1377results about "Navigational aid arrangements" patented technology

The present disclosure relates to a method and an apparatus of generating a surround view monitoring (SVM) image. The method includes: obtaining installation information of an actual camera installed on a ship; setting a virtual camera to orient toward a ground plane perpendicularly within a world coordinate system; calculating a conversion relationship between the virtual camera and the actual camera, based on the installation information of the actual camera; generating the SVM image based on the calculated conversion relationship; and controlling the ship based on the generated SVM image.

A navigation route planning apparatus includes processing circuitry configured to receive a planned route indicating a route and a current course direction of a movable body, receive movable body information that includes a position, a travelling direction, and a speed of the own ship, receive obstacle information that includes a position, a traveling direction, and a speed of an obstacle, determine a collision risk value associated with the planned route along the current course direction based on the movable body information and the obstacle information, and determine whether the movable body requires to at least one of evade the planned route and continue traversing on the planned route based on the collision risk value.

A Ship Movement-Sharing Navigation Support System is provided based on IoT or AI by using inexpensive and easy-to-carry user terminals such as smartphones or tablets. A method for navigating a ship comprises receiving a position information transmitted from a user terminal used in a user terminal-equipped ship via a mobile telephone network; receiving a position information via an AIS system transmitted via a VHF radio from an AIS device-equipped ship; and displaying icons of the user terminal-equipped ship and the AIS device-equipped ship on a nautical chart or radar display of the user terminal. In addition, the method comprises calculating a predicted moving route of the user terminal-equipped ship and the AIS device-equipped ship based on the information received from the user terminal and the AIS device and preventing a collision by displaying a caution or warning alert in a case there is a possibility of collision.

A sensor calibration system (5) for watercraft (1), comprising: a primary environment sensor (6. 7) configured to detect an external object including a region of the watercraft and a distance to the external object, and mounted to a part of the watercraft; and a processor (11) for processing an output of the environment sensor, wherein the processor is configured to identify a bow of the watercraft from the output of the primary environment sensor, and calibrate a position and an orientation of the primary environment sensor relative to the bow.

A hull motion control unit performs steering for a pinwheeling swing such that a bow distance and a stern distance that are measured by a quay separation distance measuring device are made equal to each other and the fore-and-aft direction of a ship is parallel to a target quay, and then the ship is caused to laterally approach and dock in the target quay while keeping the parallel state.

The invention relates to the field of intelligent propulsion for ship main propulsion manipulators, in particular to an intelligent propulsion system for a ship main propulsion manipulator, which comprises a safety login module, a power supply module, a data acquisition module, an intelligent propulsion analysis module, an intelligent control module and a remote monitoring module, the intelligent propulsion analysis module carries out analysis according to received ship cargo weight parameter and wind speed parameter information, the power supply module dynamically adjusts power distribution according to load changes and propulsion requirements of connected ships, and the intelligent control module adjusts and controls engine output power of the ships according to received signals. The invention aims to improve the energy efficiency, enhance the ship performance and improve the safety through accurate control and dynamic adjustment, and remarkable efficiency is brought to ship operation.

The controller 13 of the information processing device 1A functions as the acquisition unit, the cluster generation unit, and the ship direction estimation unit. The acquisition unit is configured to acquire measurement data which is a set of data representing a plurality of measured points measured by a measurement device. The cluster generation unit is configured to generate, based on normal lines of the measured points of a ship, one or more clusters of the measured points of the ship. The ship direction estimation unit is configured to estimate a direction of the ship based on a first cluster which is a cluster having a largest number of the measured points of the ship.

The invention provides a multi-sensor self-adaptive anti-collision method and device based on deep learning and a medium, and relates to the field of ship anti-collision, and the method comprises the steps: obtaining the ship position of a target ship and multi-class obstacle data; a self-attention mechanism is adopted, data fusion is carried out on the multiple pieces of obstacle data, and a fusion feature vector is obtained; processing the fusion feature vector by adopting YOLOv5, and determining a bounding box of the obstacle, a bounding box position corresponding to the bounding box and a bounding box speed; the bounding box position and the bounding box speed are processed through a convolutional neural network, and future trajectory data of the obstacle and the collision probability of the obstacle and the target ship are obtained; and determining the course and speed of the target ship based on the future trajectory data, the ship position and the collision probability. According to the invention, through fusion of multiple sensors and application of a deep learning algorithm, high-precision collision prediction and risk assessment can be realized under complex sea conditions and low visibility.

The information processing device includes an acquisition means, a cluster generation means and a straight line generation means. The acquisition means acquires measurement data which is a set of data representing a plurality of measured points of a berthing place measured by a measurement device provided on a ship. The cluster generation means generates one or more clusters obtained by dividing the plurality of measured points by clustering. The straight line generation means configured to generate a straight line along the berthing place of the ship, based on the one or more clusters.

The invention provides a hydrometeorological unmanned ship based on a visual inertia laser radar and an SLAM navigation method thereof.The unmanned ship comprises a ship protection cover, a ship shell, the laser radar, a depth camera, an IMU module, an intelligent development board and the like, and the laser radar, the depth camera and the IMU module are connected with the intelligent development board; the unmanned ship further comprises a Beidou positioning module, a sensor module, an STM32 driving board, a brushless motor driving module and an electronic speed regulator, the unmanned ship can achieve precise positioning and path planning of a ship body, environment monitoring and sampling and has the functions of automatic cruise, obstacle avoidance and the like, laser radar information and binocular vision IMU attitude estimation are fused through tight coupling, and the navigation precision is improved. According to the SLAM front-end attitude estimator, a VILO front-end attitude estimator is formed, and laser radar observation is added to further limit the attitude, so that the accuracy and robustness of the SLAM front-end attitude estimator in indoor and outdoor environments are improved.

A method and system for calibrating a camera which is arranged on an ego vessel are disclosed. The method comprises receiving image data captured by the camera, the image showing at least one imaged solid object and at least one imaged solid object interface between the imaged solid object and the imaged sky, or between the imaged solid object and an imaged water surface of a waterbody. The method further comprises extracting the imaged solid object interface from the image and determining a pose of the ego vessel at the time at which the image is captured. The method additionally comprises extracting a real solid object interface from received reference data. Furthermore, the method comprises determining a difference between the extracted imaged solid object interface and the extracted real solid object interface, and determining calibration values for the camera depending on the difference such that the difference is reduced.

The controller 13 of the information processing device 11 includes at least an acquisition unit, a straight line calculation unit, and a distance calculation unit. The acquisition unit is configured to acquire measurement data, which is a set of data representing a plurality of measured points measured by a measurement device provided in a ship. The straight line calculation unit is configured to calculate, based on the measurement data, a straight line along a berthing place where the ship is berthed. The distance calculation unit is configured to calculate the distance between the ship and the berthing place based on the distance between the straight line and each of the measured points.

A navigation planning system (1) is provided. The system configured to acquire a planned route indicating a navigation planning route of a movable body (200) on a water, acquire movable body information including a position, a moving direction, and a speed of the movable body, and acquire obstacle information including a position, a moving direction, and a speed of a plurality of obstacles located in a surrounding area of the movable body (200). Further, the system calculates a collision risk value indicating a risk level of collision between the movable body and an obstacle from the plurality of obstacles based on the movable body information and the obstacle information, and determines a necessity of evasion based on comparing the collision risk value with a threshold value. Finally, the system is configured to set an evasion route different from the planned route when the necessity of the evasion is determined.

The present disclosure provides a ship monitoring system capable of visualizing a risk of a collision or an approach in a width direction perpendicular to a heading of another ship. The ship monitoring system includes a first data generator, a second data generator, and processing circuitry. The first data generator generates first ship data indicative of a position and a velocity of a first ship. The second data generator generates second ship data indicative of a position and a velocity of a second ship. The processing circuitry specifies a risk range where a risk value indicative of a risk of a collision between the first ship and the second ship is above a threshold among an estimated course of the second ship, based on a position of the first ship and a position of the second ship at each timing, that are estimated from the first ship data and the second ship data, when assuming that the first ship changes a course to an arbitrary direction and crosses the estimated course of the second ship. The processing circuitry further display a polygonal OZT (Obstacle Zone by Target) having vertexes at least comprised of a rear end and a front end of the risk range, and a representative point of the first ship located at a position corresponding to the rear end of the risk range.

The invention provides an intelligent river water quality monitoring system based on a remote sensing technology, belongs to the technical field of river monitoring, and solves the technical problem that the current intelligent river water quality monitoring cannot realize full-space-time river water quality monitoring from large scale to microcosmic scale and point-surface combination. A river water quality intelligent monitoring system based on a remote sensing technology comprises a satellite remote sensing module, an unmanned aerial vehicle remote sensing module, a high-altitude holder module and a ground water quality detection module. According to the invention, through the arrangement of the satellite remote sensing module, the unmanned aerial vehicle remote sensing module, the high-altitude holder module and the ground water quality detection module, the air-space-tower-ground multi-source cooperative monitoring of the river water quality is realized, and under the action of the fixed-ship flow measurement assembly of the unmanned ship, moving and fixed-point monitoring can be carried out in the river; and meanwhile, satellite remote sensing and an unmanned aerial vehicle are utilized, and agricultural non-point source pollution satellite remote sensing and ground automatic monitoring advanced mature technologies are integrated, so that water quality monitoring is changed from large-scale monitoring to microscopic detection.

Disclosed is an intelligent ship navigation path generation method based on visual and spatial semantic enhancement for an aid to navigation, including: identifying the aid to navigation around a ship and determining a current position of the ship; obtaining a navigable area of the ship based on semantic information of the aid to navigation; removing portions that overlap with high risk areas from the navigable area; selecting a next position of the ship from the navigable area; and repeating the above steps to make real-time corrections to the ship's navigation path.

When using a drone to monitor or survey an object on the water, the position of the object can be determined more accurately, or the object can be analyzed more accurately. [Solution] The present invention is an information control system comprising a group of moving bodies consisting of multiple moving bodies equipped with measurement sensors capable of acquiring measurement data measuring an object when at least a portion of it is above water, a moving body operation control unit that controls the operation of the moving bodies, a measurement data acquisition unit that acquires first measurement data measured of the object from a first position by at least one of the moving bodies in the group of moving bodies and second measurement data measured of the object from a second position by the moving body or another moving body, an object position determination unit that determines position information of the object based on the first measurement data and the second measurement data, or determines the validity of the determined position information, and an information output unit that displays or transmits to the outside the position information of the object determined by the object position determination unit.

A method of calculating a collision risk of a ship according to an embodiment of the present disclosure may include: calculating an available velocity area based on maneuvering performance of a host ship; calculating a velocity obstacle area where there is a possibility of collision between an object and the host ship; and calculating a collision risk based on at least one of the available velocity area, the velocity obstacle area, and a preset weight.

The invention relates to the technical field of ship navigation and data safety, solves the technical problem that an existing ship data safety guarantee system has defects in the aspects of data trust evaluation and data correction, and particularly relates to a safety guarantee method for credible interaction of inland ship shore-based driving control data under a zero-trust architecture. Comprising the following steps: standardizing operation data to obtain ship sensing data and shore-based data with the same dimension; based on an evidence theory, taking the ship sensing data and the shore-based data as independent evidence sources to perform fusion processing so as to obtain a trust evaluation result for quantitatively representing data credibility; and performing consistency correction on the ship sensing data and the shore-based data based on a least square method. According to the method, scientific and rigorous trust evaluation is realized, mathematical optimality of data fusion is guaranteed, and long-term reliability is ensured. Meanwhile, the credibility and the weight are directly associated with the equipment precision and historical data, so that an operator can flexibly adjust the system to adapt to different equipment.

A marine navigation system for a marine vessel includes a positioning unit configured to detect a position of the marine vessel, a nautical chart database, a display being configured to present a view of a nautical chart information and a position of the marine vessel on the nautical chart, and a short range distance sensor module arranged on the marine vessel. The short range distance sensor module provides scanned data of a surrounding environment of the marine vessel. A control unit is operatively connected with the short range distance sensor module, the positioning unit, the nautical chart database and the display. The control unit processes the scanned data to provide a scanned view of the surrounding environment. The control unit is configured to present an augmented view of the nautical chart and scanned data on the display, and to indicate portions of the scanned data which does not match the nautical chart information in the augmented view.

Techniques are disclosed for systems and methods to provide graphical user interfaces for assisted and / or autonomous navigation for mobile structures. A navigation assist system includes a user interface for a mobile structure comprising a display and a logic device configured to communicate with the user interface and render a docking user interface on the display. The logic device is configured to monitor control signals for a navigation control system for the mobile structure and render the docking user interface based, at least in part, on the monitored control signals. The docking user interface includes a maneuvering guide with a mobile structure perimeter indicator, an obstruction map, and a translational thrust indicator configured to indicate a translational maneuvering thrust magnitude and direction relative to an orientation of the mobile structure perimeter indicator.

Systems and method for providing navigational control of a watercraft are provided herein. The system comprises a display, processor and memory. The memory including computer program code is configured to cause presentation of a chart on the display including at least a portion of the body of water. The system further receives user input indicating initiation of a drift protocol, including indication of a boundary area for which the watercraft will drift through, and causes presentation of the boundary area on the chart. The system determines an instance when the watercraft drifts outside of the boundary area and provides an alert when the watercraft exits or nears the boundary area. The system determines a starting position corresponding to the boundary area and engages an autopilot to cause the watercraft to navigate to the starting position or provides instructions to enable the user to navigate the watercraft to the starting position.

It provides the following solutions: the system includes subsystems such as an integrated management and evaluation subsystem, and constructs a ship six-degree-of-freedom motion model. A thrust calculation model is built for the problem of propeller thrust affected by broken ice during the propulsion process. By treating broken ice as independent moving objects, the motion of broken ice is solved to obtain the relative motion speed between the ship and broken ice. The influence of broken ice on propeller performance is considered by incorporating the relative speed between the ship and broken ice into the propeller modeling process, which acts on the aforementioned model. The annular crack method is used to determine the breaking shape of level ice, and the generated broken ice is close to real-world conditions.

A multi-power-source vehicle control system comprises: a first power control device configured with one or more power management components, each for generating a corresponding power control signal; a plurality of control units, one of the plurality of control units being connected to the first power control device, the connection among the plurality of control units being configurable to enable a plurality of driving devices to work cooperatively or independently, and each of the plurality of control units being configured to analyze a corresponding power control signal; a plurality of power controllers being correspondingly connected with the plurality of control units and used for outputting drive signals to the corresponding power devices according to the power control signals analyzed by the corresponding control units.

The controller 13 of the information processing device 1 functions as an acquisition unit, an extraction unit, and a straight line calculation unit. The acquisition unit acquires point cloud data, which is a set of data generated by a lidar 3 provided in a target ship, identified by a pair of a horizontal number being an index representing a position in a horizontal direction, and a vertical number being an index representing a position in a vertical direction. The extraction unit extracts, for each horizontal number, i.e., for each vertical line, the data representing a nearest neighbor point nearest to the target ship among data representing measured points of a berthing place. The straight line calculation unit calculates a berthing side straight line Ls alongside the berthing place, based on a neighbor point set, which is a set of data representing the nearest neighbor point.

Methods of situationally controlling marine devices connected via a one boat network on a watercraft are presented. The marine devices are selected from fishfinders or other OBN devices, trolling motors, heading sensors, main propulsion engine, i-Pilot Link, shallow water anchors, AIS / MARPA, smart chargers or power monitors, downriggers, trim tabs, drift paddles, lighting, sonar and imaging transducers, chart plotters, foot pedals, handheld remote controls, and mobile marine apps. The method includes the steps of identifying at least one situational condition of at least one first marine device, identifying at least one second marine device, and triggering a situational control action for the at least one second marine device when the at least one situational condition for the at least one first marine device is met. The methods include situationally controlling a speed of a trolling motor and anchoring of the watercraft, as well as providing advanced power management thereon.

Unlocking insights from Geo-Data, the present invention relates to improvements in sustainability and environmental developments: together we create a safe and livable world. Described are systems and techniques for high-speed multibeam echosounder (MBES) surveying using a gondola attached to a semi-displacement or planing hull vessel. A housing encloses a multi-head MBES transducer array, with a nose fairing extending from a maximum width of the housing and a tail fairing extending from a minimum width of the housing. A hydrofoil strut segment has first and second hydrofoil surfaces orthogonal to the housing, and includes at a first distal end a coupling for flush attachment to an upper surface of the housing and at a second distal end a coupler portion for attachment to the semi-displacement or planing hull vessel. The first and second hydrofoil surfaces can generate opposing hydrodynamic forces during high-speed MBES surveying by the semi-displacement or planing hull vessel.

A method for a collision avoidance system of a host marine vessel, and to updating vessel classifications and navigational statuses of marine vessels.

The invention relates to an underwater special operation robot and a butt joint method thereof.The underwater special operation robot body comprises a main buoyancy shell, a body main support, an umbilical cable, a power propelling system, a combined navigation system, a lamplight camera system, a capturing and locking device and a wet plugging device; the power propulsion system is used for driving the underwater special operation robot body to move; the combined navigation system is used for accurately positioning and navigating the underwater special operation robot; the light camera system is used for identifying and extracting an unmanned underwater vehicle AUV end docking device; the capturing and locking device is used for being connected with an unmanned underwater vehicle (AUV) end docking device in a locking mode. After the underwater special operation robot is in butt joint with the unmanned underwater vehicle AUV, energy supply and information transmission are completed, so that the unmanned underwater vehicle AUV can continuously perform underwater operation, low operation efficiency caused by frequent floating is avoided, and meanwhile, the safety risk possibly occurring in the process of recycling the unmanned underwater vehicle AUV is also reduced.

The controller 13 of the information processing device 11 includes at least an acquisition unit, a straight line calculation unit, and a distance calculation unit. The acquisition unit is configured to acquire measurement data, which is a set of data representing a plurality of measured points measured by a measurement device provided in a ship. The straight line calculation unit is configured to calculate, based on the measurement data, a straight line along a berthing place where the ship is berthed. The distance calculation unit is configured to calculate the distance between the ship and the berthing place based on the distance between the straight line and each of the measured points.