Method for surveillance of vessels in a marina by using autonomous robot

Abstract

The present invention relates to a method for monitoring vessels (300) arranged on berths (111) stationed in a marina (100) with piers (110) with the help of one or more autonomous robots (10) moving around the marina and a central marina server that records changes in the state of the berths (111) and can control the movement of said autonomous robots (10) independently or at the request of authorized users. The advantage of the existing solution is that it does not use a network of fixed points (anchors) for the localization of the vessel (200) via Bluetooth® Low Energy (BLE) tags (300) previously placed in the vessels (200), and minimizes the number of false detections due to multiple signal reflections from a large number of metal obstacles, using a pair of orthogonally placed antenna arrays with detection directions A1 and A2, respectively. The invention in its basic aspect performs an inventory of the vessels (200) on berths (111), as well as a visual inspection of the vessel, in real time and at the request of an authorized person.