812results about "Unmanned surface vessels" patented technology

A method for shoreline segmentation in complex environments based on the perspective of an unmanned surface vessel is provided. A visible light image, a thermal infrared image and a raw radar echo image of a shoreline are obtained. The visible light image and the thermal infrared image are subjected to fusion and feasible region segmentation to obtain an all-weather two-dimensional image information of the shoreline, and an echo image including tiny features is obtained based on the raw radar echo image. An extraction region is constrained and shoreline features are enhanced based on the all-weather two-dimensional image information and the echo image to obtain a multi-feature point cloud dataset for shoreline segmentation.

The invention discloses an intelligent water quality real-time monitoring and early warning unmanned ship and an unmanned ship system, and relates to the field of water quality monitoring and unmanned ships, and the unmanned ship adopts a modular structure and comprises a cabin which is internally provided with a GNSS module, a communication module and a main control module; the double ship bodies are fixed to the two sides of the cabin respectively, and lithium battery packs used for storing energy and supplying power are arranged in the two ship bodies; the top plate is fixed on the top surface of the cabin, and a GNSS antenna, an environment sensing module and a solar panel for converting solar energy into electric energy to assist power supply are arranged on the top plate; the two propellers are fixed to the two sides of the rear portion of the bottom of the cabin respectively and used for providing power for the unmanned ship. The lifting mechanism is arranged in the cabin, carries a water quality monitoring module and is used for driving the water quality monitoring module to ascend and descend. The system realizes the functions of water quality real-time monitoring, environment perception, automatic obstacle avoidance and the like, and has the advantages of modular design, high intelligent level and wide application scenarios.

The invention relates to the technical field of topographic survey, in particular to an overwater and underwater topographic survey method based on cooperation of an unmanned ship and an unmanned aerial vehicle. The method comprises the following steps: acquiring platform parameter data of an unmanned ship and an unmanned aerial vehicle; according to the platform parameter data, isomerization grouping based on the residual electric quantity, the communication signal strength, the cruising ability and the measurement precision is carried out, a collaborative formation scheme is determined according to a preset water area measurement task sequence, and collaborative parameter data is obtained; acquiring environment data of a measurement area; and performing regional division modeling based on water area topographic features and environmental complexity according to the environmental data of the measurement region, and applying the collaborative parameter data to a regional model to obtain a topological model of the measurement region. The unmanned ship is used as a mobile charging platform, real-time electric quantity monitoring and docking charging mechanisms are combined, the endurance guarantee of the unmanned aerial vehicle is realized through energy supply strategy optimization, and the continuity and stability of tasks are ensured.

The invention relates to the technical field of unmanned ships, and discloses an unmanned ship with a gravity center self-adaptive adjusting device, which comprises a supporting floating body, a gravity center self-adaptive adjusting device, a gravity center self-adaptive adjusting device and a gravity center self-adaptive adjusting device, the driving mechanism is used for providing necessary power for the catamaran; the cross beam mechanism is used for connecting and supporting the floating body and a main body of the ship. According to the unmanned ship with the gravity center self-adaptive adjusting device, the gravity center shifting mechanism is arranged, when the gravity center self-adaptive adjusting device detects that the operation environment of the unmanned ship is gentle, the bottom platform can descend through the telescopic cylinder, the bottom platform drives the vertical connecting plate and the middle floating body to move downwards, and therefore the area, making contact with water, of the middle floating body is increased; therefore, the wet surface area of the ship can be enlarged, frictional resistance can be fully reduced during high-speed operation, and when the gravity center self-adaptive adjusting device detects that the operation environment of the unmanned ship is severe, the battery can be driven to regulate and control the gravity center, the speed can be properly reduced, and operation safety is kept.

The invention provides a water surface target grabbing system and a control method thereof, and relates to the technical field of marine operation equipment. The system comprises an unmanned ship and a cooperative mechanical arm, the unmanned ship and the cooperative mechanical arm share a processor; the unmanned ship supplies power to the cooperative mechanical arm; the unmanned ship is positioned through an inertial navigation system on the unmanned ship and a scene camera and a depth camera on the cooperative mechanical arm; a scene camera, a depth camera and an integrated sensor on the cooperative mechanical arm transmit data to a processor on the unmanned ship through a local area network, the processor calculates and analyzes the data transmitted by the scene camera and the depth camera, and an action instruction is sent to the cooperative mechanical arm through a CAN bus. According to the water surface target grabbing system, automatic grabbing is achieved, and the grabbing precision, stability and adaptability of the system in the dynamic marine environment are improved.

The invention provides a water surface target automatic grabbing device and a control method thereof, and relates to the technical field of marine operation equipment. The device comprises a computing platform, a mechanical arm, a hook, a telescopic rod, a binocular camera, a depth camera, an inertial sensor and a self-stabilizing holder, the computing platform is fixedly mounted on the unmanned ship; the self-stabilizing holder is fixed on a deck of the unmanned ship; the mechanical arm is mounted above the self-stabilizing holder; the hook is mounted at a specified position on the unmanned ship; the telescopic rod is mounted at the tail end of the mechanical arm; the binocular camera and the depth camera are installed at preset positions of the tail end of the mechanical arm and connected with the computing platform through high-speed data transmission lines. The inertial sensor is installed in the mechanical arm and connected with the computing platform. According to the automatic grabbing device, the grabbing precision, stability and adaptability of the system in the dynamic marine environment are improved.

The present invention relates to semi-submersible vehicle useful in bad weather operation comprising: 1- Two buoyant tubes (2) with equipment for balancing ballast water and moving the vessel, including electronic equipment; 2 - Two solid ballast tubes (3), which are the heavy keel of the vehicle attached to each one of the hull (2), 3 - Horizontal and vertical interconnecting struts (5); 4 - Two payload capsules (1) which are detachable; 5 - Upper deck (6) including (A) navigation lights, (B) sensors, (C) floaters, (D) tanks vent heads and (E) engine intake and exhaust ports; and 6 - Small water plane area upper structure (4), linking the deck (6), buoyant tubes (2), transfer intake, exhaust (4A), and vent lines, as well as power and data lines.

A water surface cleaning apparatus, which includes: a housing including a front end located close to a traveling direction of the apparatus and a rear end far away from the traveling direction of the apparatus; a filtering unit detachably arranged in the housing and including a water inlet and a water outlet, for filtering water entering the filtering unit via the water inlet and discharging filtered water out of the filtering unit via the water outlet; a driving unit for driving the apparatus to travel on the water surface; waterflow channels are symmetrically arranged on both sides of a longitudinal axis between the front end and the rear end, and the driving unit can drive the apparatus to travel on the water surface by driving the waterflow passing through the waterflow channels; a direction of the waterflow path provided by the waterflow channel is inclined to the longitudinal axis.

A marine vessel includes a vessel steering system including a boat controller configured or programmed to include an automatic vessel steering mode and a manual vessel steering mode as vessel steering modes. When a password to release a locked state is input to a multifunction display in a locked state where the vessel steering mode is fixed in the automatic vessel steering mode, the boat controller is configured or programmed to shift the automatic vessel steering mode to the manual vessel steering mode.

The invention provides an ocean net cage unmanned ship intelligent inspection method based on a buoy network and TDoA positioning, and the method comprises the steps: constructing an intelligent buoy network in an ocean net cage culture area, and obtaining a refined grid map; performing global path planning by adopting an improved A * algorithm to generate a global reference path; the unmanned ship transmits a UWB signal to the navigation buoy, the current position of the unmanned ship is solved based on a TDoA principle and an LM algorithm, and a TDoA positioning result is obtained; the self-adaptive UKF is used for fusing the state information of the unmanned ship and the TDoA positioning result, and high-precision position estimation of the unmanned ship is obtained; and finally, the unmanned ship executes an autonomous inspection task according to the global reference path, and precise path tracking and calibration are realized by utilizing PID (Proportion Integration Differentiation) control. According to the invention, autonomous, safe and efficient inspection of the unmanned ship in a net cage dense area can be realized, the intelligent level of breeding management is improved, and the system is especially suitable for application scenes with high positioning precision requirements.

The invention relates to the technical field of unmanned ships, and discloses a novel wave-light complementary power generation-based multifunctional unmanned operation and maintenance ship, which comprises a ship body, an environment monitoring mechanism, an energy recovery mechanism, a full-rotation electric propulsion device, an unmanned aerial vehicle landing platform, an ROV automatic laying and recovery mechanism and an AUV automatic laying and recovery mechanism, the energy recovery mechanism comprises two clean energy power generation devices including wave energy power generation devices and solar power generation devices, the wave energy power generation devices are installed on the two sides of the ship body, the solar power generation devices are installed on a deck of the ship body, and clean energy is stored and redistributed through a storage battery in the cabin. An energy recovery mechanism of the device comprises wave energy power generation devices installed on the two sides of the ship body and a solar power generation device installed on the deck, comprehensive utilization of wave energy and solar energy can be achieved, the utilization rate of clean energy is increased, and the requirement for long endurance of the unmanned operation and maintenance ship is met.

The embodiment of the invention provides a salvage unmanned ship for water surface tiny foreign matter image recognition and an image capturing and processing method thereof, and belongs to the technical field of water surface cleaning and water quality monitoring. The salvage unmanned ship comprises a ship body; the image acquisition and processing module is used for capturing an image of the water surface and identifying tiny foreign matters through a target detection algorithm; the garbage collecting device is mounted on the ship body and can collect tiny foreign matters on the water surface according to an identification result so as to clean garbage floating on the water surface; wherein the target detection algorithm is a Cascade R-CNN target detection algorithm, and the Cascade R-CNN target detection algorithm is combined with a feature pyramid network to process a multi-scale target through feature extraction from bottom to top and feature fusion from top to bottom. The Cascade R-CNN target detection algorithm is combined with the feature pyramid network to effectively solve the problems of low water surface garbage cleaning efficiency, difficulty in small foreign matter detection and the like in the prior art.

The present disclosure discloses a method and system for formation control for an USV swarm via a CEDRL. The method includes: designing a desired formation pattern based on a formation hierarchical virtual leader strategy, establishing an USV desired location library, and assigning a location index to a desired location of each USV in a formation; updating the desired location of each USV and the corresponding location index via an USV formation local consensus strategy in a case where there is a risk of collision between USVs; and acquiring an actual geolocation of each USV in real time, and adopting a surface vessel control decision-making network to direct the USV toward a latest desired location. An autonomous collaborative formation of a large-scale USV swarm may be realized by the present disclosure.

A method and an unmanned aerial vehicle for identifying and remediating a gas leak. The method includes flying the unmanned aerial vehicle towards a possible location of the gas leak, then detecting a first condition indicative of the gas leak with a first sensor and sensing environmental conditions near the gas leak with an environmental sensor. The method includes receiving, by a controller, a signal representing the first condition indicative of the gas leak and a signal representing the environmental conditions. The method includes determining, based on the first condition indicative of the gas leak and the environmental conditions near the gas leak, a flight plan including an ignition zone. The method includes positioning, based on the flight plan, the unmanned aerial vehicle relative to the ignition zone and discharging, by an ignition mechanism, an ignition source into the gas leak to ignite the gas leak.

Disclosed is a water surface cleaning robot comprises: a main body having a cavity configured inside; a garbage bin configured at the cavity; at least one driving mechanism configured to drive the main body to move on the water surface; and an upper cover configured slidably at a top of the main body to slide between a closed position and an open position, so that the upper cover covers the cavity when the upper cover is in the closed position and the garbage bin becomes removable from the cavity when the upper cover is in the open position. the upper cover is slidably connected with the main body, and the opening and closing of the cavity are realized by sliding the upper cover, which not only facilitates the removement of the garbage bin, but also results in a small lever effect at the joint between the upper cover and the main body, so that accidental damage is not easy to occur, which is beneficial for extending the service life of the water surface cleaning robot.

The invention particularly relates to a solar charging type dock and an unmanned ship, and relates to the technical field of unmanned ships, the solar charging type dock comprises an unmanned ship body and an upper bin body arranged on the upper side of the unmanned ship body in a communicating mode, a charging socket is installed on the rear side of the unmanned ship body, and inner slopes are obliquely arranged on the left side and the right side of the bottom of the unmanned ship body correspondingly; a plurality of clamping grooves are formed in the middle of the inner inclined face, the lifting movable plate can be arranged in the unmanned ship body in a suspended mode according to the magnetic principle that under the condition that a lower electromagnet in the unmanned ship body is powered on, the same poles of the lower electromagnet and an upper floating magnet repel each other, and a space frame on the lifting movable plate is used for installing electric appliance accessories of the unmanned ship. The rubber floating air bag is fixedly arranged on the periphery of the lifting movable plate, the buoyancy of the lifting movable plate can be improved, when the water level of water entering the unmanned ship body is high, the rubber floating air bag enables the lifting movable plate to float, and the water level of the water entering the unmanned ship body is high. Therefore, the use effect is improved.

The invention discloses an unmanned ship for three-dimensional sonar scanning measurement of bridge scouring and underwater diseases and a measurement method of the unmanned ship. A measurement device comprises a ship body and sonar arranged on the ship body. The control assembly is installed on the central axis of the bottom of the ship body, the gyroscope is locked in the preset scanning direction of the sonar, and the inertial navigation system is used for recording ship traveling data of the ship body. The control assembly comprises a first holder for controlling the sonar to rotate in the ship traveling direction, a second holder for controlling the sonar to rotate in the direction perpendicular to the ship traveling direction, and a third holder for controlling the sonar to rotate in the direction perpendicular to the plane formed by the rotation directions of the first holder and the second holder. The sonar is regulated and controlled through the control assembly, so that the scanning measurement operation posture of the sonar is more flexible, meanwhile, the gyroscope and the inertial navigation system are used as the basis for regulating and controlling the posture of the sonar, the sonar can be adjusted to be in the preset scanning direction all the time, and the underwater structure of the bridge and the scoured terrain can be comprehensively covered.

An aquatic rescue vehicle formed by adding directional and speed controls to a watercraft along with an autonomous control system to guide the vehicle to specified waypoints is disclosed. The rescue vehicle includes search devices such as a radio direction finder (RDF) and an infrared sensor (or camera) to be used to narrow the search for an isolated person (IP). The rescue vehicle may be discharged from a larger watercraft or an airplane and autonomously set out on its rescue mission. The vehicle may first navigate to a designated waypoint near an IP, and then use signals gathered from the RDF and infrared sensor to finally locate, assist, and retrieve the IP. The vehicle also includes a self-righting mechanism so that the vehicle can complete its mission even under the most adverse conditions.

An underwater drift tracking system based on a marine positioning platform is disclosed. The underwater drift tracking system based on a marine positioning platform includes a plurality of underwater drifting objects that emit sonic signals including their own water depth information using sonic communication while drifting in the water, and a marine drift tracker that moves on the sea by its own power, receives the sonic signals emitted from the plurality of underwater drifting objects, and calculates absolute position information of the plurality of underwater drifting objects using the received sonic signals to track the real-time underwater positions of the underwater drifting objects.

A cage culture unmanned ship-borne unmanned aerial vehicle integrated inspection device disclosed by the present invention comprises an unmanned ship body, an inspection unmanned aerial vehicle, a docking platform, a battery replacement mechanism, a holding mechanism and a hatch cover component, a docking cabin is arranged in the unmanned ship body, the docking platform and the battery replacement mechanism are both arranged in the docking cabin, and the hatch cover component is arranged above the docking cabin. The battery replacing mechanism is arranged on one side of the docking platform, and the holding mechanisms are arranged on the two sides of the unmanned ship body. The parking platform is used for clamping and releasing the inspection unmanned aerial vehicle, and the battery replacement mechanism is used for implementing battery replacement operation on the inspection unmanned aerial vehicle; the enclasping mechanism is used for enclasping a handrail of the net cage to achieve parking. According to the invention, the water surface moving capability of the unmanned ship and the air flying capability of the inspection unmanned aerial vehicle are combined, all-directional inspection of a net cage culture area can be realized, and detection of environment data inside and outside the net cage is realized.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust. The system can be operated in reverse, to generate electric power when the system is in a flowing stream of thrust fluid.

The invention relates to the technical field of intelligent water area ecological management, and discloses an unmanned ship operation method cooperating with fish and bird identification and water ecology co-management, and the method comprises the following steps: S1, starting an unmanned ship, and completing the operation preparation; s2, acquiring real-time environment data including fish activity data in a water area, bird activity data and water body environment parameters; s3, analyzing the fish activity data and the bird activity data, and extracting population distribution, dynamic behaviors and activity rules of fishes and birds; s4, analyzing the environmental parameters of the water body; s5, analyzing a result based on the distribution characteristics of the fishes and the birds and the water quality; s6, executing an ecological restoration task according to the planned path; and S7, uploading the data after the task is completed to a cloud platform. According to the invention, the optimal operation path is generated through the path planning and scheduling module in combination with the real-time water quality data and the ecological demand, and the technical effect of efficiently scheduling the operation of the unmanned ship in the complex water area environment is achieved.

The present disclosure provides a cleaning device and a cleaning device system. The cleaning device includes a cleaning device body. The cleaning device body includes a filtering mechanism, a drive mechanism, an adjustment assembly, a moving assembly, and a propulsion assembly. The filtering mechanism is at least partially disposed inside the cleaning device body. The drive mechanism is configured to generate a suction force to drive liquid to flow through the at least one filtering mechanism. The adjustment assembly is configured to adjust an action force applied to the cleaning device in a first direction or a second direction, so that the cleaning device is switched between a first motion state and a third motion state. The moving assembly is disposed at the bottom of the cleaning device body and configured to drive the cleaning device to move on a to-be-cleaned surface. The propulsion assembly is configured to drive the cleaning device to move away from the to-be-cleaned surface. The cleaning device can be switched between the first motion state and the third motion state to perform underwater cleaning and water surface cleaning to meet different use requirements.

The invention relates to a multi-domain collaborative ocean emergency rescue method, which solves the technical problems of short endurance, small operation range and low recognition accuracy of persons in distress when an unmanned aerial vehicle or an unmanned ship or an underwater robot is adopted to carry out a search and rescue task in the prior art, and combines the unmanned aerial vehicle, the unmanned ship and the underwater robot for mutual cooperation. The unmanned aerial vehicle carries out investigation traversal in the air to find a search and rescue target, the unmanned aerial vehicle gets close to the search and rescue target and sends the position information of the target to the control center, the unmanned ship sails to the position of the target, the at least two underwater robots are transferred along with the unmanned ship, and the unmanned ship controls the at least two underwater robots to work cooperatively. The method can be widely applied to deep ocean emergency rescue, and an'air-sea-submerged 'multi-domain cooperative new normal form is formed.

The invention relates to the technical field of surveying and mapping, in particular to an obstacle crossing type unmanned surveying and mapping ship which comprises a surveying and mapping ship body, a mounting shell is mounted on the rear side of the bottom of the surveying and mapping ship body, and a ship body propeller is mounted in the mounting shell. During application, the obstacle crossing ability and navigation stability of the unmanned surveying and mapping ship can be optimized through cooperation of the turnover mechanism and the power mechanism, during use, a double-shaft motor is started, a lead screw drives an inner movable block to enable an inner bearing sliding ring, a driving motor and a cross to move inwards, a hinge seat and an obstacle crossing plate are pulled, and the obstacle crossing plate rotates in a hinge groove after making contact with the inner wall; when obstacle crossing is needed, a double-shaft motor is started to enable an obstacle crossing plate to move outwards, then a driving motor is started, the unfolded long obstacle crossing plate is used for pressing down an obstacle to assist a ship to cross over, the obstacle crossing plate can serve as a tire on the ground, and when the obstacle crossing plate is not used, the obstacle crossing plate can be automatically stored, and navigation surveying and mapping stability is guaranteed.

Portable, low cost, high speed surface and subsurface vehicles for aquatic data collection, payload delivery, or water quality monitoring. The vehicles can be deployed in pods enable rapid large scale data collection across a wide area. The vehicles are capable of transiting the water surface at speeds of over ten knots, and can also be propelled under the water surface and dive vertically to the floor of the water body. A passive, non-powered internal weight transfer system enhances the vehicle's performance in each of its transit modes. The vehicles can have one or more of the following features: high speed stabilizing wings, a tool-less assembly system, sacrificial standoffs for vertical dives, sacrificial protectors for the control surfaces, and / or a universal mounting system for attaching payloads such as sensors.

A system for operating a plurality of autonomous vessels (101). A communication interface (108) enables communication between a remote control center (110) and each of the autonomous vessels (101). A fleet coordination layer (201) implemented in the remote control center (110) collects information regarding the operation of the autonomous vessels (101), performs risk assessments, and issues operational mode transition commands to the autonomous vessels (101) as needed. A vessel coordination layer (202) implemented on the autonomous vessels (101) controls the transitions between operational modes of the autonomous vessels (101). A vessel execution layer (203) implemented on the autonomous vessels (101) includes sensors (301), a perception, planning, and execution module (302), and actuators (303) that are used to control the movement of the autonomous vessels (101) according to a mission description, received sensor data, and operational mode commands from an operational mode management module (402). Corresponding methods are also disclosed.