear, releasing the compression spring and causing it to extend and pop out of the compression neck brace. The neck brace inflates and unfolds to provide neck protection and rescue for the person in the water. The other path drives the generator to produce electricity for the emergency rescue light.

[0016] The multi-source power supply unit includes a solar panel, which is installed on the outside of the multi-source power supply unit. The middle friction plate is located inside the multi-source power supply unit and has a gap with the friction coatings on both sides. When exposed to sunlight, the solar panel works. When exposed to ocean waves, the middle friction plate sways inside the multi-source power supply unit and generates electricity through friction with the friction coatings on both sides. The multi-source power supply unit is connected to one end of the telescopic rod through a universal joint, and the other end of the telescopic rod is fixedly connected to the far-end folding plate.

[0017] The drive module has the following structure: it includes a power motor, which serves as the power source for the module and is fixed on the base plate to provide rotational power to the propeller. The power motor mounting plate is used to fix the power motor and securely install it in the corresponding mounting position on the base plate, ensuring the coaxiality and stability of the motor during operation. One end of the power transmission shaft is connected to the output shaft of the power motor, and the other end of the power transmission shaft is connected to the propeller, transmitting the rotational power of the power motor to the propeller. The propeller power output terminal provides propulsion for the equipment by rotating and cutting water / air, and is the direct actuator for realizing movement. The top cover and the base plate cooperate to form a semi-enclosed cavity.

[0018] The ground station system, serving as the cluster network aggregation center, integrates a BeiDou short message terminal and a wireless communication module (LoRa6100II). The self-powered air-sea collaborative search and rescue robot, equipped with an SR28UT high-precision positioning module (positioning accuracy ±1m under RTK conditions), transmits the calculated target coordinates and equipment status back via the communication link, which is then uniformly received by the ground station's BeiDou short message terminal. The wireless communication module (LoRa6100II) is used for multi-robot collaborative data exchange.

[0019] The second technical solution adopted in this invention is a multi-source fusion power supply method for a self-powered air-sea collaborative search and rescue robot system, which is implemented according to the following steps: Step 1: Receive alarm information and activate the emergency plan; Step 2: Assess resources. If resources are insufficient, allocate reinforcements. If resources are sufficient, issue dispatch instructions to air units and ground rescue teams. Step 3: The aerial unit quickly arrives at the target area and releases the rescue equipment; Step 4: The released intelligent devices autonomously form a network, collaboratively search for targets, identify and report target status; Step 5: Assess rescue priorities based on target status; Step 6: Perform rescue actions and continuously monitor the target's status; Step 7: Ground rescue team vehicles proceed to provide assistance and work in conjunction with intelligent equipment to complete the response; Step 8: Recycle and maintain the equipment; process complete.

[0020] The second technical solution of the present invention is further characterized in that, Step 5 is implemented in the following steps: Step 5.1, Master-Slave Node Election: After the device is powered on, it sends a "handshake signal" through the wireless communication module (LoRa6100II). The "handshake signal" includes the device ID, power-on time, and battery level. The first device to arrive at the incident point with a battery level of ≥50% automatically becomes the master node. If the master node fails, the remaining nodes will be re-elected, and the one with the highest battery level will be elected. Step 5.2, Information Fusion and Decision Making: The master node aggregates the multi-machine recognition results and optimizes the target information according to the following rules: (1) If the same target is identified by ≥2 devices, the target is confirmed to be valid; (2) The target location is the average value of measurements taken by multiple machines; (3) Target priority: Automatically sorted according to the heart rate transmitted by the neck brace: heart rate <60 beats / min or heart rate >120 beats / min is given priority; drifting status: speed >0.8m / s is considered as physical exhaustion; Step 5.3, Dynamic Task Adjustment: When the master node detects a new target or a target drifts out of its responsible sector, it completes task reassignment within 10 seconds.

[0021] The beneficial effects of this invention are: (i) Multi-source power supply and permanent endurance: By integrating triboelectric nano-powered generation (wave energy), solar energy, and hand-cranked power generation, it breaks through the limitations of battery power supply and achieves autonomous energy supply under any sea conditions. (ii) Rapid response and wide coverage: The UAV deployment and 100km / h cruising speed enable the equipment to reach the 300-nautical-mile exclusive economic zone within 30 minutes. (iii) Intelligent identification and precise rescue: The AI ​​vision + infrared fusion identification, tested on the SeaDronesSee dataset (containing 54,000 labeled images) which focuses on human detection in the marine environment, shows an accuracy rate of over 92% and a false alarm rate of <1%; dynamic task allocation ensures that priority targets are rescued first. (iv) Cluster collaboration and efficient search: A network of 5 units can cover 25 square kilometers per hour, which is 8 times higher than a single unit, reducing the duplicate search rate to below 5% and the missed rescue rate to <3%. (V) Environmental adaptability, reliability and durability: 95% equipment survival rate under level 6 wind and waves, no rust after 1000 hours of salt spray test, wide temperature range of -10℃ to 40℃, adaptable to all scenarios in my country's four major sea areas.

[0022] This invention achieves a breakthrough improvement in the entire process of maritime rescue through the integration of multiple technologies. The specific effects are as follows: (I) Significantly improved rescue efficiency: (1) Response time: From the occurrence of the accident to the arrival of the equipment in the target sea area, the time taken is ≤30 minutes. (2) Search and rescue speed: A single machine can search and rescue 5 square kilometers per hour, and a cluster of 5 machines can search and rescue 25 square kilometers per hour. The search and rescue time for a 100 square kilometer sea area is shortened from 50 hours to 4 hours. (3) Target positioning: The identification accuracy is 95%, and the positioning error is ≤1m. (II) Significantly enhanced endurance and environmental adaptability: (1) Endurance: Under the conditions of waves and sunlight, "permanent endurance" is achieved; in the extreme case of no energy input, the hand-cranked generator can maintain the core functions indefinitely, completely eliminating the dependence on batteries. (2) Extreme environment: ① Level 6 wind and waves (wind speed 13.8m / s): the equipment did not overturn, the attitude was stable, and the identification and communication were normal; ② Low temperature (-10℃): the battery had no capacity decay, and the motor started normally; ③ High salt spray: after 1000 hours of testing, the rust area of ​​the metal parts was <5%, and the function was not decayed. (III) Increased rescue success rate and coverage: (1) Survival rate: the golden rescue time was reduced from 2 hours to 30 minutes; (2) Coverage: a single device can cover 300 nautical miles of exclusive economic zone, and a cluster of 5 devices can cover 1500 nautical miles, meeting the needs of my country's "maritime power" strategy for offshore rescue. (IV) Significant social and economic value: (1) Social value: improve my country's maritime emergency rescue system, enhance the public's sense of security for marine activities, and help the healthy development of industries such as ocean shipping, offshore oil fields, and fisheries. (2) Economic value: ① Equipment cost: The unit price of mass production is 5,000 yuan, which is 95% lower than that of rescue helicopter (100,000 yuan per trip); ② Indirect benefits: It reduces the economic losses caused by maritime accidents (such as family compensation and industrial shutdowns) by more than 2 billion yuan per year. Attached Figure Description

[0023] Figure 1 This is a system composition diagram of the self-powered air-sea collaborative search and rescue robot; Figure 2 This is a diagram showing the self-powered air-sea collaborative search and rescue robot in its position at the deployment mechanism before deployment; Figure 3 This is a status diagram of the self-powered air-sea collaborative search and rescue robot during deployment; Figure 4(a) shows the deployment mechanism structure of the self-powered air-sea collaborative search and rescue robot; Figure 4(b) is a side view of the deployment mechanism structure of the self-powered air-sea collaborative search and rescue robot; Figure 5(a) shows the modules of the self-powered air-sea collaborative search and rescue robot; Figure 5(b) shows another perspective of the modules of this self-powered air-sea collaborative search and rescue robot; Figure 6 This is a display of the outer shell module of the self-powered air-sea collaborative search and rescue robot; Figure 7(a) shows the foldable multi-source power supply module of the self-powered air-sea collaborative search and rescue robot; Figure 7(b) is a magnified view showing the details of the foldable multi-source power supply module of the self-powered air-sea collaborative search and rescue robot; Figure 7(c) is another enlarged detail of the foldable multi-source power supply module of the self-powered air-sea collaborative search and rescue robot; Figure 8(a) shows the multi-source power supply unit of the self-powered air-sea collaborative search and rescue robot; Figure 8(b) shows another perspective of the multi-source power supply unit of the self-powered air-sea collaborative search and rescue robot; Figure 8(c) is a detailed enlarged view of the multi-source power supply unit of the self-powered air-sea collaborative search and rescue robot; Figure 9 This is a demonstration of the hand-cranked power generation module of the self-powered air-sea collaborative search and rescue robot; Figure 10 This is a demonstration of the emergency medical module of the self-powered air-sea collaborative search and rescue robot; Figure 11 This is a demonstration of the drive module of the self-powered air-sea collaborative search and rescue robot; Figure 12 This is a display of the remaining hardware modules of the self-powered air-sea collaborative search and rescue robot; Figure 13 This is a flowchart of the operation of the self-powered air-sea collaborative search and rescue robot.

[0024] In the diagram, 1. Deployment module, 2. Outer shell module, 3. Foldable multi-source power supply module, 4. Hand-cranked generator module, 5. Emergency rescue module, 6. Drive module, 7. Electromagnetic lock pin, 11. Upper hatch, 12. Mounting plate, 13. Outer shell, 14. Lower hatch, 15. Servo linkage, 16. Thrust ball bearing, 17. Connecting screw, 18. Servo protective cover, 19. Driven spur gear, 120. Drive servo, 121. Drive spur gear, 21. Camera protective cover, 22. Top cover, 23. Motor protective shell, 24. Base plate, 25. Foldable multi-source power supply module mounting plate, 31. Multi-source power supply unit, 32. Retractable rod, 33. Far-end folding plate, 34. Near-end folding plate, 35. Folding drive motor, 36. Folding drive motor mounting base, 37. Miniature coupling, 38. Miniature lead screw, 39. Left motion linkage. 310. Right moving link, 311. End limiter, 312. Moving nut, 313. Mounting base, 3101. Solar panel, 3102. Universal joint, 3103. Middle friction plate, 3104. Friction coating on both sides, 41. Rotary handwheel, 42. Protective housing, 43. Internal isolation plate, 44. Emergency rescue light, 45. Gearbox input bevel gear, 46. Input bevel gear, 47. Transmission gear set, 48. Gearbox, 49. Generator, 51. Compression emergency neck brace, 52. Compression spring release link, 53. Compression spring, 54. Spring seat, 55. Transmission gear, 61. Propeller, 62. Power motor mounting plate, 63. Power motor, 64. Power drive shaft, 71. Camera, 73. Battery pack, 74. Wireless communication module, 75. Positioning chip, 76. Supercapacitor module. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0026] Example 1 This invention relates to a self-powered air-sea collaborative search and rescue robot system, combined with Figure 1 The system comprises three parts: a deployment drone, a self-powered air-sea collaborative search and rescue robot, and a ground station system. The deployment drone is responsible for carrying and deploying search and rescue equipment, while also providing the entire system with approximate location data of the person in the water. The self-powered air-sea collaborative search and rescue robot has a built-in high-precision positioning chip (SR28UT), which can use its advanced camera to accurately identify the person in the water and autonomously approach them, then release an emergency rescue neck brace to provide necessary buoyancy support. The ground station system is responsible for sending the initial location information of the person in the water to the deployment drone and the search and rescue robot, and for monitoring the overall operation status of the system in real time and comprehensively.

[0027] Combination Figures 1-3As shown in Figures 4(a) and 4(b), the specific structure of the drone deployment module is as follows: The deployment module 1 includes a housing 13. The housing 13 has an upper hatch 11 and a lower hatch 14 at its top and bottom, respectively. A mounting plate 12 and a servo motor protective cover 18 are also provided on the top of the housing 13. The mounting plate 12 is fixedly installed on the top of the housing 13 for mounting the air-sea collaborative search and rescue robot onto the drone. A receiving cavity is formed inside the housing 13. The upper hatch 11 is located at the top opening of the housing 13, and the lower hatch 14 is located at the bottom opening of the housing 13. A drive servo motor 120 is installed inside the servo motor protective cover 18. The output shaft of the drive servo motor 120 is connected to a driving spur gear 121, which meshes with a driven spur gear 19. The driven spur gear 19 is connected to one end of a servo motor connecting rod 15 via a connecting screw 17. The other end of the servo motor connecting rod 15 is hinged to the lower hatch 14 via a thrust ball bearing 16. During operation, the deployment module 1 can be mounted on the deployment drone via the mounting plate 12. The upper hatch 11 is opened, and the self-powered air-sea collaborative search and rescue robot is placed inside the outer shell 13. During deployment, the drive servo motor 120 operates, driving the servo motor linkage 15 via the active spur gear 121 and the driven gear 19. The servo motor linkage 15, through the thrust ball bearing 16 and connecting screw 17, drives the servo motor 120 to rotate the active spur gear 121, which in turn drives the servo motor linkage 15 to swing via the driven spur gear 19, thereby opening the lower hatch 14. Simultaneously, the electromagnetic lock pin 7 unlocks and releases the robot. The robot detaches from the cabin by gravity, completing its aerial deployment into the water. The electromagnetic lock pin 7 then resets. The two electromagnetic lock pins 7 are installed on the front side inside the outer shell 13. After the self-powered air-sea collaborative search and rescue robot is placed inside, the electromagnetic lock pins 7 press down on the two retractable rods 32 of the self-powered air-sea collaborative search and rescue robot from above to achieve a fixed position.

[0028] The camera 71 is located on both sides of the top cover 22, and the camera protective cover 21 is fixedly connected to the top cover 22 to cover and protect the camera.

[0029] The battery pack 73, wireless communication module 74, positioning chip 75, and supercapacitor module 76 are all fixed on the base plate 24. The positioning chip model is SR28UT.

[0030] Combining Figure 5(a) and Figure 5(b), Figure 6Figures 7(a), 7(b), 7(c), 8(a), 8(b), and 8(c) illustrate the specific structure of the air-sea collaborative search and rescue robot, which includes an outer shell module 2, a foldable multi-source power supply module 3, a hand-cranked power generation module 4, an emergency rescue module 5, and a drive module 6. The outer shell module 2 includes a camera protective cover 21, a top cover 22, a motor protective shell 23, a base plate 24, and a foldable multi-source power supply module mounting plate 25. A wireless communication module 74 and a positioning chip 75 are fixedly connected to the base plate 24. The energy module 3 is installed on the foldable multi-source energy supply module mounting plate 25, and includes a multi-source energy supply unit 31, a retractable rod 32, a distal folding plate 33, a proximal folding plate 34, a folding drive motor 35, a folding drive motor mounting base 36, a small coupling 37, a small lead screw 38, a left motion link 39, a right motion link 310, an end limiter 311, a moving nut 312, and a mounting base 313; the foldable multi-source energy supply module 3 has several multi-source energy supply units 31, divided into left and right groups, each group containing multi-source energy supply units. Units 31 are connected end to end in sequence, with retractable rods 32 in between. Each group has a distal folding plate 33 on the outermost side and a proximal folding plate 34 on the innermost side. A folding drive motor 35 is mounted on a folding drive motor mounting base 36, and its output shaft is connected to a small lead screw 38 via a small coupling 37. A movable nut 312 is threaded onto the small lead screw 38 and is hinged to the proximal ends of the retractable rods 32 on both sides via a left moving link 39 and a right moving link 310. The distal ends of the retractable rods 32 are connected to the distal folding plate. Plate 33 is fixedly connected, and the proximal folding plate 34 is fixed on the mounting base 313. During operation, the folding drive motor 35 drives the small lead screw 38 to rotate, which drives the moving nut 312 to move linearly along the small lead screw 38. The moving nut 312 pulls the proximal end of the retracting rod 32 through the left moving link 39 and the right moving link 310. Since the retracting rod 32 is incompressible and cannot be extended, it drives the distal folding plate 33 to move. In conjunction with the fixed proximal folding plate 34, the W-shaped folding and unfolding of the multi-source power supply unit 31 is realized.

[0031] Combination Figure 9 , Figure 10The hand-cranked emergency generator mechanism includes two sets of hand-cranked generator modules, symmetrically arranged on both sides of the mechanism. The transmission gear sets 47 of both sets of hand-cranked generator modules are connected to the gearbox 48. Each hand-cranked generator module includes a rotating handwheel 41, a protective housing 42, an input bevel gear 46, a transmission gear set 47, and a gearbox input bevel gear 45. The protective housing 42 houses the transmission gear set 47. The rotating handwheel 41 is coaxially and fixedly connected to the input bevel gear 46. The input bevel gear 46 meshes with the transmission gear set 47 and is connected to the gearbox input bevel gear 45 via the transmission gear set 47. The gearbox input bevel gear 45 is located at the input end of the gearbox 48, and the output end of the gearbox 48 is connected to the generator 49. The housing 22 and the base plate 24 enclose a mounting cavity. An internal isolation plate 43 is located within the mounting cavity. The gearbox 48, generator 49, and transmission mechanism are located within the mounting cavity. An emergency rescue light 44 is mounted on the housing 22, and the generator 49 is electrically connected to the emergency rescue light 44. The protective outer casing 42 is a frame structure that protects the outer sides of the rotating handwheel 41, the input bevel gear 46, and the transmission gear set 47. The gearbox 48 is a speed-increasing gearbox that increases the input speed of the generator 49 through multi-stage gear transmission. The base plate 24 and the internal isolation plate 43 cooperate to form a sealed cavity, allowing the mechanism to float on the water surface.

[0032] During operation, rotating the handwheel 41 drives the input bevel gear 46 to rotate, and the power is transmitted to the gearbox input bevel gear 45 through the transmission gear set 47. After being accelerated by the gearbox 48, the power drives the generator 49 to generate electricity to power the emergency rescue light 44.

[0033] Emergency rescue module: includes an upper cover 22, a base plate 24, a hand-cranked drive module, a gearbox 48, a generator 49, and an emergency rescue module; the hand-cranked drive module includes a rotating handwheel 41, a protective shell 42, an input bevel gear 46, a transmission gear set 47, and a gearbox input bevel gear 45; the output end of the gearbox 48 is provided with a transmission gear 55; the emergency rescue module includes a compression emergency neck brace 51, a compression spring release link 52, a compression spring 53, and a spring seat 54; the compression emergency neck brace 51, the compression spring 53, and the spring seat 54 are installed in the mounting cavity formed by the upper cover 22 and the base plate 24, one end of the compression spring 53 abuts against the spring seat 54, and the other end is limited and in a compressed state by the compression spring release link 52; The transmission gear 55 is connected to the compression spring release link 52; the generator 49 is connected to the other output end of the gearbox 48, and the generator 49 is electrically connected to the emergency rescue light 44; when in operation, the person in the water manually rotates the handwheel 41, and the power is transmitted to the gearbox input bevel gear 45 through the input bevel gear 46 and the transmission gear set 47. After entering the gearbox 48, it is divided into two outputs. One output drives the compression spring release link 52 to rotate through the transmission gear 55, releasing the limit on the compression spring 53. The compression spring 53 extends and pops out the compression emergency neck brace 51. After popping out, the compression emergency neck brace 51 inflates and unfolds, which is used to protect and rescue the neck of the person in the water; the other output drives the generator 49 to generate electricity to power the emergency rescue light 44.

[0034] The multi-source power supply unit 31 includes a solar panel 3101, which is installed on the outside of the unit. A middle friction plate 3103 is located inside the unit, with gaps between it and the friction coatings 3104 on both sides. When exposed to sunlight, the solar panel 3101 operates. When subjected to ocean waves, the middle friction plate 3103 oscillates within the unit, generating electricity through friction with the friction coatings 3104. The unit is connected to one end of a telescopic rod 32 via a universal joint 3102, and the other end of the telescopic rod 32 is fixedly connected to a distal folding plate 33. The output of the solar panel 3101 is connected in parallel with the output of the middle friction plate 3103, and then in parallel with the output of a hand-cranked generator 49. The output electrical energy is first connected to a supercapacitor 76 located inside the outer shell for rapid energy storage and power buffering, and then charges the battery pack 73, which provides a stable power supply to support the operation of the drive module.

[0035] Combination Figure 11 , Figure 12The drive module 6 has the following specific structure: it includes a power motor 63, which serves as the power source for the module and is fixed on the base plate 24 to provide rotational power to the propeller. A power motor mounting plate 62 is used to fix the power motor 63, ensuring its stable installation on the corresponding mounting position on the base plate 24 and guaranteeing coaxiality and stability during motor operation. One end of the power transmission shaft 64 is connected to the output shaft of the power motor 63, and the other end is connected to the propeller 61, transmitting the rotational power of the power motor 63 to the propeller. The propeller 61, through its power output terminal, provides propulsion by rotating and cutting water / air, acting as the direct actuator for movement. The upper cover 22 and the base plate 24 cooperate to form a semi-enclosed cavity, protecting the internal components such as the motor and transmission shaft and reducing the impact of the external environment (such as water, dust, and impacts) on the drive components.

[0036] The ground station system serves as the cluster networking adaptation center, integrating BeiDou short message receiving equipment and a wireless communication module (LoRa6100II). The BeiDou equipment is responsible for receiving precise location (differential positioning accuracy ±1m) and equipment status from remotely powered air-sea collaborative search and rescue robots via satellite links; the wireless communication module (LoRa6100II) is used for real-time data interaction between multiple machines within the cluster.

[0037] Example 2 A multi-source fusion power supply method for a self-powered air-sea collaborative search and rescue robot system, flowchart as follows: Figure 13 As shown, please follow these steps: Step 1, Start-up Procedure: Receive alarm information and activate the emergency plan; Step 2, Resource Scheduling: The command center assesses resources; if resources are insufficient, reinforcements are allocated; if resources are sufficient, dispatch instructions are issued to air units and ground rescue teams. Step 3, Air Support: The air unit quickly arrives at the target area and deploys rescue equipment; Step 4, Priority Determination: Assess the rescue priority based on the target status; emergency targets should be rescued immediately; non-emergency targets may be dealt with later. Step 4 is implemented in the following steps: Master-slave node election: After the device is powered on, it sends a "handshake signal" through the wireless communication module (LoRa6100II). The "handshake signal" includes the device ID, power-on time, and battery level. The first device to arrive at the incident point with a battery level of ≥50% automatically becomes the master node. If the master node fails, the remaining nodes will be re-elected, and the one with the highest battery level will be elected. Information fusion and decision-making: The master node aggregates the multi-machine recognition results and optimizes the target information according to the following rules: (1) If the same target is identified by ≥2 devices, the target is confirmed to be valid; (2) The target location is the average value of measurements taken by multiple machines; (3) Target priority: Automatically sorted according to the heart rate transmitted by the neck brace: heart rate <60 beats / min or heart rate >120 beats / min is given priority; drifting status: speed >0.8m / s is considered as physical exhaustion; Dynamic task adjustments: When the master node detects a new target or a target drifts out of its responsible sector, it completes task reassignment within 10 seconds.

[0038] Step 5, Intelligent Search: The released intelligent devices autonomously form a network, collaboratively search for targets, identify and report the target status; Step 6, On-site rescue: The intelligent equipment executes rescue actions and continuously monitors the target's status; Step 7, Ground Assistance: Ground rescue team vehicles proceed to provide assistance and work in conjunction with intelligent equipment to complete the response; Step 8: Finishing work: Recover and maintain the equipment; process ends.

[0039] Example 3 (1) Compress the golden rescue time: shorten the traditional 2-hour rescue window to less than 30 minutes, so that the person who falls into the water can be rescued before the body temperature drops too low (the human survival limit is about 1 hour when the sea temperature is 10℃).

[0040] (2) Achieve all-day endurance: Break through the limitations of battery power supply and ensure that the rescue vehicle can work continuously in any sea state and any weather through multi-energy collaboration, meeting the needs of search and rescue for more than 72 hours in the open sea.

[0041] (3) Expand the search and rescue coverage: Five self-powered air-sea collaborative search and rescue robots are networked together, with a search and rescue area of ​​25 square kilometers per hour (5 square kilometers per unit), covering key sea areas of my country's 300-nautical-mile exclusive economic zone.

[0042] (4) Enhanced environmental adaptability: Under extreme conditions such as level 6 wind and waves (wind speed 13.8m / s), water temperature of -10℃ to 40℃, and low light at night (<5 lux), the equipment survival rate remains above 95% and the identification accuracy exceeds 90%.

[0043] The technical path of this invention: (1) Energy innovation: Integrate triboelectric nano-power generation (wave energy), flexible solar energy, and hand-cranked power generation to build a three-level energy system of "main-auxiliary-emergency" to achieve self-sufficiency in energy supply.

[0044] (2) Intelligent perception: Based on the fusion of AI machine vision and infrared sensing, it breaks through the bottleneck of target recognition under complex sea conditions and achieves full-scene coverage of "daytime-nighttime-fog".

[0045] (3) Collaboration mechanism: Develop cluster networking protocols and dynamic task allocation algorithms to enable multiple devices to form an efficient system of "information sharing - division of labor and cooperation - priority rescue".

[0046] (4) Rapid deployment: By deploying the equipment via drones, the response time from the base to the accident site is reduced to 30 minutes, making it suitable for sudden accidents in the open sea.

[0047] Example 4 This invention relates to a self-powered air-sea collaborative search and rescue robot system and a multi-source fusion power supply method. It adopts a four-layer architecture: energy layer, perception layer, control layer, and execution layer. Weighing 1.5 kg, it has a biomimetic manta ray shape measuring 607mm × 420mm × 214mm and can be quickly deployed to target sea areas via drones for autonomous search and rescue. The system's core functions include: autonomous multi-source energy supply, intelligent identification of targets in the water, autonomous navigation and obstacle avoidance, emergency rescue, swarm collaborative search and rescue, and continuous communication. It can flexibly switch between single-unit and swarm modes according to the rescue scenario, meeting diverse needs such as nearshore, offshore, nighttime, and extreme weather conditions.

[0048] The system mainly consists of three parts working together: a deployment drone, a self-powered air-sea collaborative search and rescue robot, and a ground station system. The deployment drone is responsible for carrying and deploying search and rescue equipment, while also providing the entire system with initial location data of the person in the water. The self-powered air-sea collaborative search and rescue robot has a built-in high-precision positioning chip (SR28UT), which can use its advanced camera to accurately identify the person in the water and autonomously approach them, then release an emergency rescue neck brace to provide necessary buoyancy support. The ground station system is responsible for sending the initial location information of the person in the water to the deployment drone and the search and rescue robot, and for monitoring the overall operation status of the system in real time and comprehensively.

[0049] The system possesses several core functions, including autonomous power supply from multiple sources, intelligent identification of targets falling into the water, autonomous navigation and efficient obstacle avoidance, implementation of emergency rescue measures, collaborative search and rescue, and continuous and stable communication. It can flexibly switch between stand-alone and collaborative modes to suit different rescue scenarios, fully adapting to diverse and complex rescue environments such as nearshore, offshore, nighttime, and extreme weather conditions. It can respond rapidly to situations where people fall into the water, achieving efficient and precise rescue objectives and effectively reducing the risk of drowning.

[0050] Self-powered module By integrating triboelectric nanogenerators (wave energy), flexible solar energy, and hand-cranked power generation, a three-tiered energy system of "main-auxiliary-emergency" is constructed to achieve self-sufficiency in energy supply. This module is the "power heart" of the rescue device, achieving stable power supply around the clock through multi-energy synergy and intelligent management, thus solving the endurance bottleneck of traditional equipment.

[0051] Hardware configuration and energy harvesting Triboelectric nanogenerator (wave energy) device: Ocean waves include both transverse and longitudinal waves. The foldable power supply module can be unfolded into a W shape to maximize friction. When waves impact, the middle friction plate and the inner wall undergo high-frequency contact-separation motion, generating alternating current through friction, which is then converted into direct current by a rectifier bridge.

[0052] (1) Performance parameters: Energy conversion efficiency of 35% (better than the industry average of 25%), under a wave height of 0.5m, the output voltage of a single power generation unit is 3.3V, the current is 50mA, and the total power of 6 balls in parallel is 1.0W; when the wave height is 1m, the power is increased to 2.0W.

[0053] (2) Structural optimization: The outer shell module is made of polytetrafluoroethylene (resistant to seawater corrosion), and the middle friction plate is formed with micron-level protrusions through laser micro-nano processing, which increases the contact area by 20% and improves the power generation efficiency by 15%. It can provide 24Wh-48Wh of daily power generation for self-powered air-sea collaborative search and rescue robots.

[0054] Solar power system: The solar panels on the multi-source power supply unit are made of 0.1mm thick gallium arsenide (GaAs) solar panels with a bending radius of ≤50mm, fitting the curved surface of the rescuer's top and covering an area of ​​1185cm². Compared to traditional silicon-based solar panels, GaAs materials improve power generation efficiency by 30% under low-light conditions (such as cloudy days).

[0055] (1) Performance parameters: under standard illumination (1000W / m²), the conversion efficiency is 23% and the output power is 30W; under cloudy weather (3000lux), the output power is 12W; the infrared light response range is 700-900nm, and it can generate electricity using the scattered light at dawn / dusk. It can provide 0.05-0.09 kWh of electricity per day for a self-powered air-sea collaborative search and rescue robot.

[0056] (2) Protective design: The solar panel is covered with a 0.1mm thick polyimide film, which is resistant to salt spray corrosion (no degradation after 1000 hours of testing) and UV aging (lifespan of more than 5 years).

[0057] The hand-cranked emergency generator mechanism includes two sets of hand-cranked generator modules, symmetrically arranged on both sides of the mechanism. The transmission gear sets 47 of both sets of hand-cranked generator modules are connected to the gearbox 48. Each hand-cranked generator module includes a rotating handwheel 41, a protective housing 42, an input bevel gear 46, a transmission gear set 47, and a gearbox input bevel gear 45. The transmission gear set 47 is housed within the protective housing 42. The rotating handwheel 41 is coaxially and fixedly connected to the input bevel gear 46. The input bevel gear 46 meshes with the transmission gear set 47, and the transmission gear set 47 is connected to the gearbox input bevel gear 45. The gearbox input bevel gear 45 is located at the input end of the gearbox 48, and the output end of the gearbox 48 is connected to the generator 49. The housing 22 and the base plate 24 enclose a mounting cavity. An internal isolation plate 43 is located within the mounting cavity. The gearbox 48, generator 49, and transmission mechanism are located within the mounting cavity. An emergency rescue light 44 is mounted on the housing 22, and the generator 49 is electrically connected to the emergency rescue light 44. The protective outer casing 42 is a frame structure that protects the outer sides of the rotating handwheel 41, the input bevel gear 46, and the transmission gear set 47. The gearbox 48 is a speed-increasing gearbox that increases the input speed of the generator 49 through multi-stage gear transmission. The base plate 24 and the internal isolation plate 43 cooperate to form a sealed cavity, allowing the mechanism to float on the water surface.

[0058] During operation, rotating the handwheel 41 drives the input bevel gear 46 to rotate, and the power is transmitted to the gearbox input bevel gear 45 through the transmission gear set 47. After being accelerated by the gearbox 48, the power drives the generator 49 to generate electricity to power the emergency rescue light 44.

[0059] The handwheel (10cm radius) transmits power to two miniature gearboxes (1:10 reduction ratio) via a bevel gear transmission (3:7 reduction ratio). The end of the handwheel is equipped with a non-slip rubber sleeve (Shore hardness 60) to accommodate wet hands. When the hand-crank speed reaches 60r / min, the power output is 5W through the permanent magnet generator (rated voltage 5V), with a peak power of up to 8W.

[0060] (1) Emergency support: After the person who fell into the water is found, the person can store 150J of electrical energy by hand-cranking the handwheel for 5 minutes, thereby supporting the Beidou communication (power consumption 50mW) to work continuously for 5 hours, ensuring that the distress signal is not interrupted.

[0061] (2) Human-computer design: The joystick operating force is ≤5N (the average grip strength of adults is 30-50N), and there is no obvious fatigue after 30 minutes of continuous shaking.

[0062] Energy storage and voltage regulation unit: Employing a 10F / 5.5V supercapacitor (replacing traditional lithium batteries), it boasts advantages such as over 100,000 charge-discharge cycles (compared to only 1,000 for lithium batteries) and a wide operating temperature range of -40℃ to 85℃. It is equipped with a DC-DC voltage regulator module (input 3-6V, output 3.3V / 5V), with an output ripple ≤10mV, ensuring stable operation of sensitive electronic components (such as cameras and sensors).

[0063] Energy storage capacity: It can store 150J of electrical energy when fully charged, which can support the device to maintain core functions (positioning, communication) for 30 minutes when there is no power input.

[0064] System Functions - Energy Module (1) Priority power supply: The core modules (wireless communication module (LoRa6100II) and positioning chip (SR28UT)) are given priority power supply, followed by the camera and drive motor. Non-essential functions (such as LED indicator lights) can be degraded to run.

[0065] (2) Energy switching strategy: ① When the solar power is ≥2W, solar energy is used first, and the excess electrical energy is stored in a supercapacitor; ② When the solar power is <2W and the wave power is ≥0.5W, switch to the "solar + wave" hybrid mode; ③ When the total power is less than 1W and the supercapacitor voltage is less than 3V, the audible and visual alarm (buzzer + red LED) will be activated to alert the person who has fallen into the water or the rescue personnel to manually crank the generator. (3) Dynamic load adjustment: When the start of the drive motor is detected (instantaneous power 5W), the supercapacitor is automatically called to store energy to avoid voltage drop caused by energy fluctuations.

[0066] Innovation Breakthrough (1) High energy density design: The energy density of triboelectric nano-power generation (wave energy) reaches 150mW / cm³, which is twice that of traditional electromagnetic wave energy generation devices (50mW / cm³) and the volume is reduced by 50%.

[0067] (2) Extreme environment adaptation: Through the selection of wide temperature components from -40℃ to 85℃ and the three-proof treatment (circuit coated with 704 silicone rubber), it is ensured that it can work normally in low temperature scenarios such as polar research vessel rescue.

[0068] (3) Zero maintenance characteristics: Supercapacitors and triboelectric power generation units have no mechanical wear and are designed for a lifespan of 10 years (compared to 3-5 years for traditional lithium batteries), which greatly reduces equipment maintenance costs.

[0069] Mechanical structure It adopts a modular design, consisting of three parts: a drone collaborative deployment mechanism, an autonomous rescue execution mechanism, and a cluster networking adaptation mechanism, taking into account lightweight, corrosion resistance, and functional integrity.

[0070] The deployment module can be installed on the deployment drone via mounting plate 12. Open the upper hatch 11 and place the self-powered air-sea collaborative search and rescue robot into the outer shell 13. During deployment, the servo motor 120 drives the servo motor, which drives the servo motor linkage 15 through the driving spur gear 121 and the driven gear 19. The servo motor linkage 15 opens the lower hatch 14 through the thrust ball bearing 16 and the connecting screw 17. At the same time, the electromagnetic lock pin 7 unlocks and releases the robot. The robot leaves the cabin by gravity and completes the aerial deployment into the water. The electromagnetic lock pin 7 then resets.

[0071] Autonomous rescue execution agency Powertrain: Equipped with two brushless DC motors (model 2208, KV value 1400) and a 130mm six-bladed propeller (material: nylon + fiberglass), the thrust of a single motor is ≥1.5kg. Steering is achieved by adjusting the speed difference between the two motors, with a minimum turning radius of 0.5m and a forward speed of 0.5-3m / s (dynamically adjustable according to ocean current speed).

[0072] Anti-interference design: The motor drive board adopts a surge protection circuit, which can still work stably when seawater splashes on it (insulation resistance ≥10MΩ); the power transmission shaft adopts a mechanical seal and has a waterproof rating of IP68.

[0073] Emergency Rescue Module: Includes a top cover 22, a base plate 24, a hand-cranked drive module, a gearbox 48, a generator 49, and the emergency rescue module itself; the hand-cranked drive module includes a rotating handwheel 41, a protective housing 42, an input bevel gear 46, a transmission gear set 47, and a gearbox input bevel gear 45; the output end of the gearbox 48 is equipped with a transmission gear 55; the emergency rescue module includes a compression emergency neck brace 51, a compression spring release linkage 52, a compression spring 53, and a spring seat 54; the compression emergency neck brace 51, compression spring 53, and spring seat 54 are installed in the mounting cavity formed by the top cover 22 and the base plate 24, one end of the compression spring 53 abuts against the spring seat 54, and the other end is limited and in a compressed state by the compression spring release linkage 52; the transmission... Gear 55 is connected to compression spring release link 52; generator 49 is connected to the other output end of gearbox 48, and generator 49 is electrically connected to emergency rescue light 44; when in operation, the person who has fallen into the water rotates the rotating handwheel 41, and the power is transmitted to the gearbox input bevel gear 45 through input bevel gear 46 and transmission gear set 47. After entering gearbox 48, it is divided into two outputs. One output drives compression spring release link 52 to rotate through transmission gear 55, releasing the limit on compression spring 53. Compression spring 53 extends and pops out the compression emergency neck brace (51). After the compression emergency neck brace 51 pops out, it inflates and unfolds to protect and rescue the neck of the person who has fallen into the water; the other output drives generator 49 to generate electricity to power emergency rescue light 44.

[0074] The built-in spring-loaded emergency neck brace (weighing 50g) is stored in the groove at the top of the rescuer (100mm×50mm×30mm). The neck brace is made of inflatable material (Shore A hardness 80A), with a thickness of 5mm when folded and dimensions of 30cm×15cm when unfolded. When inflated, the buoyancy is ≥50N (capable of supporting an adult's head and upper body to float).

[0075] When the emergency rescue module is working, the person who has fallen into the water rotates the 41 rotary handwheel, which transmits power to the 45 gearbox input bevel gear through the 46 input bevel gear and the 47 transmission gear set. After the power enters the 48 gearbox, it is transmitted to the 52 compression spring release link through the connected 55 drive gear. The 52 compression spring release link rotates, releasing the 53 compression spring fixed on the 54 spring seat. The 53 compression spring extends, popping out the 51 compression emergency neck brace. After the 51 compression emergency neck brace pops out, it inflates to provide rescue.

[0076] (1) Triggering mechanism: When the camera detects a human target, it will automatically drive to approach. When the distance is ≤1m, the person who fell into the water will turn the handwheel, which will drive the compression spring release linkage to release the neck brace. At the same time, it will trigger the CO2 cylinder (capacity 5ml) to be filled with gas. The filling time is ≤3 seconds and the pressure holding time is ≥24 hours (no leakage).

[0077] (2) Life monitoring: The neck brace is equipped with a heart rate sensor (sampling rate 10Hz, accuracy ±2 times / min) and a temperature sensor (range 0-50℃, accuracy ±0.5℃). The data is transmitted back to the rescue device in real time via Bluetooth 5.0 (transmission distance ≥5m).

[0078] Waterproof and corrosion resistant design: The casing is made of 6061-T6 aluminum alloy (hard anodized, 15μm thick), with a surface hardness of HV300 and a salt spray resistance of up to 1000 hours (ASTM B117 standard, rust area <5%). All interfaces (charging port, data port) are double-sealed with an outer threaded compression dust cover, and have a waterproof rating of IP68.

[0079] Example 5 Cluster networking adaptation organization Communication module: The ground station system, serving as the cluster network aggregation center, integrates a BeiDou short message terminal and a wireless communication module (LoRa6100II). The self-powered air-sea collaborative search and rescue robot, equipped with an SR28UT high-precision positioning module (positioning accuracy ±1m under RTK conditions), transmits the calculated target coordinates and equipment status back via the communication link, which is then uniformly received by the ground station's BeiDou short message terminal. The wireless communication module (LoRa6100II) is used for multi-robot collaborative data exchange.

[0080] Task collaboration strategy: The master node allocates search and rescue sectors (each sector is 60° and has a radius of 1km) based on the number and distribution of targets using an algorithm. For example: (1) When slave node 002 discovers two people who have fallen into the water (1 child and 1 adult), the master node instructs 002 to prioritize the rescue of the child, while simultaneously dispatching slave node 003 to assist in the rescue of the adult; (2) When a slave node has low power (supercapacitor voltage ≤ 2.5V), the master node reallocates its task to a node with sufficient power to ensure that the rescue is not interrupted.

[0081] Example 6 Machine vision and autonomous control systems Visual recognition module Algorithm optimization: Based on a lightweight YOLOv8s model (quantized and compressed using TensorRT, model size 5MB, inference latency ≤50ms), the following improvements are made for the marine environment: (1) Feature enhancement: The CBAM (Convolutional Block Attention Module) attention mechanism is introduced to enhance the feature extraction of human body contours and life jacket colors (orange and yellow) and suppress interference information such as waves and reflections.

[0082] (2) Jitter compensation: By integrating the Lucas-Kanade optical flow method, the pixel displacement of adjacent frames is calculated to compensate for the target offset caused by the turbulence of the waves (sub-pixel level accuracy), and the tracking stability is improved by 40%.

[0083] (3) Data augmentation: The training dataset contains 54,000 samples covering different scenarios (day / night / fog), clothing (life jacket / ordinary clothes), and posture (floating / struggling). The generalization ability of the model is improved by rotating (±30°), scaling (0.8-1.2 times), adding wave textures, etc.

[0084] Recognition performance:

[0085] Cluster collaborative control Master-slave node election: After the device is powered on, it sends a "handshake signal" (including device ID, power-on time, and battery level) through the wireless communication module (LoRa6100II). The first device to arrive at the accident point (determined by GPS coordinates) with a battery level ≥ 50% automatically becomes the master node. If the master node fails (e.g., communication interruption > 30 seconds), the remaining nodes will be re-elected (the one with the highest battery level will be elected).

[0086] Information fusion and decision-making: The master node aggregates the multi-machine recognition results and optimizes the target information according to the following rules: (1) If the same target is identified by ≥2 devices, the target is confirmed to be valid; (2) The target position is the average value of multiple measurements (the weighting coefficient is positively correlated with the positioning accuracy of the equipment). (3) Target priority: Automatically sorted according to the heart rate transmitted by the neck brace (<60 beats / min or >120 beats / min preferred) and drift status (speed >0.8m / s is considered as physical exhaustion).

[0087] Dynamic task adjustments: When the master node detects a new target or a target drifts out of its assigned sector, it will reassign the task within 10 seconds. For example, if slave node 002, which was originally responsible for sector 60-120°, drifts to 120-150°, the master node will instruct it to adjust its sector to 100-160° to ensure that the target remains within the coverage area.

Claims

1. A self-powered air-sea collaborative search and rescue robot system, characterized in that, The system comprises three parts: a deployment drone, a self-powered air-sea collaborative search and rescue robot, and a ground station system. The deployment drone is responsible for carrying and deploying search and rescue equipment, while also providing the entire system with approximate location data of the person in the water. The self-powered air-sea collaborative search and rescue robot has a built-in high-precision positioning chip (SR28UT), which can use its advanced camera to accurately identify the person in the water and autonomously approach them, then release an emergency rescue neck brace to provide necessary buoyancy support. The ground station system is responsible for sending the initial location information of the person in the water to the deployment drone and the search and rescue robot, and for monitoring the overall operation status of the system in real time and comprehensively.

2. The self-powered air-sea collaborative search and rescue robot system according to claim 1, characterized in that, The specific structure of the drone deployment is as follows: it includes a deployment module (1), which includes a shell (13). The upper part and the bottom of the shell (13) are respectively provided with an upper door (11) and a lower door (14). The top of the shell (13) is fixedly provided with a mounting plate (12) and a servo motor protective cover (18). The mounting plate (12) is used to mount the entire deployment module to the drone. The shell (13) forms a receiving cavity inside. The upper door (11) is located at the top opening of the shell (13), and the lower door (14) is located at the bottom opening of the shell (13). The drive servo motor (120) is installed in the servo motor protective cover (18). Its output shaft is connected to the drive spur gear (121). The drive spur gear (121) and the driven spur gear (120) are connected to each other. 9) Engagement: The driven spur gear (19) is fixed to one end of the servo linkage (15) via a connecting screw (17), and the other end of the servo linkage (15) is hinged to the lower hatch (14) via a thrust ball bearing (16); an electromagnetic lock pin (7) is provided in the cavity, and the self-powered air-sea collaborative search and rescue robot is released and constrained in the cavity by the electromagnetic lock pin (7); after the upper hatch (11) is opened, the robot is in the ready-to-deploy state; when deployed, the servo motor (120) is driven to open the lower hatch (14) via the driving spur gear (121), the driven spur gear (19) and the servo linkage (15), and at the same time the electromagnetic lock pin (7) is unlocked and the robot is released. The robot leaves the cabin by gravity and completes the air-to-water deployment.

3. The self-powered air-sea collaborative search and rescue robot system according to claim 2, characterized in that, The specific structure of the air-sea collaborative search and rescue robot is as follows: it includes an outer shell module (2), a foldable multi-source power supply module (3), a hand-cranked power generation module (4), an emergency rescue module (5), and a drive module (6); the outer shell module (2) includes a camera protective cover (21), a top cover (22), a motor protective shell (23), a base plate (24), and a foldable multi-source power supply module mounting plate (25); the foldable multi-source power supply module (3) is installed on the foldable multi-source power supply module mounting plate (25), and includes a multi-source power supply unit (31), a retractable rod (32), a far-end folding plate (33), and a near-end folding plate. The foldable multi-source power supply module (3) includes a plate (34), a folding drive motor (35), a folding drive motor mounting base (36), a small coupling (37), a small lead screw (38), a left motion link (39), a right motion link (310), an end limiter (311), a moving nut (312), and a mounting base (313). The foldable multi-source power supply module (3) is provided with several multi-source power supply units (31), which are divided into left and right groups. In each group, the multi-source power supply units (31) are connected end to end in sequence and connected in the middle by a retractable rod (32). The outermost side of each group is provided with a far-end folding plate (33), and the innermost side is provided with a near-end folding plate. (34); The folding drive motor (35) is mounted on the folding drive motor mounting base (36), and its output shaft is connected to the small lead screw (38) through a small coupling (37); The movable nut (312) is threaded onto the small lead screw (38), and the movable nut (312) is hinged to the proximal ends of the two retractable rods (32) through the left moving link (39) and the right moving link (310); The distal end of the retractable rod (32) is fixedly connected to the distal folding plate (33), and the proximal folding plate (34) is fixed on the mounting base (313); During operation, the folding drive motor (35) Drive the small lead screw (38) to rotate, which drives the moving nut (312) to move linearly along the small lead screw (38). The limiter (311) installed at the farthest end of the small lead screw (38) limits the farthest movement distance of the nut (312). The moving nut (312) pulls the proximal end of the retractable rod (32) through the left moving link (39) and the right moving link (310). Since the retractable rod (32) cannot be compressed or extended, it drives the far end folding plate (33) to move. With the fixed proximal folding plate (34), the W-shaped folding and unfolding of the multi-source power supply unit (31) is realized.

4. The self-powered air-sea collaborative search and rescue robot system according to claim 3, characterized in that, The hand-cranked emergency power generation mechanism includes two sets of hand-cranked power generation modules, symmetrically arranged on both sides of the mechanism. The transmission gear sets (47) of both sets of hand-cranked power generation modules are connected to the gearbox (48). The hand-cranked power generation module includes a rotating handwheel (41), a protective shell (42), an input bevel gear (46), a transmission gear set (47), and a gearbox input bevel gear (45). The protective shell (42) contains the transmission gear set (47). The rotating handwheel (41) is coaxially and fixedly connected to the input bevel gear (46). The input bevel gear (46) is connected to the transmission gear set (45). The gear set (47) meshes, and the transmission gear set (47) is connected to the gearbox input bevel gear (45) for transmission. The gearbox input bevel gear (45) is located at the input end of the gearbox (48), and the output end of the gearbox (48) is connected to the generator (49) for transmission. The housing (22) and the base plate (24) enclose and form an installation cavity. The internal isolation plate (43) is located in the installation cavity. The gearbox (48), generator (49) and transmission mechanism are located in the installation cavity. The emergency rescue light (44) is installed on the housing (22), and the generator (49) is electrically connected to the emergency rescue light (44). The protective shell (42) is a frame structure that protects the outer side of the rotating handwheel (41), input bevel gear (46) and transmission gear set (47). The gearbox (48) is a speed-increasing gearbox that increases the input speed of the generator (49) through multi-stage gear transmission. The base plate (24) and the internal isolation plate (43) work together to form a sealed cavity, which allows the mechanism to float on the water surface.

5. The self-powered air-sea collaborative search and rescue robot system according to claim 4, characterized in that, The emergency rescue module gearbox (48) has a transmission gear (55) at its output end; the emergency rescue module includes a compression emergency neck brace (51), a compression spring release link (52), a compression spring (53), and a spring seat (54); the compression emergency neck brace (51), compression spring (53), and spring seat (54) are installed in the mounting cavity formed by the upper cover (22) and the bottom plate (24), one end of the compression spring (53) abuts against the spring seat (54), and the other end is limited and in a compressed state by the compression spring release link (52); the transmission gear (55) is connected to the compression spring release link (52); the generator (49) and the gearbox (48) are connected to each other. The other output end of the generator (49) is connected to the emergency rescue light (44). When working, the person who has fallen into the water cranks the handwheel (41) by hand. The power is transmitted to the input bevel gear (45) of the gearbox through the input bevel gear (46) and the transmission gear set (47). After entering the gearbox (48), it is divided into two outputs. One output drives the compression spring release linkage (52) to rotate through the transmission gear (55), which releases the limit on the compression spring (53). The compression spring (53) extends and pops out the compression emergency neck brace (51). After the compression emergency neck brace (51) pops out, it inflates and unfolds to protect and rescue the neck of the person who has fallen into the water. The other output drives the generator (49) to generate electricity to power the emergency rescue light (44).

6. The self-powered air-sea collaborative search and rescue robot system according to claim 5, characterized in that, The multi-source power supply unit (31) includes a solar power panel (3101), a universal joint (3102), a middle friction plate (3103), and two side friction coatings (3104). The solar power panel (3101) is installed on the outside of the multi-source power supply unit (31). The middle friction plate (3103) is located inside the multi-source power supply unit (31) and has a gap with the two side friction coatings (3104). When exposed to sunlight, the solar power panel (3101) works. When exposed to ocean waves, the middle friction plate (3103) shakes inside the multi-source power supply unit (31) and generates electricity through friction with the two side friction coatings (3104). The multi-source power supply unit 31 is connected to one end of the telescopic rod (32) through the universal joint (3102). The other end of the telescopic rod (32) is fixedly connected to the far end folding plate (33).

7. The self-powered air-sea collaborative search and rescue robot system according to claim 6, characterized in that, The specific structure of the drive module (6) is as follows: it includes a power motor (63), which serves as the power source of the module and is fixed on the base plate (24) to provide rotational power for the propeller (61). The power motor mounting plate (62) is used to fix the power motor (63) and securely install the power motor (63) on the corresponding mounting position of the base plate (24) to ensure the coaxiality and stability of the motor during operation. One end of the power transmission shaft (64) is connected to the output shaft of the power motor (63), and the other end of the power transmission shaft (64) is connected to the propeller (61) to transmit the rotational power of the power motor (63) to the propeller. The propeller (61) power output terminal provides propulsion for the equipment by rotating and cutting water / air. It is the direct execution component for realizing movement. The upper cover (22) and the base plate (24) cooperate to form a semi-closed cavity.

8. The self-powered air-sea collaborative search and rescue robot system according to claim 7, characterized in that, The ground station system serves as the cluster networking adaptation center, integrating BeiDou short message receiving equipment and a wireless communication module. The BeiDou equipment is responsible for receiving precise location and equipment status data sent by a remotely powered air-sea collaborative search and rescue robot via satellite link; the wireless communication module is used for real-time data interaction between multiple machines within the cluster.

9. A multi-source fusion power supply method for a self-powered air-sea collaborative search and rescue robot system, characterized in that, The specific steps are as follows: Step 1: Receive alarm information and activate the emergency plan; Step 2: Assess resources. If resources are insufficient, allocate reinforcements. If resources are sufficient, issue dispatch instructions to air units and ground rescue teams. Step 3: The aerial unit quickly arrives at the target area and releases the rescue equipment; Step 4: The released intelligent devices autonomously form a network, collaboratively search for targets, identify and report target status; Step 5: Assess rescue priorities based on target status; Step 6: Perform rescue actions and continuously monitor the target's status; Step 7: Ground rescue team vehicles proceed to provide assistance and work in conjunction with intelligent equipment to complete the response; Step 8: Recycle and maintain the equipment; process complete.

10. The multi-source fusion power supply method for the self-powered air-sea collaborative search and rescue robot system according to claim 9, characterized in that, Step 5 is implemented in the following steps: Step 5.1, Master-Slave Node Election: After the device is powered on, it sends a "handshake signal" through the wireless communication module. The "handshake signal" includes the device ID, power-on time, and battery level. The first device to arrive at the accident site with a battery level of ≥50% automatically becomes the master node. If the master node fails, the remaining nodes will be re-elected, and the node with the highest power will be elected. Step 5.2, Information Fusion and Decision Making: The master node aggregates the multi-machine recognition results and optimizes the target information according to the following rules: (1) If the same target is identified by ≥2 devices, the target is confirmed to be valid; (2) The target location is the average value of measurements taken by multiple machines; (3) Target priority: Automatically sorted according to the heart rate transmitted by the neck brace: heart rate <60 beats / min or heart rate >120 beats / min is given priority; drifting status: speed >0.8m / s is considered as physical exhaustion; Step 5.3, Dynamic Task Adjustment: When the master node detects a new target or a target drifts out of its responsible sector, it completes task reassignment within 10 seconds.

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