71 results about "Navigation safety" patented technology

The present application relates to the technical fields of ship tracking and monitoring, and discloses an automatic prevention and control tracking and monitoring system for ships based on AIS, radar and video signal fusion, comprising: a video signal capturing unit; a signal fusion trajectory prediction unit, which interacts with the video signal capturing unit, is used for fusing ship digital signals, radar digital signals and video signals, and predicting the ship running trajectory in the target period based on the signal fusion result; a track compliance evaluation unit, which is used for obtaining the ship's to-be-traveled route, calculating the offset distance between the ship running trajectory and the ship's to-be-traveled route, and evaluating the track compliance degree of the ship in the driving process based on the offset distance; an arrival period prediction unit; and a tracking and monitoring control unit. The present application realizes multi-dimensional and high-precision ship prevention and control tracking and monitoring, and provides comprehensive technical support and guarantee for ship navigation safety, traffic management and operation efficiency improvement.

The application discloses a seawater filter automatic deicing system utilizing ship waste heat, which comprises a seawater filter for leading outboard seawater from a ship sea chest to the ship for the whole ship use through a seawater main pipe, wherein the seawater filter communication end with the sea chest is taken as an import end, the seawater filter communication end with the ship system is taken as an export end, the seawater main pipe is provided with a seawater cooling system and a differential pressure sensor in parallel on both sides of the seawater filter, the seawater cooling system provides high-temperature cooling seawater for the automatic deicing system and is connected with a seawater cooling pipe discharge outboard pipe in series, and the differential pressure sensor monitors the pressure difference between both sides of the seawater filter in real time; temperature sensors are arranged on the seawater main pipe of the seawater filter export end and in the seawater cooling system to monitor seawater temperature in real time; and the automatic deicing system further comprises a remote control valve system, which realizes the control of seawater flow in each pipeline by controlling the opening of the remote control valve. The seawater filter is automatically deiced by utilizing the ship waste heat, the seawater filter is prevented from being blocked by ice blocks, and the navigation safety of the ship is ensured.

The application belongs to the technical field of marine environment expansion, and discloses a shipborne radar sea wave perception domain expansion method and system based on deep learning, which constructs a sea wave perception domain step-by-step expansion model, uses a sea wave perception domain expansion submodule to realize spatial feature modeling and limited range expansion of local observation data, and gradually deduces larger range sea wave field information through a step-by-step expansion and residual connection mode; meanwhile, a sea wave continuity constraint mechanism is introduced to apply continuity constraints at the junction of the expanded sea area and the original observation sea area, so that the overall wave field can maintain high accuracy and spatial continuity in a large range. Through the shipborne radar sea wave perception domain expansion method based on deep learning, the real-time perception ability of the shipborne radar to a large range of sea areas in the local environment can be significantly improved, the independent operation of the ship in the marine environment is supported, and the real-time sea wave perception ability of the ship navigation safety and the marine engineering application is significantly improved.

This invention relates to the field of unmanned surface vessel (USV) path planning technology, specifically to a path planning method for USV swarms in narrow waterways. The method includes: constructing a narrow waterway environment model; constructing a USV kinematic model; constructing a training set based on data from the narrow waterway environment model and the USV kinematic model; constructing a path planning model based on a multi-agent proximal policy optimization algorithm employing an attention mechanism, wherein the reward function of the path planning model considers an adaptive reward mechanism based on waterway width to achieve a triangular formation for the USV swarm in wide waterways and a longitudinal formation in narrow waterways; training the path planning model using the training set; and applying the trained path planning model to a real-world path planning task to achieve cooperative navigation and collision avoidance of the USV swarm in narrow waterways. This invention improves the path planning capability and navigation safety of USV swarms in narrow waterway environments.

This invention provides a method and system for weighted dynamic adjustment of unmanned surface vessel (USV) path segments, relating to the field of intelligent control technology. The method includes: Step 1, acquiring the USV's navigation environment information and mission requirements; determining a segmentation strategy based on obstacle distribution density and water complexity in the navigation environment information; and dynamically dividing the global navigation area into multiple navigation segments of varying lengths according to the segmentation strategy; Step 2, for each segment, real-time acquisition of water flow velocity data sensed by three fixed-position hydrological monitoring buoys within the segment; and constructing a water flow velocity field grid data for the segment based on the spatial coordinates of the three hydrological monitoring buoys and the water flow velocity data. This invention improves the navigation safety, efficiency, and autonomous navigation capabilities of USVs in complex waters.

This invention discloses a method and system for separating AIS aliasing signals using a four-circular array antenna. The steps are as follows: S100: AIS signals are received through multiple antennas to obtain the spatial baseband signal matrix X, and the phase error Δφ is calculated using interval calculation. k S200: Calculate the phase compensation matrix p; S200: Compensate the baseband signal according to the phase compensation matrix to obtain the baseband signal X. comp S300: For baseband signal X comp By expanding the spatial and temporal dimensions, we obtain the spatiotemporal snapshot matrix X. st (t); S400: The covariance matrix R is obtained by estimating the spatiotemporal snapshot matrix. xx S500: For the covariance matrix R xx Eigenvalue decomposition is performed to obtain the signal subspace and noise subspace; S600: DOA estimation is performed using the MUSIC algorithm to construct the spatial spectrum P(θ); S700: The beam w at the optimal solution is obtained using the space-time constrained minimum variance algorithm; S800: The separated signal is output through the sparse separation method of protocol features. This method can significantly improve the availability of AIS self-organizing network and provide more reliable protection for ship navigation safety.

This invention discloses a path planning method for unmanned surface vessels (USVs), belonging to the field of autonomous navigation technology for USVs. The method includes: determining the navigable boundary of the USV in a multi-threat surface environment; initializing a tribe based on the navigable boundary; constructing a multi-objective fitness function, calculating the fitness value of each member in the initial tribe, and updating the fitness values ​​of the best member of each tribe, the best member of the opposing tribe, and the globally optimal member based on these fitness values; performing iterative optimization of tribe competition and member cooperation; and outputting the globally optimal path as the final planned path for the USV after satisfying the iteration termination condition. This invention improves convergence speed while considering path length, smoothness, and safety, achieving a dual balance between path optimality and navigation safety, and is suitable for complex marine environments with multiple threats.

The application provides a kind of based on distributed flexible sensing sail control system and method, belong to ship engineering and automatic control technical field, its system includes: sail;Distributed flexible sensor array, for real-time synchronous measurement of the pressure signal of different positions of sail surface;Signal acquisition and processing unit, electrically connected with the distributed flexible sensor array, for processing the pressure signal collected, and calculating a set of characteristic parameters;Sail health monitoring and early warning unit, for analyzing strain signal, evaluating the structural health state of sail surface and generating early warning;Intelligent controller is used to generate attitude adjustment instruction according to the deviation between the set of characteristic parameters calculated in real time and the set of target parameters, combined with the intelligent identification result of aerodynamic state;Sail surface driving structure, for adjusting the attitude of the sail according to the attitude adjustment instruction generated by the intelligent controller.The application improves the aerodynamic efficiency of the sail, the control accuracy and the sailing safety.

The application discloses a kind of multi-source sensing and space-time matching inland waterway navigability test and evaluation method, belong to waterway engineering and ship test evaluation technical field.Pass through the layout shore base monitoring unit and integrated shipboard perception unit, unified space-time datum is constructed;Based on unified space-time datum, space-time matching fusion is carried out to ship dynamic response data and waterway environment data, forms ship response-environment excitation coupling data set, constructs three-layer navigability performance evaluation system, uses improved fuzzy analytic hierarchy process to determine index weight in combination with three scale method and optimal transfer matrix, uses cloud model to complete index quantization and comprehensive evaluation value calculation, finally determines waterway navigability effect grade according to comprehensive expectation value.The application realizes the quantitative evaluation of multi-source data accurate fusion and subjective and objective fusion, forms standardization test and evaluation process, truly reflects the coupling navigability characteristics of waterway and ship, provides technical support for inland waterway engineering acceptance, navigation safety management and waterway optimization design.

The application relates to the technical field of navigation warning communication, and particularly discloses a navigation warning automatic updating method based on a large model, a Beidou message service system is built on a ship, the Beidou message service system establishes contact with a navigation warning system through a server; the Beidou message service system obtains database data of the navigation warning system; a large model matching module is built in the Beidou message service system, and warning log information received in the navigation warning system is searched and compared; if the navigation warning system does not operate, the Beidou message service system feeds back the latest warning information to the navigation warning system, and the navigation warning system performs cyclic prompting and alarm operation; the large model is trained and learned, the warning information in a NAVTEX system is searched and compared by using a calculation function, timely processing and alarm operation of the received warning are ensured, and the route accuracy and navigation safety of the ship are improved.

This invention belongs to the field of video transmission technology, specifically relating to an adaptive bitrate image transmission method and system for remote video monitoring of ships. The method includes the following steps: S1, acquiring multi-source heterogeneous data of the ship, including navigation situation data characterizing the state of obstacles around the ship, ship attitude data characterizing the degree of ship sway, and network status data characterizing the quality of the satellite link; S2, based on the relative motion information in the navigation situation data and the angular velocity information in the ship attitude data, constructing a navigation safety urgency model, and calculating a navigation safety urgency index characterizing the dependence of the current environment on video clarity. This invention, through a data-driven approach, achieves forced image quality enhancement during high-risk periods while ignoring some network fluctuations, saves bandwidth during stable periods, and effectively resists the consumption of encoding resources by sea noise.

This invention discloses a ship battery inspection system and method based on UAV infrared thermal imaging. The system includes: a UAV for autonomously flying inside the ship's battery compartment to collect infrared and visible light images; a battery parameter synchronous acquisition module for synchronously acquiring electrical parameters and spatiotemporally correlating them with infrared data; a data fusion and analysis module for preprocessing, thermal anomaly identification, and calculation of the battery health index (BHI); and a cloud-based health management module for data archiving and trend analysis. This invention enables contactless, high-efficiency, and comprehensive inspection of ship batteries, achieving early warning of thermal anomalies and quantitative assessment of health status, reducing inspection safety risks, ensuring ship navigation safety, and solving the problems of low efficiency, incomplete coverage, high safety risks, and insufficient risk prediction in traditional ship battery inspection methods.

This invention is an intelligent route planning system based on the Spring Boot framework, belonging to the fields of software technology and intelligent navigation planning technology. Addressing the technical problems of existing route planning systems, such as poor dynamic adaptability, low integration of algorithms and frameworks, and lack of real-time adjustment mechanisms, this invention builds a system architecture based on the Spring Boot layered framework, designs six core functional modules, integrates the PPO reinforcement learning algorithm to construct the core unit of route planning, and achieves integrated data collection, preprocessing, intelligent planning, strategy optimization, real-time adjustment, and visualization of navigation environment data. Data management is accomplished through a domestic database, and the front-end interactive interface is built using the Vue framework, supporting manual intervention. This invention can be widely applied to route planning in scenarios such as marine operations, water navigation, and maritime operations, effectively improving the accuracy and real-time performance of route planning, ensuring navigation safety, and improving navigation operation efficiency.

This invention discloses a mapless navigation method for mobile robots in dynamic environments based on thermal field bridging guidance, belonging to the field of autonomous navigation technology for mobile robots. The method includes five steps: environmental perception and state extraction, thermal field construction, bridging guidance generation, policy learning, and navigation execution. By acquiring data from LiDAR, odometry, and depth cameras, robot state, target position, and dynamic obstacle information are extracted. For each dynamic obstacle, a local coordinate system aligned with the velocity direction is established, and an asymmetric Gaussian thermal field is constructed and superimposed to form a global spatiotemporal risk thermal field. The negative gradient direction of the thermal field and the tangential direction of the isotherms are calculated, and obstacle avoidance guidance directions are adaptively generated by combining relative geometry and motion relationships. The guidance direction and state information are input into a TD3 policy network for training, and the policy is optimized through a reward function that includes target arrival, collision, thermal field risk, direction consistency, and obstacle avoidance deviation. The trained network is deployed to achieve mapless dynamic navigation. This invention achieves a smooth switch between risk avoidance and boundary detour, improving navigation safety, smoothness, and path efficiency. This invention also discloses the corresponding system, electronic device, and storage medium.

This invention provides a method for optimizing unmanned surface vessel (USV) area coverage paths based on constrained reinforcement learning, belonging to the technical field of autonomous navigation and path planning for marine unmanned systems. Each USV acts as an intelligent agent, and the USV area coverage path optimization problem is modeled as a constrained Markov decision process. The constraint condition is that the difference between the optimized path and the planned path is within a preset area. The reinforcement learning framework consists of: a policy network outputting an action probability distribution based on the current environmental state; a reward evaluation network evaluating the expected rewards of states and actions; and a cost evaluation network evaluating the expected cumulative cost of state-action pairs. With the goal of maximizing policy entropy and expected rewards, the penalty strength of the cost constraint is dynamically adjusted using Lagrange multipliers, jointly optimizing the policy network, reward evaluation network, and cost evaluation network. The minimum coverage requirement is modeled as a hard constraint condition for policy optimization, ensuring navigation safety and the integrity of the mission area coverage.

This invention relates to a computer-model-based automatic safety assessment method and system for ships, belonging to the field of ship control system technology. The safety assessment method and system of this invention establish a full-ship model, including models of each system, equipment, pipeline, and cable on board, as well as the logical dependencies between the functions of each piece of equipment and system. Then, in the event of an accident, based on this full-ship model, especially its logical relationships, it calculates the direct damage caused by the accident and the functional status of each ship system. Based on this, it issues damage control and recovery operation suggestions. Furthermore, it can determine in real time whether the ship meets the technical specifications for safe return to port based on the results of damage control and recovery operations, issuing judgment results information as a reference for formulating the ship's subsequent navigation plan. This avoids situations where accurate judgments cannot be made in complex circumstances, ensuring the navigational safety of ships through efficient and accurate automatic safety assessment.

The application discloses a marine diesel engine parking device, which comprises a roller assembly, an upper sleeve, a connecting rod, an upper moving column, a middle cylinder cover, a lower cylinder sleeve, a lower plunger and a support, the lower plunger is embedded in the counterbore of the lower cylinder sleeve, the upper sleeve, the middle cylinder cover and the lower cylinder sleeve are fixedly connected into an integrated body, the upper end of the connecting rod is screwed into the bottom center of the upper moving column, the lower end is screwed into the upper end of the lower plunger through the middle cylinder cover, and the lower cylinder sleeve is further provided with a compressed air input channel and a compressed air control channel. The compressed air input channel comprises a vertical input hole and a horizontal output blind hole, and the compressed air control channel comprises a lower vertical hole, a lower horizontal output hole and a parking electromagnetic valve. The application avoids the major accidents caused by the fact that the rack cannot be pushed to pull the rack rod, the marine diesel engine loses control, the reliability and safety of the marine diesel engine are improved, the parking of the marine diesel engine is quickly and accurately completed, and the sailing safety of the ship is ensured.

The application relates to a ship route planning method considering ship-wave coupling constraints, which comprises the following steps: S1. constructing a ship-wave coupling data model, collecting ship basic parameters, navigation parameters and wave parameters, and training and evaluating the model after preprocessing by using a CNN and RNN hybrid architecture; S2. collecting and fusing multi-source real-time marine environment data; S3. determining and dynamically adjusting ship-wave coupling constraint conditions and safety thresholds based on the ship-wave coupling data model and real-time marine environment data; S4. constructing a multi-objective optimization function based on the ship-wave coupling constraint conditions, and performing route planning by using a genetic algorithm; and S5. real-time monitoring of ship navigation state and marine environment data, and re-planning of the route when the safety threshold is exceeded, to form a dynamic closed-loop adjustment. The application has the effects of improving navigation safety, optimizing navigation efficiency and economy, and real-time dynamic self-adaptation.

This application provides an underwater vehicle integrating dipping sonar and its usage method. By setting the dipping detection cabin and the main body as a separable structure, the main body hovers at a safe height during operation, while only the dipping detection cabin enters the operating water layer. This completely isolates the interference of the self-noise of the main body's propulsion system and actuators on sonar detection, significantly improving the detection signal-to-noise ratio and imaging accuracy. It achieves complete physical decoupling of detection and navigation, fundamentally solving the industry bottleneck of hull self-noise interference. At the same time, the main body does not need to operate close to the seabed, completely avoiding the risks of bottom collision and burial by silt, achieving dual protection of detection accuracy and navigation safety. This solves the core pain point that has long existed in traditional integrated AUVs. Furthermore, this application uses arrayed sonar main transducers. Through the coordinated work of multiple transducer units, a narrow beam with sharp directionality can be formed, thereby simultaneously achieving long-range detection, high-precision target positioning, and noise suppression.

The application discloses a kind of navigation navigation test method and system, method includes: using camera and rudder angle signal collector to collect the navigation image and rudder angle data of model boat in the test navigation section of hydraulic model, constructs camera calibration model, fitting time mapping relationship model, using linear interpolation to obtain time synchronization navigation image, rudder angle data;To the time synchronization navigation image is preprocessed and identified, obtain the coordinates of feature point in pixel coordinate system in the continuously collected navigation image;Calculate the heading angle, roll angle and pitch angle of model ship at different intervals;Draw the time-drift angle / rudder angle relationship curve of model ship in the test navigation section during test process, the navigation safety of test navigation section is evaluated.The system includes evenly arranged on the test navigation section of hydraulic model N Camera, model boat, rudder angle signal collector and remote controller of model boat installed on model boat.

This invention discloses a global path planning method for ships. In the sea area to be planned, a global path planning model that integrates conditional-generative adversarial networks, Wasserstein generative adversarial networks with gradient penalties, and multi-head attention mechanisms is used to generate predicted path information that conforms to historical navigation habits based on ship characteristics. Then, the predicted path information is converted into a predicted global path for the ship. Subsequently, a grid static environment image containing multi-level navigation safety weights is constructed. Next, guided by the predicted global path for the ship, a path search algorithm that integrates the costs of multiple navigation constraints using a cost function is used to search for a path in the grid static environment image to obtain the global path. Finally, the global path is smoothed to obtain the optimal global path. The advantages are that it can comprehensively improve the rationality, practical feasibility, and stability of the path, thereby adapting to complex and dynamic sea environments and better ensuring the safety of ship navigation in the sea environment.

This invention discloses a ship behavior decision-making method based on heterogeneous information fusion and ensemble reasoning. First, it integrates multiple data sources to preprocess different types of data. Then, it extracts features from different data using deep learning technology and converts them into vector form. Next, it fuses different types of features through a cross-attention mechanism to generate a unified comprehensive vector for behavior prediction. Finally, it fine-tunes a pre-trained decision model using the fused information, enabling the model to generate natural language navigation strategies based on the prediction results. The fine-tuned decision model is then tested offline, deployed in the ship system, and continuously optimized through a feedback mechanism. Finally, it introduces multiple decision models and calculates the Shapley value for each model to generate a weighted voting decision result. This invention improves navigation safety and efficiency.

The application discloses an Arctic shipping route navigation safety evaluation method and system based on multi-source data fusion and ship adaptability, and relates to the cross technical field of marine navigation safety guarantee, meteorological and hydrological data analysis and intelligent navigation. The method comprises the following steps: collecting multi-source data of the Arctic shipping route, dynamically fusing weights in combination with real-time reliability calculation of the data source after preprocessing and space-time alignment, completing confidence dynamic weighted fusion to obtain comprehensive environmental data; constructing a coupled physical stress model based on the data and inherent parameters of the target ship, introducing ice type and sea current factors to quantify real-time navigation risk, and generating a voyage full-cycle dynamic risk corridor; planning a route based on the risk corridor by using a hybrid heuristic algorithm, and combining a multi-index judgment mechanism with a self-defined weight to realize navigation safety grade judgment and global optimal route output. The application improves evaluation accuracy and ship adaptability, prolongs the dynamic prediction period, realizes global optimal route planning, and has strong operability in decision support.

This invention relates to the field of navigation safety monitoring and construction risk early warning technology, and discloses a method and system for construction risk early warning during navigation processes. The method includes: continuously collecting the spatial coordinates of the construction structure; constructing a state vector of the structure encroaching on the foundation; predicting the encroachment trend of the construction structure; constructing a dynamic influence area; constructing a avoidance pressure factor; constructing a comprehensive risk input vector; calculating a comprehensive risk index for the construction structure encroachment; and performing risk level determination. Compared to existing technologies that mainly rely on static channel boundary thresholds or post-event manual inspections for risk assessment, especially when the channel is not closed and the construction structure is gradually advancing into the channel, it is difficult to promptly identify construction encroachment states that have not yet constituted violations but have shown a high-risk evolution trend. This invention improves the foresight of risk early warning during navigation construction by introducing collaborative modeling of encroachment trend prediction and navigation avoidance pressure.

The present application relates to the field of intelligent ships, and discloses a ship route and speed joint planning method. The method in the present application comprises: on the basis of a standard Theta* algorithm, obtaining an improved dynamic Theta* algorithm by detecting meteorological data in real time. An initial route is determined by using the improved dynamic Theta* algorithm, wherein the initial route reaches from a starting point to a target point without passing through an obstacle grid, and real-time meteorological data at each position satisfies a ship navigation condition. The initial route is optimized by using a route-speed joint optimization method, so as to obtain an optimized route and an optimized speed. By detecting obstacles and dynamic meteorological data on a navigation path in real time to plan an initial route, obstacles and severe weather such as typhoons can be accurately avoided, thereby greatly imporoving the navigation safety, and laying a solid foundation for subsequent optimization steps.

This invention relates to the field of obstacle detection technology, and particularly to a method and system for obstacle detection on an unmanned surface vessel (USV). The method includes: using a lidar pre-integrated into the USV to collect three-dimensional point cloud data of the area where the USV is located, identifying the approximate location of obstacles on the water surface; activating an illumination device installed on the USV to scan and illuminate the approximate location; activating a video surveillance device on the USV to collect video snapshots of the approximate location during the scanning process, and identifying key features, wherein the key features include at least edge features and texture features. This invention, by following and illuminating obstacles on the water surface, enables continuous observation, avoids loss of field of view, improves tracking accuracy, and allows the video surveillance device to continuously acquire image data of obstacles on the water surface, guiding the USV to continuously perceive obstacles, thereby significantly improving the monitoring capabilities and navigation safety of the USV.

This invention provides a method and apparatus for constructing a safety envelope for a hovercraft, relating to the field of marine technology, and particularly to a technology for assessing and controlling ship navigation safety. More specifically, this invention discloses a method for constructing a safety envelope for a hovercraft that considers multi-degree-of-freedom coupling for different sea states. The method for constructing the safety envelope of a hovercraft includes: obtaining a preset four-degree-of-freedom motion model of the hovercraft, wherein the four-degree-of-freedom motion model is used to characterize the coupling relationship of the hovercraft's sway, roll, heel, and yaw motions; for at least one preset sea state, based on the four-degree-of-freedom motion model, systematically traversing a set of coupled state parameters including longitudinal motion, lateral motion, heel motion, and rotational motion, and judging the motion stability under each parameter combination to determine a set of stable state boundaries under the sea state; and generating a multi-dimensional safety envelope that characterizes the intrinsic correlation of the multiple coupled state parameters and corresponds to the sea state based on the set of stable state boundaries. Through the above steps, this invention can comprehensively consider the high-order nonlinear strongly coupled motion characteristics of the hovercraft and external environmental interference, thereby comprehensively constructing its high-dimensional safety envelope.

This invention belongs to the field of ship navigation control technology and discloses a method for coordinated speed control of ships encountering each other in a two-way navigation scenario. It analyzes the correlation between the safety boundary of oncoming ships encountering each other and speed matching in a two-way navigation scenario, and establishes a full-process quantitative speed control system including "data acquisition, situation prediction, constraint quantification, feasible region solution, and closed-loop correction," obtaining a core logical model for the coordinated speed matching and linkage of oncoming ships and the guarantee of encounter safety. It establishes a hierarchical constraint for coordinated two-way speed, including the safe lateral distance of encounter, the maximum permissible relative speed, and ship maneuvering limits, obtaining a feasible solution. Taking the minimum total speed adjustment of the two ships as the core control objective, it solves for the optimal coordinated speed combination under the premise of safety constraints, and simultaneously sets a hierarchical closed-loop correction mechanism under navigation disturbances to achieve precise coordinated control of ship encounter speeds in a two-way navigation scenario, improving the controllability of waterway navigation safety, traffic efficiency, and the engineering implementation and scenario adaptability of the solution.