Ship tracking system combining remote monitoring and on-site supervision

Abstract

The invention provides a ship tracking system combining remote monitoring and on-site supervision, and belongs to the field of information automation. The tracking system comprises one or more monitoring floating platforms with autonomous moving and positioning capabilities; each monitoring floating platform is provided with one or more unmanned aerial vehicles; the floating platform and the unmanned aerial vehicle are provided with shooting devices, when the target ship is identified, the unmanned aerial vehicle takes off from the floating platform and flies to the other side of the target ship relative to the floating platform, the unmanned aerial vehicle and the floating platform conduct multi-angle image collection on the target ship together, and three-dimensional image information of the target ship is generated. The floating platform is connected with a remote server through a communication network, and the server obtains remote sensing data to preliminarily determine a target ship, continuously obtains positioning data of the target ship, shares the data with the floating platform and cooperatively processes image data obtained from the floating platform. The server also predicts the route of the target ship based on the remote sensing information, deploys the floating platform to move into the prediction area for standby, and achieves the efficient monitoring and tracking of the target ship.

Description

Technical Field

[0001] The present invention belongs to the field of information automation technology, and in particular, relates to a ship tracking system combining remote monitoring and on-site supervision. Background Art

[0002] In modern marine monitoring and safety management, real-time tracking of target vessels at sea is an important task. Traditional tracking methods mainly rely on fixed monitoring stations and patrol ships, which have problems such as limited coverage, slow response speed and high labor costs. In addition, with the increasing busyness of maritime traffic and the continuous deepening of marine resource development, the need for accurate and efficient monitoring and tracking of maritime targets is becoming increasingly urgent.

[0003] In recent years, with the development of artificial intelligence technology and unmanned systems, the use of drones and autonomous mobile platforms for maritime monitoring has become an emerging solution. Drones have the advantages of high flexibility, wide coverage, and fast response speed, while autonomous mobile platforms can stay at sea for a long time and provide continuous monitoring capabilities. However, the existing unmanned monitoring system still faces many challenges in terms of energy supply, data processing, and multi-platform collaboration.

[0004] According to the relevant public technologies, the technical solution with publication number CN112329707A proposes to judge the movement status of the ship based on the ships appearing in the collected images at multiple time nodes, so as to realize the continuous tracking of the target ship; the technical solution with publication number KR101703906B1 proposes a ship tracking solution, which sets monitoring devices at multiple positions in the port or the necessary waterway to continuously monitor the passing ships to determine the specific route of the ship; the technical solution with publication number WO2013168866A1 proposes a technical solution for tracking ships using satellite remote sensing data, which adopts a method based on the fuzzy position of the ship monitored by the satellite in multiple monitorings, combined with the calculation of the ephemeris, to quickly determine the specific position of the ship.

[0005] The above technical solutions all propose technical solutions for the identification and tracking of various types of ships. However, for the identification and tracking of small ships or illegal unknown ships, the above solutions cannot achieve close-range ship tracking and real-time monitoring.

[0006] The foregoing discussion of the background art is intended only to facilitate an understanding of the present invention. This discussion does not acknowledge or admit that any of the material referred to is part of the common general knowledge. Summary of the invention

[0007] The purpose of the present invention is to provide a ship tracking system that combines remote monitoring and on-site monitoring, which belongs to the field of information automation. The tracking system includes one or more monitoring floating platforms with autonomous movement and positioning capabilities; each monitoring floating platform is equipped with one or more drones; the floating platform and the drone are both equipped with shooting devices. When the target ship is identified, the drone takes off from the floating platform and flies to the other side of the target ship relative to the floating platform, and together with the floating platform, it collects images of the target ship from multiple angles to generate stereoscopic image information of the target ship. The floating platform is connected to a remote server through a communication network. The server obtains remote sensing data to preliminarily determine the target ship, and continuously obtains the positioning data of the target ship, shares this data with the floating platform, and collaboratively processes the image data obtained from the floating platform. The server also predicts the route of the target ship based on remote sensing information, deploys the floating platform to move to the predicted area for standby, and realizes efficient monitoring and tracking of the target ship.

[0008] The present invention adopts the following technical solution: a ship tracking system combining remote monitoring and on-site monitoring, the tracking system comprising:

[0009] One or more monitoring floating platforms; the monitoring floating platform has the ability to move and position itself autonomously, and is internally provided with a renewable energy conversion device for collecting and converting renewable energy to produce electric energy, and storing the produced electric energy in the energy storage device; the produced electric energy is used to support the operation of multiple working components inside the monitoring floating platform;

[0010] Each monitoring platform is equipped with one or more drones, and the drones are stored inside the monitoring platform during the grounding period; the monitoring platform carries the equipped drones to move on the sea, and cooperates with the drones to perform the identification and tracking tasks of the target ship;

[0011] The monitoring platform and its equipped drone are both equipped with a shooting device. After identifying the target vessel, the drone takes off from the monitoring platform and flies to the other side of the target vessel relative to the monitoring platform. The drone and the monitoring platform collect images of the target vessel from multiple angles to obtain stereoscopic image information of the target vessel.

[0012] Preferably, the monitoring platform is connected to one or more servers at a remote end through a communication network; the server acquires remote sensing data to search for multiple ships to preliminarily determine the target ship; the server continuously acquires remote sensing positioning data of the target ship and shares the remote sensing positioning data of the target ship with the monitoring platform; and the server acquires image data from the monitoring platform and cooperates with the monitoring platform to process the image data;

[0013] Preferably, the server predicts the predicted route of the target ship based on the remote sensing information, and deploys one or more monitoring floating platforms in advance to move to a predicted area of ​​the target ship on the predicted route to wait for the target ship to appear;

[0014] Preferably, the server, in the process of predicting the predicted route, includes applying artificial intelligence technology to analyze currently known information of the target vessel, thereby predicting the predicted route;

[0015] Preferably, the shooting device of the monitoring platform includes a high-definition camera arranged at the front of the base body; the high-definition camera includes a left camera and a right camera; there is a gap between the left camera and the right camera; the left camera and the right camera shoot the front at the same time, and the server obtains the image data from the left camera and the right camera, and forms a stereoscopic image through an image processing algorithm;

[0016] Preferably, the renewable energy conversion device configured on the monitoring floating platform includes a surge power generation device and / or a photovoltaic power generation device;

[0017] The surge power generation device includes a plurality of floating power generation units installed on the edge of the monitoring floating platform; the photovoltaic power generation device includes photovoltaic panels installed on the upper surface of the monitoring floating platform;

[0018] Preferably, the monitoring floating platform further includes one or more driving motors, the driving motors are connected to propellers, and the driving motors generate a driving force by rotating the propellers to drive the monitoring floating platform to move on or under the water surface; and the driving motors are connected to a tilting mechanism to adjust the power direction of the driving motors, thereby changing the moving direction of the monitoring floating platform;

[0019] Furthermore, a ship tracking method combining remote monitoring and on-site monitoring is proposed, and the tracking method is applied to the ship tracking system combining remote monitoring and on-site monitoring; the tracking method comprises the following steps:

[0020] S100: The tracking system instructs the monitoring floating platform to move to a predicted area on the predicted route of the target vessel;

[0021] S200: The server receives remote sensing monitoring data for real-time monitoring; at the same time, the high-definition camera of the monitoring platform continuously captures the real-time image of the sea area in the predicted area, and matches and calibrates the real-time image with the remote sensing monitoring data;

[0022] S300: When the target vessel enters the monitoring range of the monitoring platform, the server identifies the target vessel through image processing algorithms and determines its specific location and navigation direction; combines the remote sensing data with the location data of the target vessel to further confirm the trajectory of the target vessel, and updates the relative position between the monitoring platform and the target vessel in real time;

[0023] S400: Deploy the monitoring platform to cooperate with the drone to carry out tracking and filming; guide the drone to fly to the other side of the target ship relative to the location of the monitoring platform;

[0024] S500: When the UAV reaches the predetermined position, the monitoring platform and the UAV start the shooting equipment to shoot the target ship from the left and right sides respectively;

[0025] S600: When the target vessel leaves the predicted area, the drone is recovered.

[0026] The beneficial effects achieved by the present invention are:

[0027] 1. In the tracking system of this technical solution, the monitoring floating platform configured has the ability of autonomous movement and positioning, and can move freely at sea as needed to cover a wider monitoring range; the renewable energy conversion device equipped inside the floating platform, such as surge power generation device and photovoltaic power generation device, can effectively collect and convert wave energy and solar energy, produce electricity and store it in the energy storage device; this energy self-sufficient design not only reduces the dependence on external energy supply, but also ensures the long-term stable operation of the system, which is suitable for long-term offshore monitoring tasks;

[0028] 2. The tracking system of this technical solution can realize multi-angle stereoscopic monitoring of the target ship by configuring shooting devices on the monitoring platform and the drone. When the target ship is identified, the drone takes off from the platform and flies to the other side of the target ship relative to the platform, and synchronously shoots the target ship with the platform to obtain multi-view image data. This stereoscopic monitoring method can provide more comprehensive and accurate target information, improve the accuracy of target identification and tracking, and is suitable for complex marine environments.

[0029] 3. The tracking system of this technical solution connects the monitoring platform with the remote server through the communication network to achieve real-time data sharing and collaborative processing; the server obtains remote sensing data and shares the positioning data of the target ship with the floating platform, predicts the route of the target ship through artificial intelligence algorithms, and commands the floating platform to be deployed in advance to the target area for standby; the server and the floating platform jointly process image data to provide efficient target recognition and tracking capabilities; this intelligent data processing and collaborative working mechanism improves the system's response speed and monitoring efficiency, and can cope with the changing marine environment and complex monitoring needs;

[0030] 4. The software and hardware parts of the tracking system of this technical solution adopt a modular design. The various working modules and components of the hardware part of the system, as well as the instructions, parameters, and algorithms of the software part can be conveniently replaced and / or upgraded later, thereby reducing the construction cost and maintenance cost of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0032] Explanation of the accompanying numbers: 1-server; 2-communication network; 8-protection box; 10-central processing unit; 11-monitoring platform; 13-base body; 14-installation assembly; 15-drive motor; 24-steering actuator; 26-electric switch adjustment unit; 27-tilt mechanism; 29-cabin; 17-motor speed sensor; 25-electric switch sensor; 35-steering angle sensor; 36-speed sensor; 37-acceleration sensor; 38-posture sensor; 39-receiver; 41-high-definition camera; 51-helipad; 60-UAV; 61-body; 62-power module ;63-navigation module;64-photographing module;65-communication module;66-assisting take-off and landing positioning module;110-tracking unit;111-tracking unit microprocessor;113-tracking unit communication unit;127-tilting mechanism controller;130-control unit;131-control unit microprocessor;133-control unit communication unit;700-computer system;702-bus;704-processor;706-main memory;708-read-only memory;710-storage device;712-display;714-input device;716-cursor control device;718-network device;

[0033] Figure 1 It is a schematic diagram of the framework of the tracking system described in an embodiment of the present invention;

[0034] Figure 2 is a schematic diagram of the monitoring platform described in an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of the architecture of the central processing unit described in an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the functional framework of the drone described in an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram of the prediction area described in an embodiment of the present invention;

[0038] Figure 6is a schematic diagram of a prediction area with specific coordinate values ​​in an embodiment of the present invention;

[0039] Figure 7 Schematic diagram of a computer system used by a server in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with its embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. For those skilled in the art, after reviewing the following detailed description, other systems, methods and / or features of the present embodiment will become apparent. It is intended that all such additional systems, methods, features and advantages are included in this specification. Included within the scope of the present invention and protected by the appended claims. Additional features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0041] The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right" and the like indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation. The invention is constructed and operated in a specific orientation, so the terms describing the positional relationship in the drawings are only used for exemplary description and cannot be understood as a limitation of this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0042] Embodiment 1: By way of example, a vessel tracking system combining remote monitoring and on-site monitoring is proposed, the tracking system comprising:

[0043] One or more monitoring floating platforms; the monitoring floating platform has the ability to move and position itself autonomously, and is internally provided with a renewable energy conversion device for collecting and converting renewable energy to produce electric energy, and storing the produced electric energy in the energy storage device; the produced electric energy is used to support the operation of multiple working components inside the monitoring floating platform;

[0044] Each monitoring platform is equipped with one or more drones, and the drones are stored inside the monitoring platform during the grounding period; the monitoring platform carries the equipped drones to move on the sea, and cooperates with the drones to perform the identification and tracking tasks of the target ship;

[0045] The monitoring platform and its equipped drone are both equipped with a shooting device. After identifying the target vessel, the drone takes off from the monitoring platform and flies to the other side of the target vessel relative to the monitoring platform. The drone and the monitoring platform collect images of the target vessel from multiple angles to obtain stereoscopic image information of the target vessel.

[0046] Preferably, the monitoring platform is connected to one or more servers at a remote end through a communication network; the server acquires remote sensing data to search for multiple ships to preliminarily determine the target ship; the server continuously acquires remote sensing positioning data of the target ship and shares the remote sensing positioning data of the target ship with the monitoring platform; and the server acquires image data from the monitoring platform and cooperates with the monitoring platform to process the image data;

[0047] Preferably, the server predicts the predicted route of the target ship based on the remote sensing information, and deploys one or more monitoring floating platforms in advance to move to a predicted area of ​​the target ship on the predicted route to wait for the target ship to appear;

[0048] Preferably, the server, in the process of predicting the predicted route, includes applying artificial intelligence technology to analyze currently known information of the target vessel, thereby predicting the predicted route;

[0049] Preferably, the shooting device of the monitoring platform includes a high-definition camera arranged at the front of the base body; the high-definition camera includes a left camera and a right camera; there is a gap between the left camera and the right camera; the left camera and the right camera shoot the front at the same time, and the server obtains the image data from the left camera and the right camera, and forms a stereoscopic image through an image processing algorithm;

[0050] Preferably, the renewable energy conversion device configured on the monitoring floating platform includes a surge power generation device and / or a photovoltaic power generation device;

[0051] The surge power generation device includes a plurality of floating power generation units installed on the edge of the monitoring floating platform; the photovoltaic power generation device includes photovoltaic panels installed on the upper surface of the monitoring floating platform;

[0052] Preferably, the monitoring floating platform further includes one or more driving motors, the driving motors are connected to propellers, and the driving motors generate a driving force by rotating the propellers to drive the monitoring floating platform to move on or under the water surface; and the driving motors are connected to a tilting mechanism to adjust the power direction of the driving motors, thereby changing the moving direction of the monitoring floating platform;

[0053] Furthermore, a ship tracking method combining remote monitoring and on-site monitoring is proposed, and the tracking method is applied to the ship tracking system combining remote monitoring and on-site monitoring; the tracking method comprises the following steps:

[0054] S100: The tracking system instructs the monitoring floating platform to move to a predicted area on the predicted route of the target vessel;

[0055] S200: The server receives remote sensing monitoring data for real-time monitoring; at the same time, the high-definition camera of the monitoring platform continuously captures the real-time image of the sea area in the predicted area, and matches and calibrates the real-time image with the remote sensing monitoring data;

[0056] S300: When the target vessel enters the monitoring range of the monitoring platform, the server identifies the target vessel through image processing algorithms and determines its specific location and navigation direction; combines the remote sensing data with the location data of the target vessel to further confirm the trajectory of the target vessel, and updates the relative position between the monitoring platform and the target vessel in real time;

[0057] S400: Deploy the monitoring platform to cooperate with the drone to carry out tracking and filming; guide the drone to fly to the other side of the target ship relative to the location of the monitoring platform;

[0058] S500: When the UAV reaches the predetermined position, the monitoring platform and the UAV start the shooting equipment to shoot the target ship from the left and right sides respectively;

[0059] S600: When the target ship leaves the predicted area, the drone is recovered;

[0060] Specifically, as attached Figure 1 , which is a schematic diagram of the framework of the tracking system; in the tracking system, one or more monitoring platforms 11 are included; the monitoring platform 11 is placed on, for example, a river or sea surface; the monitoring platform 11 has autonomous movement and positioning capabilities, and has an electric energy conversion device inside it, which generates electric energy by collecting various renewable energy sources and stores it in an energy storage device inside the monitoring platform 11; the generated electric energy is used to support the daily work of the monitoring platform 11 and other ancillary equipment of the tracking system;

[0061] Preferably, the monitoring platform 11 is connected to one or more servers 1 at a remote end through a communication network 2 to communicate and transmit positioning data and destination data;

[0062] The monitoring platform 11 predicts the target ship's route based on remote sensing information and moves into the predicted area of ​​the target ship. After the target ship enters the predicted area, the monitoring platform 11 releases the unmanned mobile device to take a stereoscopic image of the target ship.

[0063] As attached Figure 2 , which is a schematic diagram of the internal structure of the monitoring platform 11; the monitoring platform includes a base body 13, and a drive motor 15 installed on the base body 13 as a propulsion device of the monitoring platform; the number of the drive motors 15 is not limited, and preferably, two or more can be included; the monitoring platform 11 is provided with a cabin 29, and a protective box 8 is provided in the cabin 29, and the protective box 8 is used to protect a series of electronic components inside, such as a central processing unit 10;

[0064] In the following description, the front, rear, left, right, upper, and lower directions respectively represent the front, rear, left, right, upper, and lower directions of the base body 13; the left and right directions are defined based on observing the base body 13 from the rear; the vertical direction is perpendicular to the front and rear directions and the left and right directions;

[0065] In a preferred exemplary embodiment, a plurality of the drive motors 15 are fixedly mounted on the base body 13 via a mounting assembly 14; the drive motor 15 is an electrically driven brushless DC motor, which generates a rotational driving force to rotate the propeller, thereby generating thrust to enable the base body 13 to move on or below the water surface; preferably, the mounting assembly 14 may include mechanical components such as a rotating bracket, a clamping bracket, a steering shaft and a tilting shaft, and the mounting assembly 14 also includes a multi-directional tilting mechanism 27, which enables the drive motor 15 to rotate around the tilting shaft, and enables the drive motor 1 The monitoring buoy 11 can have multiple downward tilt angles (pitch angle and tilt angle) relative to the base body 13, so as to adjust the pitch and make the driving motor 15 tilt up and down; preferably, the driving motor 15 can rotate around an axis perpendicular to the horizontal plane through the setting of the tilting mechanism 27, so that the monitoring buoy 11 can turn in the process of moving forward or backward; or, in some embodiments, the rotation speed difference of multiple driving motors 15 can be set so that the overall force of the base body 13 on the water has a bias in the left and right directions, so as to adjust the turning of the monitoring buoy 11 in the process of moving;

[0066] In a preferred exemplary embodiment, at least one high-definition camera 41 is installed at the front of the base body 13; preferably, the high-definition camera 41 can be directly or through a supporting member mounted on the frontmost mounting bracket of the base body 13; preferably, the high-definition camera 41 includes a left camera to form a left imaging unit, and a right camera to form a right imaging unit, and the left imaging unit and the right imaging unit form a paired imaging unit; preferably, the mounting bracket can have a vibration reduction structure to eliminate multi-directional vibrations caused by motion jolts, thereby improving the imaging quality of the high-definition camera 41;

[0067] Furthermore, the middle part of the base body 13 has a helipad 51 that can accommodate at least one remote-controlled drone, which is used to park and store at least one drone; the helipad 51 is a rectangular area, and the side walls are made of high-strength waterproof material, which is suitable for various marine environments; preferably, the helipad 51 includes an openable top cover, which is made of reinforced material and has waterproof, dustproof and impact-resistant functions, and is used to protect the drone and electronic equipment inside under severe weather conditions; preferably, the top cover is driven by a hydraulic system and integrated with an intelligent control module; the hydraulic system automatically adjusts the state of the top cover according to meteorological data and operating instructions; when the drone takes off and lands, the top cover automatically opens to provide space and vision; after the drone returns to the helipad, the top cover automatically closes to seal the drone and electronic equipment Equipment protection included; preferably, a multifunctional maintenance platform is provided inside the apron 51, equipped with charging piles and data interfaces, which are used to provide charging and data transmission services for the UAV; in some preferred embodiments, the apron 51 is equipped with navigation and guidance components, and uses sensors and marking systems to ensure the precise landing of the UAV; the navigation system includes high-precision GPS and visual recognition technology to adjust the landing path of the UAV in real time to avoid collisions and errors; in some preferred embodiments, the apron area is also equipped with an environmental monitoring system, equipped with temperature and humidity sensors and cameras, to monitor the internal environment in real time to ensure that the UAV and electronic equipment are in working condition; if an abnormal situation is detected, the system will sound an alarm and take corresponding protective measures, such as automatically opening the vents or starting the backup power supply;

[0068] In a preferred exemplary embodiment, the monitoring platform 11 is equipped with a renewable energy power generation device suitable for use on the sea surface, such as a surge power generation device and a photovoltaic power generation device, for providing a continuous power supply for the platform and its equipment; preferably, the surge power generation device includes a plurality of floating power generation units installed on the edge of the monitoring platform 11, and the power generation unit moves up and down with the waves through a floating device, thereby driving the internal generator to convert electricity; each floating power generation unit is composed of a buoy, a mechanical transmission system and a generator; the buoy captures the kinetic energy of the waves, converts it into rotational motion through a mechanical transmission system, and drives the generator to generate electricity; the surge power generation device is equipped with a power management system, which can transmit the generated electricity to the main power grid of the monitoring platform 11 in real time, and automatically adjust the power generation power according to demand;

[0069] Preferably, the photovoltaic power generation device is installed on the upper surface of the monitoring floating platform 11, and includes a plurality of photovoltaic panels, which are arranged in an optimized manner to maximize the capture of sunlight; the photovoltaic panels convert solar energy into electrical energy through photoelectric conversion technology, and convert direct current into alternating current through an inverter for use by the platform; the photovoltaic power generation device is also equipped with a power management system that can monitor the working status of the photovoltaic panels and clean and maintain them when necessary to ensure power generation efficiency; in some embodiments, the photovoltaic panels can be used as the top cover of the helipad 51;

[0070] The renewable energy power generation device of the monitoring platform 11 is connected to an energy storage system, which includes a high-capacity battery pack for storing excess electric energy. When energy demand is low, the system stores excess electric energy. When energy demand is high, the system extracts electric energy from the battery pack to ensure that the monitoring platform 11 always has sufficient power supply. In addition, the monitoring platform 11 is equipped with an intelligent power management system that can comprehensively manage the power generation of surge power generation devices and photovoltaic power generation devices and optimize energy distribution and use. The intelligent power management system dynamically adjusts the working status of each power generation device by monitoring the real-time power consumption of the platform to achieve efficient utilization and continuous supply of energy.

[0071] By configuring a surge power generation device and a photovoltaic power generation device, the monitoring platform 11 can achieve self-sufficient energy supply in the offshore environment, and provide reliable power support for various equipment on the monitoring platform 11, including the apron 51, the navigation system and the monitoring system;

[0072] Further, attached Figure 3 is a functional framework diagram of the central processing unit 10; the central processing unit 10 includes a tracking unit 110 and a control unit 130;

[0073] Preferably, the tracking unit 110 at least includes a tracking unit microprocessor 111 and a tracking unit communication unit 113; the tracking unit 110 is connected to the high-definition camera 41 for communication to obtain image data from the high-definition camera 41, and the tracking unit microprocessor 111 analyzes the position and movement of the target according to the image data;

[0074] The control unit 130 at least includes a control unit microprocessor 131 and a control unit communication unit 133; the control unit communication unit 133 and the tracking unit communication unit 113 are connected to each other by wired or wireless communication, and the type of communication protocol between the two is not limited. For example, a control area network (CAN) protocol can be used to share the position and direction of the target position or the target ship with the control unit 130, and the control unit 130 generates a series of control instructions to control the action of the monitoring floating platform 11;

[0075] Preferably, the control unit 130 is communicatively coupled to the following multiple sensors, including a motor speed sensor 17, a switch sensor 25, a steering angle sensor 35, a speed sensor 36, an acceleration sensor 37, a posture sensor 38, a switch adjustment unit 26, a receiver 39, a steering actuator 24, and a tilt mechanism controller 127; the control unit 130 is used as a main control for maneuvering-related movements, and is used to generate action instructions according to the target position obtained by the tracking unit 110 to control the monitoring floating platform 11 to reach the specified target position, and also includes long-distance tracking of the target ship;

[0076] Preferably, the switch adjustment unit 26, the steering angle sensor 35, the speed sensor 36, the acceleration sensor 37, the posture sensor 38, and the receiver 39 can be included in the central processing unit 10, or arranged near the central processing unit 10; preferably, the tilt mechanism controller 127 is connected to the tilt mechanism 27 to control the action of the tilt mechanism 27; preferably, the steering actuator 24 is configured to cooperate with the tilt mechanism controller 127 and the drive motor 15 to achieve the control of the overall steering of the base body 13; the switch sensor 25 and the motor speed sensor 17 are arranged in the drive motor 15 to monitor the switch and speed of the drive motor 15 in real time;

[0077] Preferably, the control unit 130 further includes a buffer, a storage, and a timer (not shown); the storage is used to store the control program, and the control unit microprocessor 131 loads the control program stored in the storage into the buffer and executes the control program to implement various types of control processes; the buffer provides a cache space for program statements for the control unit microprocessor 131 to execute the control program;

[0078] Multiple sensors, namely the motor speed sensor 17, the switch sensor 25, the steering angle sensor 35, the speed sensor 36, the acceleration sensor 37, and the posture sensor 38 provide multiple monitoring results to the control unit 130; wherein the motor speed sensor 17 detects the number of revolutions per unit time of the drive motor 15; the switch sensor 25 is used to detect the value of the driving current of the drive motor 15, and cooperates with the motor speed sensor 17 and the switch adjustment unit 26 to realize the input current control of the drive motor 15. The control unit microprocessor 131 further issues a target speed according to the control program to indicate the control target of the switch adjustment unit 26; the steering angle sensor 35 detects the current rotation angle of the base body 13; the speed sensor 36 and the acceleration sensor 37 respectively detect the navigation speed and acceleration of the monitoring floating platform 11;

[0079] Preferably, the attitude sensor 38 includes, for example, a gyro sensor and a magnetic azimuth sensor; using the signal output from the attitude sensor 38, the control unit 130 calculates the roll angle, pitch angle and yaw angle of the base body 13; the control unit 130 can use the output signal of the acceleration sensor 37 to calculate the roll angle and pitch angle;

[0080] Preferably, the receiver 39 includes, for example, a GNSS (Global Navigation Satellite System) receiver module for receiving GPS signals, and has the function of receiving GPS signals or various signals as position information; the signal received by the receiver 39 is provided to the control unit microprocessor 131;

[0081] Further, in an exemplary embodiment, the tracking unit 110 further includes a memory, a buffer, and a timer, which are not shown; the memory is used to store the tracking strategy program; the tracking unit microprocessor 111 loads the tracking strategy program stored in the memory into the buffer, and executes the tracking strategy program to implement various types of tracking strategy processes; the buffer provides a cache space for the tracking unit microprocessor 111 to execute the tracking strategy program;

[0082] Preferably, the high-definition camera 41 is arranged at the front end of the base body 13 in a manner that the left camera and the right camera are arranged roughly in the left-right direction; a gap is left between the left camera and the right camera; the left camera and the right camera are arranged in a manner that their imaging areas roughly overlap; the viewing angles and shooting directions of the left camera and the right camera are set so that when the monitoring floating platform 11 slides, the water surface (sea surface) is included in all shooting ranges of the two cameras; the images shot thereafter are provided to the tracking unit microprocessor 111, and then the tracking unit microprocessor 111 and the server 1 perform further visual operations and analysis;

[0083] The left camera and the right camera are set to generate a stereoscopic image; the server 1 can use the stereoscopic vision technology to obtain depth information; the principle of stereoscopic vision is similar to the human binocular parallax, and by comparing the images captured by the two cameras, the system can calculate the three-dimensional position and distance of the object; this is particularly important for monitoring and tracking target ships on the water, because being able to accurately determine the position and distance of the target is the basis for achieving accurate navigation and tracking;

[0084] At the same time, the dual-camera configuration improves the reliability of the image device; in actual applications, if one of the cameras fails, the other camera can still continue to work, ensuring that the system's monitoring capability is not completely lost; such redundancy design is particularly important in the marine environment, because the equipment maintenance and replacement cycle is relatively long, so it is best to set up sufficient working equipment redundancy;

[0085] In a preferred exemplary embodiment, one or more drones 60 are used to work in conjunction with the monitoring platform 11 to implement target discovery and track target vessels; Figure 4 The figure shows a functional framework diagram of the UAV 60; the UAV 60 includes a body 61, a power module 62, a navigation module 63, a camera module 64 and a communication module 65;

[0086] Preferably, the body 61 is made of light and high-strength materials, and available materials include carbon fiber composite materials or aviation-grade aluminum alloys to ensure light weight and sufficient strength; the body 61 is specially coated to improve corrosion resistance and waterproof properties to resist corrosion from seawater and the influence of high humidity environments; the body 61 is designed as a modular structure to facilitate maintenance and replacement of components;

[0087] Preferably, the middle of the body 61 has a cabin for installing various equipment, which is used to accommodate and protect the core electronic equipment and battery pack of the drone; preferably, the cabin has a sealing function to prevent water vapor and dust from entering, ensuring the stable operation of the internal equipment; preferably, a landing gear is provided at the bottom of the body 61 to provide support during takeoff and landing; the landing gear adopts a foldable design and can be folded during flight to reduce wind resistance and improve flight efficiency; the landing gear is also made of high-strength anti-corrosion materials to ensure durability in the marine environment;

[0088] Preferably, the power module 62 may include four drive units; each drive unit includes an electric motor and a propeller; each electric motor drives a propeller respectively to provide vertical take-off and landing and hovering capabilities; the electric motor is powered by a power management system; optionally, the power module 62 may also include six drive units or eight drive units to provide greater power output and be suitable for UAVs of different take-off weights;

[0089] Preferably, the navigation module 63 includes a high-precision GPS module, an inertial measurement unit (IMU) and an automatic flight controller; the navigation module 63 can calculate the position and attitude of the drone in real time, and perform autonomous navigation according to a preset path or real-time instructions; the automatic flight controller is connected to multiple sensors, including an altimeter, a barometer and a magnetometer, to ensure flight stability and precise positioning;

[0090] Preferably, the shooting module 64 includes at least one high-resolution camera, and optionally, may also include a thermal imaging camera or other image sensors; the high-resolution camera has an optical zoom function and can shoot high-definition images and videos; the thermal imaging camera is used to monitor targets in low light or night conditions and provide thermal image data; the shooting module 64 also includes a stabilizing gimbal; the camera is mounted on the gimbal, and the stabilizing gimbal can achieve three-axis stabilization and free rotation to ensure the stability of the shooting angle and the picture;

[0091] Preferably, the communication module 65 includes a communication unit and a data transmission unit; the communication unit can transmit the captured image and video data to the server 1 in real time, and receive control instructions sent by the server 1; the data transmission unit supports long-distance high-bandwidth data transmission to ensure the real-time and reliability of information;

[0092] Preferably, the drone 60 further includes an auxiliary take-off and landing positioning module 66 for automatic landing and parking, through which the drone 60 can accurately land on the helipad 51 of the monitoring platform 11; the auxiliary take-off and landing positioning module 66 can ensure accurate landing under various meteorological conditions by combining visual recognition and infrared marking;

[0093] Preferably, the drone 60 further includes an energy management module 68; the energy management module 68 uses a replaceable high-energy-density lithium battery pack to provide long-term flight capability; the battery pack supports rapid replacement and charging, and the charging unit configured by the energy management module 68 can cooperate with the charging unit integrated in the apron 51 to achieve circuit connection to charge the lithium battery pack;

[0094] Further, in a preferred exemplary embodiment, the server 1 is used to discover and obtain navigation information of the target vessel by receiving a remote sensing satellite system; the types of satellites include but are not limited to a global navigation satellite system (GNSS), an earth observation satellite and a synthetic aperture radar (SAR) satellite; wherein,

[0095] The Global Navigation Satellite System (GNSS) includes GPS, GLONASS, Galileo and BeiDou GNSS satellites, providing global positioning and time synchronization services; GNSS data is used to determine the real-time position of the monitoring platform 11 and the target vessel;

[0096] Earth observation satellites use high-resolution optical imaging satellites, such as Landsat, Sentinel-2 or WorldView series satellites; remote sensing image data from these satellites can be used for ship-based identification and monitoring of the shape, size and position changes of target ships;

[0097] Synthetic Aperture Radar (SAR) satellites, such as Sentinel-1, RADARSAT, and TerraSAR-X, provide radar images of target vessels in all weather conditions and at all times of the day. SAR images can penetrate clouds and observe at night, providing highly accurate information on the position and movement of vessels.

[0098] Furthermore, the server 1 can lock a designated ship as a target ship through a variety of algorithms, predict the navigation path of the target ship, and deploy one or more monitoring buoys 11 to the possible navigation path of the target ship;

[0099] Preferably, the prediction algorithms that can be used include:

[0100] Convolutional neural networks (CNN) and deep learning techniques process satellite images to identify and classify target vessels. The CNN model is trained on a large amount of labeled data, including the speed, historical path, and change of course of target vessels. It can efficiently detect and distinguish different types of vessels and accurately locate their positions.

[0101] Optionally, target tracking algorithms such as Kalman filtering and particle filtering are used to predict the motion trajectory of the target vessel based on multi-phase image data; Kalman filtering is suitable for processing linear motion models, while particle filtering can handle nonlinear and complex motion patterns;

[0102] Optional, Bayesian data fusion method, which fuses data from different satellite sensors to improve the accuracy of target vessel position and trajectory prediction; Bayesian data fusion algorithm provides more robust target monitoring results by combining the uncertainty of multi-source data;

[0103] Optionally, based on machine learning algorithms such as support vector machines (SVM) and random forests, the historical navigation data and real-time remote sensing data of the target vessel are analyzed to predict the future navigation path of the target vessel; such algorithms can provide accurate path prediction by learning the navigation pattern and environmental characteristics of the target vessel;

[0104] Optionally, image stitching technology is used to stitch images from different satellites and sensors to generate large-scale, high-resolution monitoring images; image enhancement algorithms are used to improve the contrast and clarity of images to facilitate further analysis and processing.

[0105] Embodiment 2: This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them;

[0106] Furthermore, the predicted route of the target vessel can be predicted and determined, and one or more monitoring floating platforms can be instructed to wait in the target area on the predicted route;

[0107] In some embodiments, the tracking system simultaneously deploys multiple automatically moving monitoring buoys 11 in a large sea area, and the multiple monitoring buoys 11 work together through remote sensing technology and satellite communications. The specific locations of the multiple monitoring buoys 11 can be allocated based on the density of ships on historical routes or based on spatial density.

[0108] Preferably, the navigation path of the target ship is predicted, and at least two predicted routes are determined, which are set as route A and route B; according to these routes A and route B, the server 1 instructs one or more monitoring buoys 11 to wait in the target area on the predicted route to monitor the target ship in real time;

[0109] Preferably, the power consumption and the remaining energy of each of the plurality of monitoring floating platforms 11 after reaching the predetermined target area are considered at the same time, and an optimized deployment strategy is obtained through comprehensive calculation;

[0110] As attached Figure 5 As shown, the optimized deployment strategy is exemplarily described:

[0111] (1) A two-dimensional coordinate system is used to describe an ocean area 400, and the positions of the monitoring platform 11 and the predicted route are marked therein; for example, the following data exists:

[0112] The plurality of monitoring platforms 11 are represented by coordinates of the locations of the monitoring platforms 11 as follows: 1 (x 1 ,y 1 ), P 2 (x 2 ,y 2 ), P 3 (x 3 ,y 3 ), …;

[0113] Assuming that one of the segments in the predicted route is a line segment, there exists:

[0114] Predicted route A: passing through point A 1 (xA 1 ,yA 2 ) and point A 2 (xA 2 ,yA 2 )

[0115] Predicted route B: passing through point B 1 (xB 1 ,yB 1 ) and point B 2 (xB 2 ,yB 2)

[0116] (2) Calculating the shortest distance between the target position of the monitoring platform 11 and the predicted route; including:

[0117] Calculate the distance between each monitoring buoy 11 and route A;

[0118] Calculate the distance between each monitoring buoy 11 and route B;

[0119] Compare and select the minimum distance as the distance from the monitoring platform 11 to the predicted route;

[0120] For example, there are currently three monitoring platforms 11, denoted as P 1 (x 1 ,y 1 ), P 2 (x 2 ,y 2 ), P 3 (x 3 ,y 3 ), and their relative coordinates on the sea area are: P 1 (2,3), P 2 (5,7), P 3

[0121] (8,1);

[0122] Set the predicted route A to pass through point A 1 (1,1) and A 2 (10,1), predicting route B to pass through B 1 (2,2) to B 2 (2,8);

[0123] The data shown in the following table can be calculated:

[0124] Monitoring platform The shortest distance to the predicted route A The shortest distance to the predicted route B <![CDATA[P 1 ]]> 2 0 <![CDATA[P 2 ]]> 6 3 <![CDATA[P 3 ]]> 0 6

[0125] It can be seen that the monitoring platform P 1 The shortest distance from the predicted route B is possible, and the monitoring platform P 3 The shortest distance can exist with the predicted route A;

[0126] Furthermore, the remaining energy and maximum working power of the three monitoring floating platforms can be used to check whether they are suitable for reaching the predetermined location to perform identification and tracking tasks;

[0127] Further, in an exemplary embodiment, after the predicted route and predicted area based on the target vessel are calculated and determined in the above-described manner, one or more monitoring floating platforms 11 are designated to perform the following steps to perform tracking operations on the target vessel;

[0128] The server 1 instructs the monitoring platform 11 to move and reach a predetermined prediction area;

[0129] The remote server 1 receives the remote sensing monitoring data for real-time monitoring; the high-definition camera 41 continuously captures the real-time image of the sea area in the predicted area, and transmits the real-time image to the server 1 for real-time analysis; the remote sensing monitoring data is used to analyze the latest position information of the target ship, and is matched and calibrated with the image captured by the high-definition camera 41;

[0130] When the target ship monitoring platform 11 enters the monitoring range, the server 1 identifies the target ship through image processing algorithms and determines its specific location and navigation direction; combines the remote sensing data with the target ship's location data to further confirm the target ship's trajectory and update the relative position between the monitoring platform 11 and the target ship in real time;

[0131] Deploy a drone to perform tracking photography; once the location of the target vessel is confirmed by the monitoring platform 11, the target vessel is locked, and the drone on the monitoring platform 11 takes off and flies to the other side of the target vessel relative to the location of the monitoring platform 11; for example, when the monitoring platform is located on the left side of the target vessel, the drone will fly to the right side of the target vessel to ensure that the target vessel is photographed from different angles;

[0132] When the drone reaches the predetermined position, the monitoring platform 11 and the drone start the shooting equipment; the high-definition camera 41 of the monitoring platform 11 and the shooting module of the drone work synchronously to shoot the target ship from the left and right sides respectively;

[0133] Preferably, the shooting process includes the collection of static images and videos; preferably, the high-definition camera 41 captures the details of the target ship, and the thermal imaging camera provides thermal image data of the target ship for monitoring at night or in low-light environments; the collected multi-view image data is transmitted to the server 1 in real time via the network; the server 1 processes and analyzes the received image data to generate a stereoscopic image and a detailed report of the target ship; preferably, the multi-view image data is used to further confirm the identity and navigation status of the target ship, and may further include analysis of details such as objects and people on the ship, so as to provide basic data support for subsequent monitoring and tracking;

[0134] Recover the drone; after the target ship leaves the predicted area, the drone automatically returns to the monitoring platform 11, lands accurately on the helipad through the positioning system, and then returns to the monitoring platform 11 for charging;

[0135] Through the above steps, the monitoring platform 11 and the drone work in coordination to achieve multi-angle monitoring and data collection of the target ship, ensuring the comprehensiveness of the monitoring and the accuracy of the data.

[0136] Embodiment 3: This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them;

[0137] For example, as shown in the attached Figure 7 As shown, an implementation of a computer system 700 used by the server 1 in the tracking system is described; the computer system 700 can be applied to the data storage, calculation and result output process of each working module in the identification and judgment system;

[0138] Illustratively, computer system 700 includes a bus 702 or other communication mechanism for communicating information, one or more processors 704 coupled to bus 702 for processing information; processor 704 may be, for example, one or more general-purpose microprocessors;

[0139] The computer system 700 also includes a main memory 706, such as a random access memory (RAM), cache, and / or other dynamic storage device, coupled to the bus 702 for storing information and instructions to be executed by the processor 704; the main memory 706 may also be used to store temporary variables or other intermediate information during the execution of instructions to be executed by the processor 704; these instructions, when stored in a storage medium accessible to the processor 704, present the computer system 700 as a special-purpose machine customized to perform the operations specified in the instructions;

[0140] The computer system 700 may also include a read-only memory (ROM) 708 or other static storage device coupled to the bus 702 for storing static information and instructions for the processor 704; a storage device 710 such as a disk, an optical disk, or a USB drive (flash drive) will be coupled to the bus 702 for storing information and instructions;

[0141] And further, coupled to the bus 702 may also include a display 712 for displaying various information, data, media, etc., an input device 714 for allowing a user of the computer system 700 to control, manipulate, and / or interact with the computer system 700;

[0142] A preferred way to interact with the management system may be through a cursor control device 716, such as a computer mouse or similar control / navigation mechanism;

[0143] Furthermore, the computer system 700 may also include a network device 718 coupled to the bus 702; wherein the network device 718 may include, for example, a wired network card, a wireless network card, a switching chip, a router, a switch, and other components;

[0144] In general, the terms "engine", "component", "system", "database", etc., as used herein, may refer to logic embodied in hardware or firmware, or to a collection of software instructions, possibly with entry and exit points, written in a programming language such as Java, C, or C++; software components may be compiled and linked into executable programs, installed in a dynamic link library, or may be written in an interpreted programming language (e.g., BASIC, Perl, or Python); it should be understood that software components may be called from other components or from themselves, and / or may be called in response to detected events or interrupts;

[0145] Software components configured to execute on a computing device may be provided on a computer-readable medium, such as a compact disc, digital video disc, flash drive, diskette, or any other tangible medium, or as a digital download (and may be initially stored in a compressed or installable format that requires installation, decompression, or decryption prior to execution); such software code may be stored in part or in whole on a memory device of the executing computing device for execution by the computing device; software instructions may be embedded in firmware, such as an EPROM; it is also understood that hardware components may be composed of connected logic units (such as gates and flip-flops), and / or may be composed of programmable units (such as programmable gate arrays or processors);

[0146] Computer system 700 includes custom hardwired logic, one or more ASICs or FPGAs, firmware, and / or program logic that, in combination with the computer system, renders computer system 700 a special-purpose computing device;

[0147] According to one or more embodiments, the techniques herein may be performed by computer system 700 in response to processor 704 executing one or more sequences of one or more instructions contained in main memory 706; such instructions may be read into main memory 706 from another storage medium, such as storage device 710; execution of the sequences of instructions contained in main memory 706 causes processor 704 to perform the process steps described herein; in alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions;

[0148] As used herein, the term "non-transitory media" and similar terms refer to any media that store data and / or instructions that cause a machine to operate in a specific manner; such non-transitory media may include non-volatile media and / or volatile media; non-volatile media include, for example, optical or magnetic disks, such as storage device 710; volatile media include dynamic memory, such as main memory 706;

[0149] Among them, common forms of non-transitory media include, for example, floppy disks, diskettes, hard disks, solid-state drives, magnetic tapes or any other magnetic data storage medium, CD-ROMs, any other optical data storage medium, any physical medium having a pattern of holes, RAM, PROM and EPROM, FLASH-EPROM, NVRAM, any other memory chip or cartridge, and network versions thereof;

[0150] Non-transient media are distinct from transmission media but may be used in conjunction with transmission media; transmission media participate in the transmission of information between non-transient media; for example, transmission media include coaxial cables, copper wires, and optical fibers, including the wires that make up bus 702; transmission media may also take the form of sound waves or light waves, such as radio waves and infrared data communications.

[0151] Although the present invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the present invention. That is, the methods, systems and devices discussed above are examples. Various configurations may appropriately omit, replace or add various processes or components. For example, in alternative configurations, the method may be performed in an order different from the order described, and / or various components may be added, omitted and / or combined. Moreover, the features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. In addition, the elements therein may be updated as the technology develops, i.e., many elements are examples and do not limit the scope of the present disclosure or claims.

[0152] Specific details are given in the specification to provide a thorough understanding of the exemplary configurations including implementations. However, the configurations may be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary details to avoid obscuring the configurations. This description provides only example configurations and does not limit the scope, applicability, or configurations of the claims. On the contrary, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made to the functions and arrangements of the elements without departing from the spirit or scope of the present disclosure.

[0153] In summary, it is intended that the above detailed description is considered to be illustrative rather than restrictive, and it should be understood that the above embodiments should be understood to be only used to illustrate the present invention and not to limit the scope of protection of the present invention. After reading the contents of the present invention, the technician can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.

Claims

1. A ship tracking system combining remote monitoring and on-site monitoring, characterized in that: The tracking system includes: One or more monitoring floating platforms; the monitoring floating platform has the ability to move and position itself autonomously, and is internally provided with a renewable energy conversion device for collecting and converting renewable energy to produce electric energy, and storing the produced electric energy in the energy storage device; the produced electric energy is used to support the operation of multiple working components inside the monitoring floating platform; Each monitoring platform is equipped with one or more drones, and the drones are stored inside the monitoring platform during the grounding period; the monitoring platform carries the equipped drones to move on the sea, and cooperates with the drones to perform the identification and tracking tasks of the target ship; Among them, the monitoring platform and its equipped drone are both equipped with shooting devices. After identifying the target ship, the drone takes off from the monitoring platform and flies to the other side of the target ship relative to the monitoring platform; the drone and the monitoring platform perform multi-angle image acquisition of the target ship to obtain stereoscopic image information of the target ship.

2. The tracking system according to claim 1, characterized in that: The monitoring platform is connected to one or more servers at a remote end through a communication network; the server obtains remote sensing data to search multiple ships to preliminarily determine the target ship; the server continuously obtains the remote sensing positioning data of the target ship and shares the remote sensing positioning data of the target ship with the monitoring platform; and the server obtains image data from the monitoring platform and cooperates with the monitoring platform to process the image data.

3. The tracking system according to claim 2, characterized in that: The server predicts the predicted route of the target ship according to the remote sensing information, and deploys one or more monitoring floating platforms in advance and moves them to a predicted area on the predicted route of the target ship to wait for the target ship to appear.

4. The tracking system according to claim 3, characterized in that: In the process of predicting the predicted route, the server applies artificial intelligence technology to analyze the currently known information of the target ship, so as to predict the predicted route.

5. The tracking system according to claim 4, characterized in that: The shooting device of the monitoring platform includes a high-definition camera arranged at the front of the base body; the high-definition camera includes a left camera and a right camera; there is a gap between the left camera and the right camera; the left camera and the right camera shoot the front at the same time, and the server obtains image data from the left camera and the right camera, and forms a stereoscopic image through an image processing algorithm.

6. The tracking system according to claim 5, characterized in that: The renewable energy conversion device configured on the monitoring floating platform includes a surge power generation device and / or a photovoltaic power generation device; The surge power generation device comprises a plurality of floating power generation units installed on the edge of the monitoring floating platform; the photovoltaic power generation device comprises photovoltaic panels installed on the upper surface of the monitoring floating platform.

7. The tracking system according to claim 6, characterized in that: The monitoring platform also includes one or more drive motors, which are connected to propellers and generate thrust by rotating the propellers to drive the monitoring platform to move on or under the water surface; and the drive motor is connected to a tilting mechanism to adjust the power direction of the drive motor, thereby changing the moving direction of the monitoring platform.

8. A ship tracking method combining remote monitoring and on-site monitoring, characterized in that: The tracking method is applied to a vessel tracking system combining remote monitoring and on-site monitoring as claimed in claim 7; the tracking method comprises the following steps: S100: The tracking system instructs the monitoring floating platform to move to a predicted area on the predicted route of the target vessel; S200: The server receives remote sensing monitoring data for real-time monitoring; at the same time, the high-definition camera of the monitoring platform continuously captures the real-time image of the sea area in the predicted area, and matches and calibrates the real-time image with the remote sensing monitoring data; S300: When the target vessel enters the monitoring range of the monitoring platform, the server identifies the target vessel through image processing algorithms and determines its specific location and navigation direction; combines the remote sensing data with the location data of the target vessel to further confirm the trajectory of the target vessel, and updates the relative position between the monitoring platform and the target vessel in real time; S400: Deploy the monitoring platform to cooperate with the drone to carry out tracking and filming; guide the drone to fly to the other side of the target ship relative to the location of the monitoring platform; S500: When the UAV reaches the predetermined position, the monitoring platform and the UAV start the shooting equipment to shoot the target ship from the left and right sides respectively; S600: When the target vessel leaves the predicted area, the drone is recovered.

Images