1023results about "Navigational aid arrangements" patented technology

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.

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 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.

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.

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.

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.

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.

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.

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.

A system and method for enhancing marine vessel efficiency through integrated hull optimizations is disclosed. The system includes automated bow thruster covers that reduce hull drag and condition water flow, coupled with strategically positioned air lubrication nozzles that create and maintain an air layer under the vessel. The bow thruster covers may be configured as circular doors or parallel panels, optionally incorporating air discharge ports or working in conjunction with dedicated air jets. An intelligent control system optimizes the integrated components using real-time sensor data and computational fluid dynamic analysis. The system modulates air distribution and cover positions based on sea conditions and vessel speed, maintaining optimal efficiency during operation. External surfaces may incorporate superaerophilic structures to enhance air retention and reduce drag. The comprehensive integration of these components provides improved hydrodynamic efficiency while maintaining full bow thruster functionality when required.

The invention discloses a water robot which comprises a maneuvering body, a power propelling device and an operation function mechanism. The maneuvering main body can float on the water, the maneuvering main body is provided with weight loads which are arranged on the same plane and are distributed in a triangular mode, and the connecting position or the acting point between the operation function mechanism and the maneuvering main body is close to the gravity center position of the weight loads which are distributed in the triangular mode of the maneuvering main body. The problem of inclination or overturning caused by unbalanced stress can be avoided when the water robot executes working conditions such as dragging operation, grabbing operation or fish luring operation, good balance and stability are kept, and it is guaranteed that the operation process is smooth and reliable; more importantly, the operation function mechanism is at least one or a combination of multiple of a dragging device, a grabbing device and a fish luring device, so that the maneuvering main body can select, match and expand the operation function mechanism according to different application scenes, and therefore, the robot further has the characteristics of function expandability and flexibility.

Techniques are disclosed for systems and methods to provide navigation control and / or docking assist for mobile structures. A navigation control system includes a logic device, one or more sensors, one or more actuators / controllers, and modules to interface with users, sensors, actuators, and / or other modules of a mobile structure. The logic device is configured to receive navigation control parameters from a user interface for the mobile structure and perimeter sensor data from a perimeter ranging system mounted to the mobile structure. The logic device determines navigation control signals based on the navigation control parameters and perimeter sensor data and provides the navigation control signals to a navigation control system for the mobile structure. Control signals may be displayed to a user and / or used to adjust a steering actuator, a propulsion system thrust, and / or other operational systems of the mobile structure.

The invention relates to a system architecture for high-precision situation awareness of an unmanned ship. Three detection combinations of a Ku wave band detection radar, a laser radar and a visible light / infrared camera are used for covering all-weather detection data requirements under different distance ranges and environment conditions. The data fusion and monitoring system receives detection data and longitude and latitude, speed and vertical and horizontal shaking data of a ship transmitted by an external satellite compass in real time, time synchronization is carried out by using timestamps of the satellite compass, and space alignment is completed by calibrating installation positions of different detection loads. According to detection ranges, environmental adaptability and action characteristics of different detection loads, two or three kinds of detection combination data are subjected to data fusion regionally, a high-precision and multi-source complementary sensor system architecture is used for achieving high-precision situation awareness of the periphery of the unmanned ship in a complex environment, and support is provided for a collision avoidance algorithm of follow-up unmanned navigation; a data fusion algorithm is used to eliminate redundancy and contradiction possibly existing among multi-sensor information, and the uncertainty is reduced.

The invention discloses an automatic depth measuring device for an unmanned ship, and the device comprises a telescopic support structure which comprises a pipe fitting and an external member, the pipe fitting is led out from a ship board of the ship and extends downwards, the telescopic support structure is slidably inserted into a pressure regulating cavity of the external member in a sealed manner, an overflowing hole communicated with the pressure regulating cavity is formed in the telescopic support structure, and gas for pressure regulation is injected into the overflowing hole of the pressure regulating cavity; the angle adjusting mechanism comprises an outer frame and a rotating seat, the outer frame is positioned at the lower end of the sleeve piece, the spherical rotating seat is rotatably arranged in a spherical cavity of the outer frame in a sealed mode, a partition plate is arranged in the outer frame and divides the spherical cavity into two independent cavities, the outer frame is provided with a connector, and an inner cavity of the connector is communicated with the independent cavities; the connector is in butt joint with a ship through a connecting pipe, and gas for pressure regulation is injected into the independent cavity. And the depth finder is positioned on the rotating seat. Compared with the prior art, the unmanned ship depth measuring device can solve the problems that when an existing unmanned ship depth measuring device is used, the depth measuring result precision and the depth measuring stability are insufficient, and the obstacle avoidance function is not achieved.

According to the present invention, a communication environment with an external communication device or an Internet line is provided to an underwater device existing in an underwater area, and position information or information used for calculating position information is provided to an underwater object. 【Solution means】In a communication system, a general control system includes a system information acquisition unit that acquires information regarding an underwater communication system that provides an environment capable of communicating with an Internet line or the like to an underwater object existing in water, at least one unmanned boat that is capable of navigating on the water and is provided with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system, a communication path determination unit that determines a relay communication path of a communication line for relaying the underwater object to the Internet line using the unmanned boat and the underwater communication system based on the information acquired by the system information acquisition unit, and an unmanned boat control command determination unit that determines a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path.

The navigation assist system is provided with: a movable body data interface configured to acquire movable body data including position and speed of a movable body moving on water; a target data interface configured to acquire target data including the position and the speed of a plurality of targets existing respectively around the movable body; an avoidance target selector configured to select one or the plurality of targets having collision risks of colliding with the movable body; and an evasion route generator configured to generate an evasion route of the movable body based on the selected targets.

The invention provides an unmanned ship grabbing and positioning system based on multi-body configuration design, and belongs to the technical field of unmanned ships, the unmanned ship grabbing and positioning system comprises a multi-body ship body, a machine vision module, a positioning calculation unit, a stable platform, a grabbing device and a control module, the multi-body ship body is composed of a double-hull structure or a three-hull structure; the machine vision module is used for identifying a target object and acquiring visual information of the target object; the positioning calculation unit is connected with the machine vision module and is used for calculating spatial position coordinates of the target object according to the acquired vision information; the stable platform is arranged on the multi-hull ship body; the grabbing device is installed on the stable platform and used for grabbing the target object according to the coordinates calculated by the positioning calculation unit. The robot has the comprehensive advantages of being high in environmental adaptability, high in positioning precision, flexible in operation, good in controllability, high in maintainability and the like, and can efficiently cope with target object grabbing operation in the complex water environment.

The invention relates to a shipborne weather radar integrated platform and an installation method, and belongs to the technical field of shipborne radars. A radar system is disassembled into a platform unit, a power cabinet unit and a display control terminal unit through a separated layout; wherein the platform unit adopts a heightened cylinder structure to support a ball cover and an internal phased array antenna, and is combined with a two-degree-of-freedom stable platform to compensate the shaking of a ship body in real time; the power cabinet sinks to a middle-layer deck cabin; the display control terminal is arranged in front of a forecastle deck central control room; in addition, aiming at a closed ball cover environment, an air conditioner internal unit is arranged in a direct blowing device in the cover, an external unit is moved to a lower deck, and accurate temperature and humidity control is realized by matching with a dehumidifier and double-path condensate water discharge. According to the invention, while the radar performance is satisfied, the light weight of the upper part, the system reliability and the maintenance convenience are realized.

A navigation assistance system using a plurality of sensors according to an aspect of the present disclosure includes a display configured to provide a monitoring image, a sensor unit including at least one sensor, a memory in which at least one program is stored, and at least one processor configured to execute the at least one program, wherein the at least one processor obtains image frame information of an object using a first sensor, calculates information about the object using a second sensor, calculates a risk of collision between a host ship and the object by fusing the image frame information of the object and the information about the object, and determines an avoidance path based on the calculated collision risk.

The invention provides an offshore platform positioning method fusing local positioning and global positioning. The method comprises the following steps: acquiring absolute position information and attitude information of a ship under a geodetic coordinate system through a global positioning module deployed on the ship; the relative position and deflection angle data between the ship and the target platform are measured through a laser distance measuring sensor and a microwave distance measuring sensor which are arranged on the ship; a relative position transfer algorithm is adopted to convert the absolute position information, the relative position and the deflection angle data to a local coordinate system with the target platform as the center; performing data fusion on the global positioning data and the local positioning data acquired by different sensors by adopting a dynamic fusion algorithm based on confidence measurement to generate high-precision ship position information and ship attitude information; multi-ship data are synchronized through wireless networking, and ship position information and ship attitude information of multiple ships are synchronously sent to a display interface, so that accurate positioning of the ships and a target platform is realized.

An information processing apparatus for a sailboat, comprises an input section 11 configured to receive input from a user. A control section is configured to perform several functions including at least a first function for generating first navigation information. An output section is configured to output the navigation information 13 generated by the control section, wherein the control section is configured to disable the first function for at least a first period of time in response to a first input received by the input section and subsequently to prevent the first function from being enabled during at least the first period of time. The system is intended to selectively enable or disable a navigational instrument to ensure that competitive sailboat racing rules are met.

A smartphone marine vessel location system utilizes global positioning to determine the location and trajectory of marine vessels. When two marine vessels have a trajectory that will bring the vessels within a warning zone a trajectory alert is activated and when the two vessels enter into a warning zone, a collision warning is activated. An App on the smartphones may produce a display showing the location of the marine vessels and may produce the alerts when required. The smartphone may also communicate with other navigational system on the marine vessel to produce a display and alerts, such as through Bluetooth. The location of marine vessels may be acquired through the App, through a crowd-sourcing application, and / or through a carrier sourced location.

The invention relates to an intelligent ship water diversion method and system based on RTK and inertial navigation fusion, and the method comprises the steps: firstly, deploying and calibrating an RTK base station at a wharf commanding height, generating a differential correction in real time, and broadcasting the differential correction to a shipborne end; utilizing RTK surveying and mapping equipment to collect shoreline feature points, adopting a cubic spline interpolation algorithm to construct a continuous and smooth three-dimensional shoreline curve model, and fusing wharf geographic information to generate a shoreline visual map with geographic coordinates; establishing a ship coordinate system, converting inertial navigation attitude data into the coordinate system through a rotation matrix and a translation vector, fusing the inertial navigation attitude data with RTK position data, and outputting a high-precision ship pose; fusion data are transmitted through a 5G network, a shore end converts the fusion data into a local plane coordinate system and generates a real-time dynamic visual interface, the real-time dynamic visual interface is pushed to a tug terminal through an RTSP protocol, water diversion operation is assisted, high-precision perception, visual guidance and shore ship cooperation of the ship berthing process are achieved, and the water diversion safety and the intelligent level are improved.