419results about "Unmanned surface vessels" patented technology

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.

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 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.

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.

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.

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.

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 discloses an unmanned double-body modular self-adaptive hydrofoil ship, and relates to the technical field of hydrofoil ship equipment. The hydrofoil ship comprises a ship body, a buoy, a hydrofoil mechanism and a controller. The buoy is connected with a driving assembly. The hydrofoil mechanism comprises a first hydrofoil mechanism and a second hydrofoil mechanism, and each of the first hydrofoil mechanism and the second hydrofoil mechanism comprises a telescopic rod and a hydrofoil plate. One end of the telescopic rod is connected with the ship body, and the other end of the telescopic rod is rotationally connected with the hydrofoil plate; the hydrofoil plate comprises a base plate and a side plate, a first motor is fixed on the base plate, and the first motor drives the base plate to rotate; the side plates are rotationally connected with the base plate, a second motor is fixed to the base plate, and the second motor drives the side plates to rotate. Through cooperation of the first hydrofoil mechanism and the second hydrofoil mechanism, stability and seaworthiness in the sailing process are enhanced, transverse shaking is reduced, lift force distribution of the hydrofoil plates is optimized, and sailing resistance is reduced.

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 the technical field of hydrological monitoring, and discloses a hydrological information observation and monitoring unmanned ship which comprises a ship body, a multi-parameter water quality instrument and a cabin formed in the top of the ship body, a mounting frame is fixedly mounted on the top surface of the ship body, and a laser radar and a monitoring camera are mounted at the top of the mounting frame through bolts; according to the hydrological information observation and monitoring unmanned ship, the immersion depth can be increased by increasing the self weight in the using process, the stability of the ship body is improved, the supporting face between the ship body and the water surface is enlarged in the self weight increasing process of the ship body, and the stability of the ship body is further improved; therefore, stable and effective hydrological monitoring is guaranteed, the accuracy of hydrological monitoring data is improved, and when transfer is needed, the increased dead weight and the enlarged supporting surface are reduced, so that the advancing resistance of the ship body is reduced, the advancing maneuverability of the ship body is improved, and the working efficiency of hydrological monitoring is improved. Effective coordination of stability and maneuverability of the unmanned ship is realized.

An unmanned vehicle may include a vehicle body and a propulsion system carried by the vehicle body. The unmanned vehicle may also include a maneuvering system carried by the vehicle body and a vehicle control system carried by the vehicle body. The vehicle control system may control speed, orientation, or direction of travel of the unmanned vehicle. The unmanned vehicle may also include a mount point carried by the vehicle body. An interchangeable payload deck may be removably connected to a portion of the vehicle body via the at least one mount point. The unmanned vehicle may further include a power supply carried by the vehicle body.

The invention discloses an unmanned ship lake and reservoir vertical stratified sampling and in-situ water quality monitoring device and method. The unmanned ship lake and reservoir vertical stratified sampling and in-situ water quality monitoring device comprises an unmanned ship platform, a reducing guide rod structure and a water sample in-situ collecting and monitoring device. The advantages of light weight, hardening, easy combination and the like of the variable-diameter guide rod are exerted, and the problems that a traditional soft rope is easy to swing, and a drift-diameter hard rod is large in size, insufficient in strength and the like are solved; aiming at the problems of easy breaking of a through rod, deviation of a monitoring point and the like caused by lake flow disturbance and the like in the traditional operation, a determination method of key parameters such as the number of segmented guide rod sections, a diameter critical threshold value and the diameter of the guide rod is determined by combining with the vertical flow velocity of the lake and the reservoir, and a basis is provided for stable and accurate operation; aiming at the problems of easy mixing (mixing with water samples in different layers and mixing with air in a bottle) and the like in traditional lake and reservoir vertical water sample in-situ collection, the invention provides a water sample layering in-situ collection device and method, anaerobic collection is realized through a double-pipe reverse replacement system, a method for determining the length difference delta L of an exhaust pipe and a water inlet pipe is defined, and equipment parameter support is provided for efficient and reliable collection.

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 aquaculture equipment, and discloses a control system and method for an intelligent culture unmanned feeding ship, and the system comprises a shore-based command system which mainly comprises a remote control module and a cloud platform and is responsible for global task distribution, data integration and remote cooperative management, and a motion control unit. The motion control system comprises a flight control, the flight control is provided with an RTK module and a receiver, and the motion control system has three navigation modes of remote control navigation, preset track fixed-point navigation and intelligent autonomous navigation. According to the control system and method for the intelligent culture unmanned feeding ship, the general water quality of a water area can be monitored in real time, so that farmers are helped to closely pay close attention to the change of various indexes of the water, take corresponding measures to adjust and control the water quality and maintain a good culture environment, and according to various water quality data, the pesticide spraying concentration is adaptively controlled; and the feeding time is reasonably controlled, so that energy waste is reduced from the source.

The invention relates to a water rescue system and method based on combination of a wing-in-ground-effect ship and an unmanned ship, and belongs to the technical field of water rescue. The unmanned surface vehicle and materials are remotely conveyed to a rescue area at a high speed through the wing-in-ground-effect vehicle; the unmanned ship arrives at the drowning person to execute accurate rescue, and the unmanned ship further has the manned capacity; wherein the unmanned ship and the wing-in-ground-effect ship are linked through a communication system, the wing-in-ground-effect ship airdropped lifesaving equipment, and the unmanned ship completes target salvage and returns. According to the invention, the rescue response efficiency can be improved, and the problems of slow response, poor environmental adaptability and insufficient accuracy of water rescue are systematically solved.

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 multi-water-layer plankton monitoring system and a monitoring method, which solve the defects of high cost, deep draft, large volume and poor automation degree of an artificial ship, expand the multi-water-layer monitoring capability of the unmanned ship, improve the working efficiency and reduce the cost. According to the technical scheme, a monitoring catenary is arranged on a stern frame of an unmanned ship body, mounting bases are arranged on the monitoring catenary at equal intervals, and each mounting base comprises an optical imager and a temperature-salinity-depth measuring instrument which are used for obtaining water quality parameters. The activity state of plankton such as acete chinensis is recorded in an image and video mode, the environmental information is collected through the temperature-salinity-depth measuring instrument, water quality samples do not need to be collected and reserved, and the monitoring process is effectively simplified.

An unmanned delivery system in a marine vessel includes an acquisition unit to acquire destination information of a cargo to be delivered, an automatic navigation unit to cause a marine vessel to automatically navigate in an unmanned manner to a destination port indicated by the destination information, and a controller configured or programmed to issue an arrival notification and perform a fixed point holding of the marine vessel when the marine vessel arrives at the destination port.

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 belongs to the technical field of ocean robots, and discloses a deformable ocean robot capable of cooperatively capturing wind energy and wave energy and a control method. The robot comprises a ship body, a sail module and an energy conversion module, wherein a main power supply and an auxiliary power supply are arranged in the ship body. The sail module is installed above the ship body through a hinge seat and can be unfolded to capture wind energy or folded to be stored. The energy conversion module comprises a deformable keel and a ballast, telescopic movement is achieved through a shear fork arm assembly, and wave energy is used for driving a power generator to generate power. The control method comprises an overwater state and an underwater state. In the overwater state, the sail and the keel module are unfolded to cooperatively capture wind energy and wave energy. The modules are folded in an underwater state to reduce resistance. A deformable structure and dual-energy capture are combined, the robot has the advantages of being high in energy utilization efficiency, high in environmental adaptability, long in endurance time and the like, the problems that a traditional ocean robot is limited in energy supply, insufficient in maneuverability and the like are solved, and the robot is suitable for long-term operation tasks such as ocean monitoring and resource exploration.

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.