Ship sea surface safety inspection system and method based on unmanned aerial vehicle

Abstract

The invention discloses a ship sea surface safety inspection system based on an unmanned aerial vehicle, and the system comprises an unmanned aerial vehicle hangar which is disposed at a gunwale position of a ship; the unmanned aerial vehicle is parked in the unmanned aerial vehicle hangar and flies around the ship to cruise during working; and the control center is arranged in a cab of the ship and is used for starting and stopping the sea surface safety inspection system, carrying out distribution work on the unmanned aerial vehicle, displaying a real-time picture of the unmanned aerial vehicle and giving an alarm. The invention further discloses a ship sea surface safety inspection method based on the unmanned aerial vehicle. According to the invention, all-around automatic inspection and automatic alarm of the sea area around the ship are realized, the monitoring field of view is effectively widened, and the monitoring efficiency is improved.

Description

Technical Field

[0001] The present invention relates to ship and marine engineering platform technology, and more specifically, to a ship sea surface safety patrol system and method based on unmanned aerial vehicle. Background Art

[0002] Maritime transport is a way of transporting goods between ports in different countries and regions by using ships through sea routes. It is the most important mode of transport in international trade. Maritime transport is carried out with the help of natural waterways, is not restricted by roads and tracks, and has a stronger capacity. With the changes in the economic and trade environment and natural conditions, the routes can be adjusted and changed at any time to complete the transportation tasks.

[0003] During ocean transportation, sometimes affected by changes in natural conditions or other emergencies, ships and cargoes may be damaged or broken to a certain extent, which will cause direct and indirect damage to shipping companies. In order to deal with these situations, various shipping companies have taken active measures. Among them, improving the security level of the ship itself is also a necessary measure.

[0004] At present, traditional measures mainly rely on continuous monitoring of closed-circuit television systems (CCTV) and increasing deck lookouts, but these methods are limited by the ship's own field of view, which is not only inefficient, but also has a significant warning lag. In view of this, the shipping industry urgently needs an innovative sea surface safety patrol technology that can realize automatic monitoring and instant warning of a wider sea area centered on the ship, thereby significantly improving the ship's security defense capabilities and emergency response speed. Such technical means will greatly enhance the safety and protection of ships during navigation. Summary of the invention

[0005] In view of the defects existing in the prior art, the purpose of the present invention is to provide a ship sea surface safety patrol system and method based on unmanned aerial vehicle, which realizes all-round automatic patrol and automatic alarm of the sea area around the ship, effectively broadens the monitoring field of view and improves the monitoring efficiency.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a ship sea surface safety patrol system based on an unmanned aerial vehicle, comprising:

[0008] The drone hangar is located at the side of the ship;

[0009] A drone is parked in the drone hangar and flies and cruises around the ship when working;

[0010] The control center is located in the navigation room of the ship and is used to open and close the sea surface safety patrol system, assign tasks to the drones, display real-time images of the drones, and issue alarms.

[0011] Preferably, the drone hangar comprises:

[0012] A drone operation hangar, used to park the drone, and also equipped with a wireless charging device, a signal transmitter, and an electric rolling door;

[0013] The UAV logistics hangar is used for the maintenance and overhaul of the UAVs and the storage of spare UAVs, and is also equipped with UAV storage cabinets, spare parts cabinets, tool boxes, welding equipment, and testing equipment.

[0014] Preferably, the drone is equipped with:

[0015] A flight and power module, used to provide power for the UAV;

[0016] A positioning module, used for positioning the UAV relative to the ship and performing a relative circumnavigation of the ship;

[0017] Vision module for monitoring the situation at sea.

[0018] Preferably, the drone is equipped with an auxiliary module;

[0019] The auxiliary module includes a data link system, an obstacle avoidance system, and a voice drive-away system;

[0020] The data link system is used for data transmission and communication between the UAV and the control center;

[0021] The obstacle avoidance system is used to detect obstacles around the drone;

[0022] The voice repelling system uses a high-power speaker to warn targets of abnormal situations at sea with pre-recorded voice.

[0023] Preferably, the positioning module includes a GPS satellite module, a gyroscope, an accelerometer, an air pressure sensor, and a processing module.

[0024] Preferably, the control center includes:

[0025] A control unit, used to start and close the sea surface safety patrol system and assign tasks to the drone;

[0026] A display unit, used to display the real-time image transmitted by the drone;

[0027] The operating unit is used to manually control various instructions on the operating console.

[0028] The second aspect of the present invention provides a method for ship sea surface safety patrol based on an unmanned aerial vehicle, which uses the unmanned aerial vehicle-based ship sea surface safety patrol system provided by the first aspect of the present invention to perform normal unmanned aerial vehicle patrol operations and unmanned aerial vehicle abnormality identification operations.

[0029] Preferably, the normal patrol operation of the drone includes the following steps:

[0030] S1, after the ship enters the target sea area, the control center starts the ship's sea surface safety patrol system and sets commands to prepare to start the UAV for patrolling;

[0031] S2, the control center arranges a patrol sequence according to the power status of the drones in the current drone operation library;

[0032] S3, the UAV patrols along the preset trajectory, while continuously receiving the GPS positioning signal from the ship to correct the trajectory;

[0033] S4, when the power of the drone drops to a preset low level, a pre-return signal is sent to the control center;

[0034] S5, the drone returns to the drone operation warehouse for charging;

[0035] S6, after charging is completed, the drone sends a ready signal to the control center, and the control center puts the drone back into the working sequence and waits for the next operation;

[0036] S7, after leaving the target sea area, the control center shuts down the ship's sea surface safety patrol system, and the drone returns to the drone operation library, and the drone's normal patrol operation is completed.

[0037] Preferably, the drone abnormality identification operation includes the following steps:

[0038] A) After the UAV identifies a suspicious target on the sea surface through the visual module, it will temporarily stop patrolling the route and switch to the target tracking mode;

[0039] B) In the target tracking mode, the optical zoom module and the gimbal will continuously lock the target through the visual module, and the flight and power modules will make follow-up actions according to the movement of the target;

[0040] When the tracked target is still determined to be an abnormal target after a certain period of time, an audible and visual alarm will be issued on the display unit of the control center to warn the on-duty personnel;

[0041] C) The on-duty personnel view the real-time image of the drone with the abnormality identified through the display unit and make a review judgment;

[0042] D) If it is judged as a false alarm, the on-duty personnel will manually press a button to return to the normal patrol mode;

[0043] If it is determined to be a source of danger, the on-duty personnel will manually trigger the ship-wide alarm with one button, and all crew members will enter a state of alert. At the same time, the voice expulsion function of the drone will be triggered, and the drone will continue to maintain a tracking state.

[0044] The present invention provides a ship sea surface safety patrol system and method based on drones, which integrate cutting-edge functions such as automatic patrol, intelligent charging, autonomous outbound delivery, instant alarm, and voice expulsion. Through the high maneuverability and autonomous navigation technology of drones, all-round automatic patrol and automatic alarm of the sea area around the ship are realized, which effectively broadens the monitoring field of view and improves the monitoring efficiency. At the same time, wireless fast charging devices and automatic management modules are installed on the ship to ensure that multiple drones can automatically complete the charging and outbound delivery processes, realizing all-weather, unmanned continuous sea surface patrols. With its comprehensive functional integration, efficient automated operation, and keen abnormal situation identification and response capabilities, it provides unprecedented technical support and guarantee for the safe navigation of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the arrangement of the ship sea surface safety inspection system based on the UAV of the present invention;

[0046] Figure 2 It is a schematic diagram of the process of normal inspection operation of a drone in the method for safe inspection of the sea surface of a ship based on a drone of the present invention;

[0047] Figure 3 It is a flow chart of the abnormal identification operation of the drone in the method for ship sea surface safety patrol based on the drone of the present invention. DETAILED DESCRIPTION

[0048] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0049] Combination Figure 1 As shown, the present invention provides a ship sea surface safety inspection system based on an unmanned aerial vehicle, comprising:

[0050] A drone hangar 1 is arranged at the side of the ship 2;

[0051] The drone 3 is parked in the drone hangar 1 and flies and cruises around the ship 2 when working;

[0052] The control center 4 is arranged in the navigation room of the ship 2 and is used to start and close the sea surface safety patrol system, assign tasks to the drones 3, display the real-time images of the drones 3, and issue alarms.

[0053] The ship sea surface safety inspection system of the present invention constructs an efficient and intelligent sea surface safety inspection system by setting up multiple drone hangars 1 on the side of the ship 2 and equipping drones 2 equipped with high-precision sensors such as high-definition cameras and multi-spectral cameras. When the ship enters the target sea area, the crew only needs to start the system on the control center 4 to carry out a full-scale and automated sea surface safety monitoring process.

[0054] The ship sea surface safety patrol system of the present invention integrates advanced control algorithms and intelligent scheduling technologies, and can accurately plan and dispatch multiple drones to ensure that they strictly follow the patrol parameters set by the duty personnel and perform uninterrupted patrol tasks along the optimal path pre-planned by the control center.

[0055] The built-in electric rolling shutter door of the drone hangar 1 realizes intelligent management and automatically opens and closes according to the entry and exit needs of the drone 3, which not only improves the convenience of operation but also enhances the safety of the drone hangar 1.

[0056] After taking off, the drone 3 will fly closely around the preset patrol track around the ship 2 and perform efficient circling, using its advanced sensors and camera equipment to continuously monitor the vast sea area in all directions. When the power of a drone 3 approaches the critical value, the sea surface safety patrol system will immediately trigger the automatic return program, commanding it to safely return to the drone hangar 1 for wireless charging, and the control center 4 will automatically take off the standby drone 3 to continue the patrol mission. This mechanism ensures the continuity and seamless connection of the patrol work, avoids any monitoring blind spots or time gaps, and truly realizes 24-hour uninterrupted safety protection of the sea area around the ship.

[0057] When the ship sea surface safety patrol system of the present invention is used to perform the ship sea surface safety patrol method, during the monitoring operation, once the visual module of the drone 3 accurately captures the abnormal target on the sea surface, the sea surface safety patrol system will immediately and autonomously start an efficient abnormal identification and response process. First, the abnormal situation will be immediately reported to the control center 4, triggering an audible and visual alarm, and quickly attracting the attention of the duty personnel for preliminary confirmation. At the same time, the drone 3 quickly switches to the target tracking mode, using advanced visual module locking and power tracking technology to tightly lock and continuously track the abnormal target to ensure that no key information is lost; if the duty personnel manually judge that the abnormal target poses a potential threat, the sea surface safety patrol system will immediately trigger the emergency alarm system throughout the ship to ensure that each crew member can immediately receive the alarm, quickly enter the emergency state, and take corresponding preventive measures. In this emergency state, the drone 3 will not only continue to automatically track the target, but also start the voice drive away function, and try to disperse or warn the target through a preset warning message until the danger is officially lifted.

[0058] In summary, the ship sea surface safety inspection system and method based on drones of the present invention mainly have the following characteristics:

[0059] 1) Fully automated operation:

[0060] The ship's sea surface safety patrol system can automatically dispatch multiple drones to patrol the sea surface through a sophisticated control system without the need for human intervention, greatly reducing labor costs and improving patrol efficiency.

[0061] During the patrol process, the drone can automatically plan the route to ensure full coverage and no omissions in monitoring the sea surface within 1 to 3 nautical miles around the ship.

[0062] When the UAV is low on battery, the ship's sea surface safety patrol system can automatically guide it back to the charging station for charging. After charging is completed, it will automatically enter the working sequence and wait to be automatically released from the warehouse to continue the mission, thus realizing continuous and uninterrupted patrol of the UAV.

[0063] 2) Efficient sea surface monitoring capabilities:

[0064] The application of sensors such as high-definition cameras and multispectral cameras enables drones to capture clear images and video data of the sea surface, and effectively identify potential threats such as abnormal ships and floating objects.

[0065] 24-hour all-weather patrols ensure that ships can receive timely safety monitoring at any time, improving the timeliness and accuracy of safety warnings.

[0066] 3) Powerful emergency response mechanism:

[0067] Once abnormal sea surface conditions are detected, the ship's sea surface safety patrol system can immediately alert the crew through various means such as bridge notification, real-time image transmission, and ship-wide alarm.

[0068] This multi-level alarm mechanism ensures that the crew can receive danger information at the first time, respond quickly and take effective measures to protect the safety of the ship.

[0069] 4) Improve crew safety awareness and response capabilities:

[0070] The implementation of the ship surface safety patrol system has increased the crew's attention to sea surface safety monitoring, enhanced their safety awareness and ability to respond to emergencies.

[0071] Through real-time transmission of images and alarm information, crew members can have a more intuitive understanding of the sea conditions, make more accurate judgments and decisions, and deploy shipboard protection measures in advance.

[0072] 5) Promote the development of maritime safety technology:

[0073] Ship surface safety patrols have promoted the innovative development of maritime safety technology and provided new ideas and methods for ship safety monitoring.

[0074] Example

[0075] Recombination Figure 1 As shown, the ship sea surface safety patrol system of this embodiment mainly includes a drone hangar, drones and a control center.

[0076] Among them, the drone hangar is composed of several drone operation hangars and drone logistics hangars. The protection level of the drone hangar must be wind and rainproof and meet the protection level required for maritime patrol operations.

[0077] The drone operation hangar mainly includes drones, wireless charging devices, signal transmitters, electric rolling shutters, etc. It is mainly used for charging and storing drones in operation and on standby. The wireless charging device has the ability to charge quickly and is powered by a power cable directly connected to the ship. The signal transmitter is installed on the roof of the hangar outdoors to support data transmission and communication with the drone, and is transmitted to the control center via a signal cable. The electric rolling shutter ensures the watertight protection of the hangar at normal times, and can be opened and closed remotely by the control center, or controlled by a local switch.

[0078] The UAV logistics hangar mainly includes UAV storage cabinets, spare parts cabinets, tool boxes, welding equipment, testing equipment, etc. It is mainly used for the maintenance, inspection and storage of UAVs.

[0079] The drone is equipped with a flight and power module, a positioning module, a vision module, and an auxiliary module.

[0080] The flight and power module includes a conventional flight controller, a brushless motor, an electronic speed regulator and a battery pack. The speed of the drone should be much higher than the ship's sailing speed, generally not less than 10m / s in wind resistance. At the same time, it should be guaranteed to have a continuous endurance of at least 30 minutes for marine patrol operations.

[0081] The positioning module includes a GPS satellite module, a gyroscope, an accelerometer, an air pressure sensor, and a processing module. Since the ship is constantly moving, the reference coordinate system to the ground needs to be converted into a relative speed coordinate system to the ship, so the ship needs to send the ship's own GPS positioning signal to the drone through the control center, and the processing module performs real-time measurement, coordinate tracking, and trajectory prediction to accurately implement relative circumnavigation of the ship.

[0082] The visual module includes a high-definition infrared camera, a multi-spectral camera, and a pan / tilt camera. The visual module can monitor the approach of abnormal ships at sea both during the day and at night. When an abnormality is found, the camera automatically locks the target and performs optical magnification, while continuing to lock the target until the duty personnel make the next control command.

[0083] The auxiliary module includes a data link system, an obstacle avoidance system, and a voice drive-off system. The data link system is used for data transmission and communication between the drone and the control center, including the sending and receiving of remote control commands, real-time transmission of flight parameters, etc. The obstacle avoidance system is used to detect obstacles around the drone so that it can return to the hangar and charging area accurately. The voice drive-off system uses a high-power speaker to warn maritime threats with pre-recorded voices, thereby protecting ships and reducing the possibility of danger.

[0084] The control center is generally an integrated console-style device, which includes a control unit, a display unit and an operation unit. It is usually set up in the wheelhouse where someone is on duty on board. The control center mainly has the following functions:

[0085] 1) The sea surface safety patrol system can be manually turned on and off. After turning it on, when the drone identifies a suspicious target, the on-duty personnel can detect abnormal conditions through the alarm system of the control center.

[0086] 2) Responsible for allocating work to several drones, arranging work sequences according to charging conditions, and issuing instructions such as take-off and return to the warehouse.

[0087] 3) The real-time image of any drone can be viewed through the display, and the viewing angle, zoom, and gimbal can be manually taken over and controlled.

[0088] 4) You can manually take over the control of the flight of the drone, and you can also manually take off additional drones in the operating hangar for manual reinforcement inspections.

[0089] 5) The control center can initiate a ship-wide alarm and notify all crew members to enter a state of alert as soon as possible.

[0090] This embodiment also provides a method for ship sea surface safety patrol, which uses a ship sea surface safety patrol system to perform normal drone patrol operations and drone abnormality identification operations.

[0091] Combination Figure 2 As shown, the normal patrol operation of the drone includes the following steps:

[0092] S1, after the ship enters the target sea area, the control center turns on the ship's sea surface safety patrol system and sets commands (cruise interval, cruising speed and cruising altitude). The control center prepares to start the drone according to the settings and arranges one or two drones for patrol;

[0093] S2, the control center arranges the patrol sequence according to the power status of the drones in the current drone operation hangar, issues an opening command to the electric rolling shutter door of the drone hangar in the first sequence, and after the rolling shutter door is opened, issues a take-off command to the drone to fly to the initial point, and then issues a closing command to the electric rolling shutter door;

[0094] S3, the UAV patrols along the preset trajectory, while continuously receiving GPS positioning signals from the ship to correct the trajectory;

[0095] S4, when the drone's battery power drops to a preset low level, it sends a pre-return signal to the control center. After the control center confirms the signal, it sends a return permission command and arranges the next sequence of drones to leave the warehouse and fly to the current cruising position. The current drone starts to return to the warehouse;

[0096] S5, after the drone approaches the drone operation warehouse, the control center controls the electric rolling door to open, and the drone accurately enters the warehouse through the obstacle avoidance system, stops at the wireless charging point, and starts charging;

[0097] S6, when charging is completed, the drone sends a ready signal to the control center, and the control center puts the drone back into the working sequence and waits for the next operation;

[0098] S7, after leaving the target sea area, the ship's sea surface safety patrol system is shut down through the control center, the drone returns to the drone operation library, and the drone's normal patrol operation is completed.

[0099] Combination Figure 3 As shown, the drone anomaly identification operation includes the following steps:

[0100] A) After the UAV identifies a suspicious target through the visual module on the sea surface, it will temporarily stop patrolling the route and switch to target tracking mode;

[0101] B) In target tracking mode, the optical zoom module and gimbal will continuously lock onto the target through the visual module, and the flight and power modules will follow the movement of the target;

[0102] If the tracked target is still judged as an abnormal target after a certain period of time, an audible and visual alarm will be issued on the display unit of the control center to warn the on-duty personnel;

[0103] C) The on-duty personnel view the real-time images of the abnormal drone through the display unit and make a review judgment;

[0104] D) If it is judged as a false alarm, the on-duty personnel will manually press a button to return to the normal patrol mode;

[0105] If it is determined to be a dangerous source, the duty officer will manually trigger the ship-wide alarm with one button, and all crew members will be on alert. At the same time, the voice drive function of the drone will be triggered, and the drone will continue to track. In addition, the duty officer can manually launch additional drones in the operating hangar for manual reinforcement.

[0106] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A ship sea surface safety patrol system based on drones, characterized in that: include: The drone hangar is located at the side of the ship; A drone is parked in the drone hangar and flies and cruises around the ship when working; The control center is located in the navigation room of the ship and is used to open and close the sea surface safety patrol system, assign tasks to the drones, display real-time images of the drones, and issue alarms.

2. The UAV-based ship sea surface safety patrol system according to claim 1 is characterized in that: The drone hangar includes: A drone operation hangar, used to park the drone, and also equipped with a wireless charging device, a signal transmitter, and an electric rolling door; The UAV logistics hangar is used for the maintenance and overhaul of the UAVs and the storage of spare UAVs, and is also equipped with UAV storage cabinets, spare parts cabinets, tool boxes, welding equipment, and testing equipment.

3. The UAV-based ship sea surface safety patrol system according to claim 1 is characterized in that: The drone is equipped with: A flight and power module, used to provide power for the UAV; A positioning module, used for positioning the UAV relative to the ship and performing a relative circumnavigation of the ship; Vision module for monitoring the situation at sea.

4. The ship sea surface safety inspection system based on unmanned aerial vehicle according to claim 3 is characterized in that: The drone is equipped with an auxiliary module; The auxiliary module includes a data link system, an obstacle avoidance system, and a voice drive-away system; The data link system is used for data transmission and communication between the UAV and the control center; The obstacle avoidance system is used to detect obstacles around the drone; The voice repelling system uses a high-power speaker to warn targets of abnormal situations at sea with pre-recorded voice.

5. The ship sea surface safety inspection system based on unmanned aerial vehicle according to claim 3 is characterized in that: The positioning module includes a GPS satellite module, a gyroscope, an accelerometer, an air pressure sensor, and a processing module.

6. The UAV-based ship sea surface safety inspection system according to claim 1 is characterized in that: The control center includes: A control unit, used to start and close the sea surface safety patrol system and assign tasks to the drone; A display unit, used to display the real-time image transmitted by the drone; The operating unit is used to manually control various instructions on the operating console.

7. A method for ship sea surface safety inspection based on unmanned aerial vehicle, characterized in that: The UAV-based ship sea surface safety patrol system as described in any one of claims 1 to 6 is used to perform normal UAV patrol operations and UAV abnormality identification operations.

8. The method for ship sea surface safety inspection based on unmanned aerial vehicle according to claim 7 is characterized in that: The UAV is in normal patrol operation The following steps are involved: S1, after the ship enters the target sea area, the control center starts the ship's sea surface safety patrol system and sets commands to prepare to start the UAV for patrolling; S2, the control center arranges a patrol sequence according to the power status of the drones in the current drone operation library; S3, the UAV patrols along the preset trajectory, while continuously receiving the GPS positioning signal from the ship to correct the trajectory; S4, when the power of the drone drops to a preset low level, a pre-return signal is sent to the control center; S5, the drone returns to the drone operation warehouse for charging; S6, after charging is completed, the drone sends a ready signal to the control center, and the control center puts the drone back into the working sequence and waits for the next operation; S7, after leaving the target sea area, the control center shuts down the ship's sea surface safety patrol system, and the drone returns to the drone operation library, and the drone's normal patrol operation is completed.

9. The method for ship sea surface safety inspection based on unmanned aerial vehicle according to claim 7 is characterized in that: The drone anomaly identification operation includes the following steps: A) After the UAV identifies a suspicious target on the sea surface through the visual module, it will temporarily stop patrolling the route and switch to the target tracking mode; B) In the target tracking mode, the optical zoom module and the gimbal will continuously lock the target through the visual module, and the flight and power modules will make follow-up actions according to the movement of the target; When the tracked target is still determined to be an abnormal target after a certain period of time, an audible and visual alarm will be issued on the display unit of the control center to warn the on-duty personnel; C) The on-duty personnel view the real-time image of the drone with the abnormality identified through the display unit and make a review judgment; D) If it is judged as a false alarm, the on-duty personnel will manually press a button to return to the normal patrol mode; If it is determined to be a source of danger, the on-duty personnel will manually trigger the ship-wide alarm with one button, and all crew members will enter a state of alert. At the same time, the voice expulsion function of the drone will be triggered, and the drone will continue to maintain a tracking state.

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