236results about "Unmanned surface vessels" patented technology

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.

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.

This application relates to the technical field of fully automated water surface robots, and provides a performance unmanned boat, including a hull; a mounting frame fixed to the hull; a screen fixed to the mounting frame and located on the top side of the hull, the screen having a ventilation structure; and a float fixed to the hull and located on the side of the hull. The performance unmanned boat provided by this application uses a screen with a ventilation structure and a float in conjunction with the hull. The ventilation structure reduces the screen's resistance to natural wind flow, reducing the external force exerted on the screen by natural wind. Simultaneously, the float increases the hull's support points on the water surface, enhancing the hull's resistance to wind and waves. This effectively solves the technical problem of unmanned boats carrying large screens easily capsizing when navigating on water, improving the stability of the performance unmanned boat on water, ensuring the smooth completion of performance tasks, and enabling the performance unmanned boat to meet the requirements of cultural and publicity purposes.

The invention relates to a system (1, 2) (1, 4) for handling marine (3) or underwater (5) drones, the system (1, 2) (1, 4) comprising a drone interface module (2, 4) and a floating pontoon (1) with two hulls (11) and an arch (10), the pontoon (1) is catamaran-shaped and delimits a downflooded reception space (17), the arch (10) comprises at least one device (12) for attachment to a winch cable, the pontoon (1) comprises devices (13) for detachable attachment to a drone interface module (2, 4) detachably and interchangeably installed in the receiving space (17), the drone interface modules (2, 4) forming an at least partially flooded docking area (23, 42) for the drone (3, 5), the drone interface modules (2, 4) have a lower portion (22, 43) configured to rest stably on a flat surface after the drone interface module (2, 4) has been removed from the pontoon (1).

The invention relates to the technical field of surveying and mapping unmanned ships, in particular to a combined surveying and mapping unmanned ship which comprises an unmanned ship body, a first sliding groove and a second sliding groove are formed in the top of the unmanned ship body, and a mounting structure, a quick release structure and a cleaning structure are arranged on the surface of the unmanned ship body. The mounting structure comprises first sliding blocks, a detection module, a first limiting block and a first L-shaped limiting rod, and the two first sliding blocks are slidably mounted in the first sliding groove and the second sliding groove correspondingly. By pressing the detection module and inserting a first limiting block on the detection module into a second clamping groove, the detection module can be quickly fixed in four directions, the working efficiency is improved, the time is saved, the detection module is fixed in four directions, and a square block is pressed to drive an H-shaped extrusion block to move downwards, so that the detection efficiency is improved. And the detection module can be quickly disassembled, so that the replacement time of different detection modules is further shortened.

The invention relates to an unmanned ship water quality monitoring and sampling integrated system and a use method thereof, a frame unit is mounted on a ship deck plane of an unmanned ship and is used for fixedly carrying a water quality monitoring unit, a water quality sampling unit and an electrical control unit; the water quality monitoring unit can extract a water sample in a specified water area and monitor various water quality parameter signals; the water quality sampling unit carries a plurality of sampling bottles, can move up and down, left and right and front and back and hermetically stores a water sample in a specified water area; the laying and recycling unit enables a water source of a target water area to flow to the water quality monitoring unit and the water quality sampling unit through a sampling pipe; the electrical control unit controls the laying and recycling unit, the water quality monitoring unit and the water quality sampling unit according to instructions of the shore end command and control center on one hand, and feeds back water quality monitoring data and the working state of the current system on the other hand. The problem that secondary pollution is generated in the water area monitoring and sampling process in a traditional mode is solved, and the working efficiency is effectively improved.

This invention relates to the diagnosis of sedimentation in drainage networks, specifically providing an unmanned underwater vehicle (UUV) based maintenance decision-making method for drainage pipeline sedimentation diagnosis and waterlogging warning. The UUV of this invention consists of an integrated hull inside the pipeline and a manhole box. The integrated hull inside the pipeline includes a Doppler ultrasound module, a three-axis gyroscope, a high-definition infrared camera, a main controller, a deep learning development board, baffles, a cabin cover, a cabin, fins, towing rings, and a navigation interface. The Doppler ultrasound module, three-axis gyroscope, high-definition infrared camera, navigation interface, and deep learning development board are each connected to the main controller. The fins, towing rings, cabin cover, and baffles are connected to the cabin.

The invention discloses a wind-light wave hybrid drive unmanned ship which comprises a ship body, a sail propelling device, a propeller propelling device, a wave drive device, a solar power supply system and a control module. A solar panel is installed on the ship body and can convert solar energy into electric energy to be stored in a battery. The sail propelling device provides main propelling force for the unmanned ship by means of wind energy; the wave driving device generates propulsive force by utilizing wave energy and has a course control function; the propeller propelling device serves as auxiliary power and provides thrust under specific working conditions. The control module intelligently regulates and controls the working modes of the propelling devices according to the sea condition information based on a reinforcement learning energy management algorithm, and multi-energy cooperative driving is achieved; the unmanned ship solves the problems of single energy dependence, insufficient navigational speed and maneuverability and tedious deployment and recovery of the existing unmanned ship, has the advantages of long endurance, high maneuverability, environmental protection and easy operation, and is suitable for various tasks of ocean observation, scientific research monitoring and military reconnaissance.

The invention discloses an unmanned ship for water quality collection. The unmanned ship comprises a ship body, a winch, a pull rope arranged on the winch and a sampling barrel arranged at the end of the pull rope. A guide hole for the pull rope to pass through is formed in the ship body, and the pull rope vertically penetrates through the center of the guide hole and then is fixedly connected with the sampling barrel; a plurality of sensing units which are uniformly arranged around the circumference of the guide hole are arranged on the ship body, and each sensing unit comprises a contact rod matched with the pull rope; propellers consistent with the corresponding sensing units in direction and position are arranged on the ship body; through linkage control of the sensing units arranged around the guide holes and the propellers in the corresponding directions, real-time sensing and autonomous correction of the inclined state of the pull rope are achieved, the ship body can be actively driven to offset the influence of water flow and drifting, the vertical state of the pull rope is fundamentally ensured, and therefore the sampling depth error is reduced to the minimum.

The present application relates to unmanned ship technical field, disclose a kind of automatic deployment and recovery system of hang-off type unmanned ship. Including: mother ship hoisting device, including hoisting steel cable, cone and first steel cable pressing block, wherein the cone is cylindrical cone transition structure, central hole is provided, hoisting steel cable passes through the center of cone, and terminal is fixedly connected with cone by first steel cable pressing block;Unmanned ship, including boat body, radar visible light integrated equipment and lifting hook, wherein radar visible light integrated equipment is used for target identification and positioning in the process of unmanned ship recovery, and lifting hook is used as the lifting point of unmanned ship, and is fixedly connected with unmanned ship;Automatic take-up device is set on unmanned ship, is connected with lifting hook, and is used for automatically capturing or releasing mother ship hoisting device.The system equipment is simple, and the universality is strong, and through the cooperation of automatic take-up device and mother ship hoisting device, the automatic unhooking problem of unmanned ship and lifting arm cable is solved, and the autonomy of unmanned ship deployment and recovery is improved.

The present disclosure discloses a method for target assignment and route planning for multi-agent unmanned surface vehicles (USVs). Task information is transmitted to a task allocator, which identifies unassigned targets and available USVs. Based on a comprehensive cost function considering navigation distance and turning penalties between targets and USVs, a target is assigned to each USV A path planner then generates a smooth waypoint sequence for each assigned USV and target pair, serving as the navigation path. During navigation, a navigation controller constructs a velocity optimization model according to cooperative collision avoidance and maritime boundary constraints, and controls the USVs in real-time to navigate along the waypoint sequences. The present disclosure achieves efficient matching of multiple targets and multi-agent USVs, generates smooth navigation paths satisfying constraints, and enables intelligent navigation control while meeting cooperative collision avoidance requirements and maritime boundary constraints.

The present application belongs to the technical field of unmanned sailboat, and particularly relates to a rigid wing sail self-balancing turning sail system of unmanned sailboat, which comprises a main sail skeleton, a main sail shell, a turning sail control box, a tail wing connecting rod assembly, a tail wing main body, a steering engine and a tail wing rope driving assembly. The driving end of the steering engine is controlled to move, and the tail wing main body is driven to rotate through the tail wing rope driving assembly, so as to adjust the deflection angle of the tail wing main body relative to the main sail as a whole, adjust the included angle (attack angle) between the main sail as a whole and the wind, and make the main sail as a whole reach a predetermined attack angle and keep a stable balance state. The mast of the main sail as a whole can rotate freely around the unmanned sailboat body, realizes the rotation decoupling of the rigid wing sail and the ship body, the bow shaking movement of the unmanned sailboat does not affect the attack angle of the rigid wing sail, the tail wing can be regarded as the air rudder of the main sail by adjusting the attack angle of the main sail through the tail wing, and the method makes the main sail attack angle adjustment more efficient and rapid, and reduces the adjustment power consumption.

A maritime drone as uncrewed surface vessel is provided. The maritime drone has a control and a monohull. The control is configured such that a movement and / or an operation of the maritime drone is autonomously controlled by the control. The monohull has a casing which encloses an interior volume of the maritime drone. The maritime drone comprises at least one sonar sensor which is coupled to the control and is configured for detecting underwater objects. The at least one sonar sensor is arranged within the maritime drone. The maritime drone has furthermore compact dimensions, namely a maximum length of 200 cm, a maximum width of 60 cm, a maximum height of 60 cm and a maximum weight that the maritime drone can be transported by a single person. The maritime drone comprises a self-righting functionality, which is based at least on a shape of the monohull and a weight distribution of the maritime drone.

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.

While hull-home and operating in a heading adjustment mode, the control system of the disclosed craft receives indications of a target craft heading and an observed craft heading. Embodiments include determining that the difference in heading is above a threshold, determining an adjusted wing-affixed control setting for affecting a change in the observed heading of the craft based on at least (a) sensed environmental conditions, (b) the initial wing- affixed control setting, (c) the target craft heading, and (d) the observed craft heading; and operating wing-affixed control element(s) according to the adjusted wing-affixed control setting to change the observed heading of the craft to the target craft heading. After determining that the heading difference is not above the threshold heading difference, the wing-affixed control setting is adjusted to forgo affecting further change in the observed heading of the craft.

A remote launcher includes a base frame, a cradle, a cradle actuator, and a launch control system. The cradle is pivotably coupled to the base frame and includes one or more skids that are configured to receive and support an unmanned water-based deployable. The cradle actuator is coupled to the base frame and to the cradle. The launch control system includes a communication interface, a processor, and memory having instructions. The instructions direct the launch control system to receive, via the communication interface, one or more wireless launch signals and then, in response thereto, generate at least one cradle control signal to enable the cradle actuator to incline the cradle to a launch angle.

A system for inspecting an offshore wind farm having one or more wind turbines includes an unmanned autonomous vessel. The unmanned autonomous vessel includes a positioning module for navigating the unmanned autonomous vessel to a target wind turbine in the offshore wind farm and positioning the unmanned autonomous vessel near the target wind turbine, an onboard data acquisition module with one or more sensors for collecting local data regarding the health of the target wind turbine, and a controller with at least one processor. The processor is configured to perform a number of operations, including, for example, receiving the local data from the one or more sensors and forwarding the local data to a remote command center via a satellite communication link.

The invention discloses a sea surface meteorology and hydrology and temperature and salt flow profile detection device, system and method. The device comprises a sea surface unmanned ship and an underwater detector. The sea surface unmanned ship comprises an unmanned ship, a transmission cable is communicated between the bottom of the unmanned ship and the underwater detector, a solar power generation and supply assembly is fixedly embedded in the upper side of the unmanned ship, and a sea surface weather station, a satellite navigator, a waterproof camera, a remote communicator and an automatic ship recognizer are fixedly connected to the upper side of the unmanned ship. And the right side of the unmanned ship is fixedly connected with a water surface propeller. According to the invention, unmanned automatic operation can be realized, so that the use cost can be reduced, the size is small, the detection depth can be adjusted, the application range is effectively improved, the device can be accurately positioned through a satellite navigator and a ship automatic identifier after detection is completed, and the unmanned ship can always float on the water surface, so that the unmanned ship is convenient to use. And therefore, the device can be conveniently recycled and reused, and resource waste and environmental pollution are avoided.

A control transfer system according to one embodiment disclosed herein includes a ship control unit that includes an onboard control unit located inside the ship and controlling the ship's operation, a remote control unit located outside the ship and controlling the ship's operation, and an autonomous operation control unit that controls the ship's autonomous operation, an operation condition determination unit that determines the operating conditions corresponding to each ship control unit based on the control functions of the ship control unit, the ship's navigation area, and the ship's position, and a control transfer unit that identifies a first control unit currently controlling the ship and a second control unit that is the subject of a control transfer request, and transfers control of the ship from the first control unit to the second control unit based on the first control unit, the second control unit, and the operating conditions.

This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a shipborne UAV and its combined land-sea-air transport method, including a shipborne endurance device. The shipborne endurance device includes a hollow hull, a solar panel fixedly connected to the top of the hollow hull, a battery fixedly connected to the upper part of the hollow hull, a sleeve fixedly connected to the upper part of the hollow hull, a cargo compartment sleeved on the outer ring of the sleeve, and a fully charged controller fixedly connected to the upper part of the hollow hull. The relative movement of two sets of centering clamping plates can center and clamp the cargo compartment, keeping the center of gravity of the cargo compartment and the UAV aligned, thereby reducing airflow vortex interference encountered by the UAV when carrying the cargo compartment, thus improving the stability of the UAV's flight. Furthermore, the limitation of the limiting rod can prevent the cargo compartment from slipping and causing damage to the cargo inside the cargo compartment, thereby improving the integrity of the cargo inside the cargo compartment during transportation.

The present application relates to the technical field of ship test measurement, in particular to an automatic water surface ship inclination and still water roll test measurement method. The present application obtains the draft of the ship during the inclination test by loading the camera integrated with the image recognition function on the unmanned ship and cooperating with the water level monitor, simultaneously generates a certain roll angle of the ship by moving the weight (inclination test weight) of a known weight on the ship, and automatically obtains the roll angle of the ship body through the ship body posture measurement module; then, through the data processing module, the draft, roll angle and torque of the moving weight measured are used to deduce the center of gravity position and displacement of the ship based on the ship statics principle; compared with the prior art, the present method has high automation degree, more accurate data reading, higher data time consistency, can effectively avoid human error, reduces the test risk, and greatly improves the test efficiency.

The invention belongs to the field of river water detection, and particularly relates to a river water detection robot which comprises a ship body, a propelling device for providing driving power is arranged on one side of the ship body, and a probe for detecting water body parameters is arranged at the bottom of the ship body. The center control box is arranged at the top and used for receiving and analyzing data sent by the probe, and the pay-off device is used for controlling the lowering depth of the probe. A cover body for isolating water and a sealing mechanism for controlling the cover body to open and close are arranged on the outer side of the probe, and the cover body is fixedly arranged at the end part of the pay-off device; by arranging the cover body, the probe can sink in a sealed state, interference of a water body of a non-target water level on a detection result can be reduced to the maximum extent, it is ensured that the probe only makes contact with the water body of the target water level, and the accuracy of the detection result is improved.

The present disclosure generally relates to an uncrewed surface vessel (USV) for performing remote offshore projects, the USV comprising at least one launch and recovery system, arranged to deploy a payload from the deck into the water The present disclosure further relates to a method of deploying a payload from an uncrewed surface vessel. Unlocking insights from geodata, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.

The invention discloses a cluster type water surface cleaning system and method based on dynamic role distribution and front line convergence supply, and relates to the technical field of environmental protection and unmanned systems, the cluster type water surface cleaning system comprises a mother ship, a multifunctional sub-ship and an unmanned aerial vehicle cluster; the mother ship serves as a mobile command and supply center and is integrated with a garbage treatment assembly line; the sub-ship adopts a modular design, and the function can be dynamically reconfigured; the unmanned aerial vehicle cluster has garbage drift prediction and visual servo guidance; the mother ship is introduced to serve as a mobile command and supply center, a three-level intelligent framework is constructed, and the problems that in the prior art, the equipment role is fixed, time consumed for going to and fro a base is long, and the overall efficiency is low are fundamentally solved.

A watercraft including a board having a top surface and a bottom surface and a hydrofoil attached to a strut. The strut attaches at the bottom surface of the board. The watercraft includes a movable portion coupled to the top surface of the board such that the movable portion is configured to move relative to a fixed portion of the board.

Disclosed herein are a leak-proof garbage basket and a water surface cleaning robot. The leak-proof garbage basket comprises a body with an inlet, where the body is provided thereon with a leak-proof baffle rotatably connected with the body and disposed close to the inlet, when being in a first position, the leak-proof baffle closes at least a partial area of the inlet. The garbage basket has a novel structure where a leak-proof baffle is disposed at the inlet, which can effectively prevent garbage in the garbage basket from overflowing through the inlet of the garbage basket on a condition that the water surface cleaning robot is stopped or moved backwards, and thus accomplish the objective of preventing garbage leakage, guarantee the cleaning effect of the water surface cleaning robot, and improve the user experience.

The invention relates to the technical field of unmanned ships, and provides a stern modular power docking assembly for an unmanned ship, comprising: a wharf floating on the water surface, one side of the wharf being provided with a power supply part; the unmanned ship floats on the water surface, and the stern of the unmanned ship is provided with a power connection part; a connection member for connecting the power supply unit and the power connection unit; and a first sealing member for sealing the power supply unit and the power connection unit when the connection member connects the power supply unit and the power connection unit to each other. In the process that the unmanned ship gets close to the wharf, the power connection part gets close to the power supply part under the action of the unmanned ship, meanwhile, the power connection part is fixed to the wharf under the action of the connecting component, meanwhile, the power connection part is connected with the power supply part, the wharf can charge the unmanned ship, and in the charging process, the first sealing component is connected with the power supply part. The power supply part and the power connection part are sealed, and it is ensured that the power connection part and the power supply base are not affected by the outside in the charging process.

This invention provides an automated ship handling system and ship control method that can perform appropriate ship handling according to the situation. [Solution] The automatic ship handling system (2) includes a ship (1) with a propeller (20), a steering device (30), a position sensor (46), a camera (44) that takes images of the area around the ship, and a controller (41) that performs automatic ship handling control to control the propeller and steering device for automatic ship handling from the departure point to the destination. The automatic ship handling control includes camera ship handling control, which controls the propeller and steering device by performing recognition processing on images acquired by the camera, and position sensor ship handling control, which controls the propeller and steering device based on position information acquired by the position sensor. If the position sensor fails within a predetermined water area where automatic ship handling is possible using only camera ship handling control, the controller directs the ship to a predetermined target position within the predetermined water area where the failure occurred using camera ship handling control.

An autonomous maritime surface vehicle (AMSV) operating in a maritime environment includes an on-board vision perception optimization system, which operates on raw image data generated by an on-board passive remove sensing system. The vision perception optimization system may optimize the raw image data based on respective entropies of sub-areas within the raw image data, e.g., by detecting sub-areas of the raw image data having lower entropy, and filtering or cropping the raw image data to include only the detected sub-areas. An on-board vision perceptor may apply one or more computer vision techniques to the optimized image data to detect presences of objects within the field-of-view of the AMSV, measure respective distances of the objects from the AMSV, detect and / or track the movements of the objects, etc. The AMSV may responsively control one or more operations of the AMSV based on the information generated from the applied computer vision techniques.