560results 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 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 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 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.

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.

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.

The invention discloses a wind-solar hybrid drive ocean unmanned ship platform and a design method thereof, and relates to the technical field of unmanned ships, the wind-solar hybrid drive ocean unmanned ship platform comprises a platform body module, a power propulsion module, an energy supply module, an environment sensing module and a control module, the platform body module comprises an unmanned ship main body of a strip-shaped single ship structure and stabilization hydrofoils, the stabilization hydrofoils are arranged below the unmanned ship main body, the power propulsion module comprises a wing sail and a sail rotating device, the wing sail is arranged above the unmanned ship main body through the sail rotating device, and the energy supply module comprises a solar charging panel and a storage battery connected with the solar charging panel; the low-resistance characteristic of the strip-shaped single ship structure of the unmanned ship main body is utilized, wind power driving of the wing sails and light energy power generation of the solar charging panel are matched, the cruising ability of the unmanned ship is improved, meanwhile, the problem that the unmanned ship main body of the strip-shaped single ship structure is poor in stability is solved through the stabilization hydrofoils, and the unmanned ship is more stable. And the navigation stability and the anti-overturning capability are improved.

The invention discloses an automatic feeding mechanism, a feeding unmanned ship and a feeding method.The automatic feeding mechanism comprises a hopper assembly and a feeding assembly, the hopper assembly is provided with a liftable gate, the feeding assembly is arranged at a discharging port of the hopper assembly and used for scattering materials in a parabola mode, and the hopper assembly is provided with a sensor for monitoring the material amount; the opening and closing degree of a gate of the hopper assembly and the feeding speed of the feeding assembly are controlled through the control system, the sensor is in communication connection with the control system, and the control system calculates the needed material amount, the opening and closing degree of the gate and the feeding speed according to the feeding range. The size of the feeding port of the feeding mechanism can be automatically adjusted according to the total amount of the materials, manual adjustment is not needed, and therefore the automatic control over the feeding amount of the unmanned ship is achieved, the unmanned ship can automatically complete the material feeding task according to the preset feeding range and the preset material amount, manual intervention is not needed, and the feeding efficiency is greatly improved.

The invention discloses an unmanned ship capable of overturning and submerging and a control method of the unmanned ship. The unmanned ship comprises a middle ship body, a first side ship body, a second side ship body, a first wing plate and a second wing plate. The first side hull and the second side hull are arranged on the two sides of the middle hull, the middle hull is connected with the first side hull through the first wing plate, and the middle hull is connected with the second side hull through the second wing plate; the first wing plate and the second wing plate are each provided with a horizontal rudder, and the first side ship body and the second side ship body are each provided with a plurality of propellers. A plurality of water ballast spaces are arranged in the first side ship body and the second side ship body and used for adjusting water inflow and drainage in the ship bodies, and adjustment of diving, floating and longitudinal and transverse inclination of the unmanned ship is achieved. According to the invention, a symmetrical turnover and submergible design is adopted, multi-degree-of-freedom control is realized in heavy stormy waves, and the device can adapt to diversified operation modes such as water surface navigation and full-submergence navigation, and meets the requirements of overwater and underwater operation under high sea conditions.

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 ship for water pollution treatment, which relates to the technical field of sewage treatment and comprises an unmanned ship body, an unmanned ship head is arranged on one side of the unmanned ship body, a ship body cabin door is arranged at the tail of the unmanned ship body, a drainage mechanism is arranged on one side of the tail of the unmanned ship body, and a cleaning mechanism is arranged in the unmanned ship body. A photovoltaic panel is arranged on the top of the unmanned boat body, driving mechanisms are arranged on the two sides of the unmanned boat body, a flow guide mechanism is arranged on one side of a boat head of the unmanned boat body, an anti-collision mechanism is arranged on one side of the flow guide mechanism, and a detection mechanism is arranged in the unmanned boat head. When a trigger assembly in the anti-collision mechanism is collided, the trigger assembly deflects to switch on a conductive structure, then a motor is driven to drive a flow guide assembly to deflect and recover the flow guide assembly, collision damage is avoided, the water quality of a water area is detected through a water quality detection instrument and a probe cleaning assembly, and therefore the practicability of the device is greatly improved.

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.

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.