33 results about "Radar detector detector" patented technology

The utility model discloses a device for detecting and early warning the safety of a surrounding environment when a heavy-duty commercial vehicle is started, which relates to the technical field of intelligent detection of vehicles and comprises a detection device powered by a power supply module of the vehicle. The detection device is in communication connection with a vehicle-mounted communication terminal on a vehicle, and comprises a control module, and a plurality of radar detectors, infrared detectors, image acquisition cameras and lighting devices which are connected with the control module, each radar detector, each infrared detector, each image acquisition camera and each lighting device are integrated into a group and are installed in the same area, and signal capture areas of the radar detectors, the infrared detectors and the image acquisition cameras are overlapped. When a vehicle is started during driving, under common signal acquisition of the radar detector and the infrared detector, misjudgment caused by external factor interference, local damage or different working principles is avoided, and driving safety is improved.

The invention discloses a measuring and heating system integrated cargo hold which comprises a cargo hold measuring part which comprises a liquid level measuring part and a high-position alarming part, the liquid level measuring part is arranged on a cargo oil hatch cover of the cargo hold and measures the liquid level height of asphalt injected into the cargo hold, and the high-position alarming part is arranged on the cargo oil hatch cover and measures the liquid level height of asphalt injected into the cargo hold. The alarm module is used for sending an alarm signal when a cargo hold is filled with asphalt with preset capacity and automatically closing an asphalt filling pump in time; the asphalt heating piece is used for heating asphalt in the cargo hold and improving the fluidity of the asphalt; and the cabin body cleaning part is arranged on the cargo oil cabin cover and used for performing high-pressure cleaning on the inner wall of the cargo cabin after unloading is completed. According to the method, the integrity of the whole cargo hold is effectively guaranteed, and the safety risk possibly caused by opening of the cargo hold and the cargo tank is reduced; the high-pressure water is prevented from carrying asphalt to impact and adhere to the radar detector, the radar detector is prevented from being damaged, the measurement reliability and accuracy are reduced, and the maintenance cost is increased.

The utility model relates to the technical field of intelligent bird repelling, in particular to an intelligent all-weather bird repelling device which comprises a base, a connecting seat, a radar detector and a connecting frame, the connecting seat is rotationally arranged on the base, the radar detector is installed on the connecting seat, and the connecting frame is fixedly connected to the connecting seat. Radio waves are emitted through a radar detector, the radio waves are reflected back when encountering birds, after a radar receives reflected signals, a camera monitors the birds by capturing images, the computer vision technology is used for analysis and recognition, and an infrared temperature detector measures the infrared radiation quantity of the surrounding environment. According to the device, the infrared image is extracted from the infrared image to confirm whether the birds exist or not, so that the device is a triple detection mechanism, different environments are adapted, the situation of misjudgment or missing detection is avoided, and when one of the three detection components detects the birds, a signal is transmitted to the controller, so that the controller starts the alarm and the laser transmitter to repel the birds.

The invention relates to the technical field of wind power generation, in particular to a wind turbine generator monitoring system and method based on millimeter wave radar. A millimeter wave communication module; an antenna array optimization arrangement module; a data storage module; a data analysis module; an intelligent early warning module; a man-machine interaction module; and a power supply module. According to the invention, a full-link monitoring system is constructed by taking a millimeter wave radar technology as a core, and non-contact high-precision sensing is realized. Through multi-module cooperation and algorithm innovation, environmental adaptability and monitoring reliability are greatly improved, and industrial pain points such as electromagnetic interference and shielding are effectively avoided. The system is flexible in deployment and convenient to operate and maintain, supports all-weather unattended operation, can early warn potential fault risks in advance, and restrains major safety accidents from the source. An intelligent data analysis and grading early warning mechanism provides scientific support for predictive maintenance of the wind turbine generator set, and unplanned shutdown loss is remarkably reduced.

A method for automatically activating a video conference meeting device, wherein the video conference meeting device includes a power supply, a main processor and a plurality of peripheral components, and a radar detector connects to the video conference meeting device, the method comprises (a) the radar detector detecting with a radar detection coverage when the video conference device is in a standby state; (b) when the radar detector detects an object appearing in the radar detection coverage, obtain a position of the object detected in the radar detection coverage; (c) the radar detector obtaining boundary information of an effective zone and determining whether the position of the detected object is within the effective zone; (d) when the radar detector determines that the position of the detected object is within the effective zone, activating the video conference meeting device which loads an operation program.

The utility model discloses a building wall body quality detection device, relates to the technical field of wall body quality detection, solves the problems that the existing wall body quality detection device needs to be held by a person to detect a wall body, time and labor are wasted, and the detection efficiency is relatively low, and comprises a detection assembly and a bearing frame for bearing the detection assembly, the detection assembly comprises an ultrasonic probe, an infrared camera and a radar detector, the bearing frame comprises a base, a vertical frame, a transverse frame and a bearing seat, three electric push rods are fixedly mounted on one side of the bearing seat, a connecting plate is fixedly mounted at the telescopic ends of the electric push rods, a mounting cylinder is fixedly connected to one side of the connecting plate, and the mounting cylinder is fixedly connected to the other side of the bearing seat. The ultrasonic probe, the infrared camera and the radar detector are installed in the three installation cylinders respectively. Through the arrangement of the bearing frame, comprehensive detection of the whole wall body is realized, a worker does not need to hold the device by hand for detection, time and labor are saved, and the detection efficiency is improved.

In accordance with a first aspect of the present disclosure, a radar system is provided, comprising: a plurality of receive channels; a first radar detector stage configured to detect, through said receive channels, at least one target using a detector threshold; a noise correlation determination unit configured to determine a noise correlation level indicative of noise correlation between the receive channels if the first radar detector stage has detected the target; a detector threshold adjustment unit configured to adjust the detector threshold in dependence on the noise correlation level determined by the noise correlation determination unit; a second radar detector stage configured to detect the target using the adjusted detector threshold. In accordance with a second aspect of the present disclosure, a corresponding method of operating a radar system is conceived.

The application provides a cable curtain wall deformation monitoring method, and belongs to the technical field of building construction. The cable curtain wall deformation monitoring method comprises the following steps: fixing a reinforcing device at a glass connection; each reinforcing device is provided with an angle adjusting mechanism, and a radar detector is fixed on the angle adjusting mechanism; the angle adjusting mechanism can drive the radar detector to rotate at multiple angles; the radar detector monitors distance data at different angles in real time, and transmits the data to an upper computer; the upper computer analyzes the data and performs real-time monitoring; the angle adjusting mechanism comprises a rotating shaft and a rotating block, the rotating shaft is fixed above a pull rod in a threaded manner, the rotating shaft is movably connected with the rotating block, and the side surface of the rotating block is fixed with the radar detector. The application can solve the problem that the curtain wall is prone to deformation, damage and even collapse to cause safety hazards under the condition of long-time use.

The invention provides a joint detection area intrusion detection method, and relates to the technical field of platform safety, and the method comprises the following steps: S1, calibrating an intrusion detection area; s2, generating a radar detector detection range and a first preset distance measurement value; s3, adjusting the extension direction of the laser range finder, and generating a second preset range finding value of the laser range finder in the current extension direction; s4, judging whether the distance measurement value of the radar detector is not less than a first preset distance measurement value and the distance measurement value of the laser distance measurement device is not less than a second preset distance measurement value, and if so, not executing the operation; otherwise, the alarm gives an alarm. The small-range close-range detection of the radar detector and the large-length linear detection of the laser rangefinder are utilized to perform joint detection on the intrusion area between the shielding door and the edge of the platform, once the ranging values of the radar detector and the laser rangefinder are smaller than the preset ranging values, it is indicated that someone is in the intrusion area, personnel evacuation is performed in time, and personnel safety is ensured. The train entering and exiting safety is ensured.

The invention discloses an omnibearing free controllable unmanned aerial vehicle Beidou countering terminal, and relates to the technical field of unmanned aerial vehicle countering. Comprising a fixing mechanism used for fixing the device in various environments, a first adjusting mechanism arranged on the fixing mechanism, a second adjusting mechanism arranged on the first adjusting mechanism, a signal processing carrier arranged on the second adjusting mechanism, and a radar detector and an interference transmitter which are fixedly arranged on the signal processing carrier. The device has the advantages that multi-environment stable installation is achieved through the fixing mechanism, the adaptability is high, the problem of posture deviation caused by an inclined fixing face is solved through the first adjusting mechanism, the height and angle are flexibly adjusted in combination with the second adjusting mechanism, and all the parts cooperate with one another; the radar detector and the interference transmitter are ensured to cover the detection and countering range in all directions, the countering precision and reliability are remarkably improved, and the airspace safety protection requirement in a complex scene is met.

The utility model relates to a subway platform door gap detection device and system.The detection device is connected with a corresponding radar detector, and the radar detector is arranged in a corresponding platform door area and used for scanning a gap between a train and a platform door; the detection devices corresponding to the platform doors are sequentially connected in series through the communication loop and the safety loop and connected with the control cabinet. The detection device comprises a control module and an input and output module which are connected with each other; the control module is used for sending a scanning starting signal to the corresponding radar detector based on the received subway door state signal, and receiving point cloud data generated by scanning of the radar detector; generating result data based on the point cloud data, and sending the result data to a control cabinet; and outputting an on-off control signal based on the result data, the input and output module is used for controlling the safety circuit to be switched on or switched off based on the on-off control signal, and the problems that dead zones exist in platform door gap detection, and missing report and false report are likely to occur are solved.

The utility model discloses a measuring marker post for water conservancy project quality detection, and relates to the technical field of measuring marker posts. The measuring pole for water conservancy project quality detection comprises a vertical rod, a transverse rod and a radar detector arranged at one end of the transverse rod, and a solar panel is arranged on the outer wall of one end of the vertical rod and used for providing energy for operation of the radar detector. According to the device, the isolation cylinder is arranged on the outer wall of the cross rod supporting the radar detector, the radar detector is isolated and protected in the isolation cylinder, water vapor generated in the surrounding environment of a water body cannot make direct contact with the radar detector, the drying machine is placed in the isolation cylinder, and the dryness of the internal environment of the isolation cylinder is further guaranteed; radar waves emitted in the operation process of the radar detector cannot be weakened, and the accuracy of water conservancy project quality detection data and detection results by the radar detector is effectively guaranteed.

This invention relates to a method, apparatus, and terminal device for detecting the type of a target object. The method includes: acquiring frame data from a radar scan; extracting target points from each frame data whose reflection energy difference is greater than a preset energy threshold; acquiring target point information corresponding to each target point; clustering the target points to obtain multiple target families; and determining the type of the target object corresponding to each target family based on the distance information and Doppler velocity information corresponding to each target point in the multiple target families. This method can detect the type of a target object in a relatively short time. Moreover, this application only requires utilizing the most basic functions of radar, including acquiring frame data and extracting reflection energy difference and target point information from the frame data, etc., without the need for a high-cost radar detector; a low-cost radar detector can be used. Thus, it achieves rapid detection of the type of target object at a lower cost.

The application discloses a time division multiplexing multi-channel ground penetrating radar system and method based on Ethernet, which comprises a control host and a plurality of radar detectors connected with the control host; the control host comprises a control unit and a ranging unit connected with the control unit; the radar detector comprises a radar detection module and a man-machine interaction module, and the radar detection module is connected with the man-machine interaction module and the control unit respectively; the control unit is used for receiving pulses sent by the ranging unit and outputting a plurality of same-phase synchronous clocks to each radar detection module according to the pulses; the man-machine interaction module applies different time delays to the synchronous clocks, triggers a pulse source as a reference signal and then carries out sampling, so that interference caused by simultaneous triggering of pulse sources in the plurality of radar detectors is avoided; the application only increases an Ethernet switch and a man-machine interaction module, simplifies the structure of the multi-channel ground penetrating radar system and reduces manufacturing cost.

The utility model discloses a laser radar, which belongs to the related technical field of laser radars, and comprises an optical system, a laser radar detector and a laser, and the optical system comprises a receiving mirror group and a transmitting mirror group; wherein the receiving mirror group comprises a transmission reflecting mirror, a correction plate, a primary mirror and a secondary mirror which are sequentially arranged along an echo light beam transmission light path, the primary mirror is a concave spherical reflecting mirror, the secondary mirror is a plane reflecting mirror, the correction plate is a plano-convex lens, the spherical aberration during spherical reflection of the primary mirror can be accurately corrected by utilizing the arrangement of the correction plate, and accurate transmission and receiving of echo signals are ensured; meanwhile, the secondary mirror is arranged between the correction plate and the primary mirror, and the central through hole of the primary mirror is arranged, so that the optical path can be effectively folded, and the arrangement size of the receiving mirror group is shortened. The laser radar provided by the utility model is compact in structure and convenient to use, and can effectively reduce the transverse layout size of the laser radar while meeting the echo signal receiving precision, thereby providing assistance for the miniaturization design of products.

The utility model relates to the technical field of life detection, and provides a radar life detector which comprises a remote control car, a scanning imaging assembly is arranged in the top end of the remote control car and used for scanning and imaging the surrounding environment, and a periphery detection assembly is arranged on the outer side of the scanning imaging assembly and used for detecting peripheral vital signs and sending the peripheral vital signs to the remote control car. Information collection assemblies are arranged on the left side and the right side of the remote control car and used for collecting information of rescuers, a storage battery is arranged in the bottom end of the remote control car, and the periphery detection assembly comprises infrared thermal imaging scanners fixedly connected to the front side and the rear side of the top end of the remote control car; radar detectors are fixedly connected to the left side and the right side of the top end of the remote control car, living bodies in the left direction and the right direction are scanned through the radar detectors, and then the living bodies in the front direction and the rear direction are subjected to infrared scanning through an infrared thermal imaging scanner, so that the detection range of the device is widened, and the detection efficiency of the device is improved.

The application discloses a method and device for detecting a feasible area. In the method, a first model is trained according to a second radar signal detected by a radar detector and a visual signal obtained by a visual sensor, and subsequently, a first radar signal obtained by the radar detector is input into the first model to obtain a first feasible area graph, which is used to represent a feasible area around a vehicle. Therefore, when the feasible area around the vehicle is obtained, the radar detector and the visual sensor are simultaneously used, and the radar detector and the visual sensor work in cooperation, so that the detection capability of the feasible area of the automatic driving is enhanced.

To provide a radar detecting device which performs output control of voice to a driver of a vehicle and also properly provides information required by each driver by voice.SOLUTION: A radar detecting device 1 comprises a database 100 which stores information such as voice output information and GPS content including position information about a control point where traffic control is carried out and others. On the basis of a plurality of types of acquired information including personal information of a driver, the radar detecting device outputs voice by selecting one of the voice output information stored in the database 100 according to a combination of information contents of the acquired information.SELECTED DRAWING: Figure 3

The utility model discloses an underground detection device, and relates to the field of geological exploration, the underground detection device comprises a support frame, four moving wheels are mounted on the support frame, every two moving wheels are symmetrical, a moving frame is arranged at one end of the support frame, a telescopic mechanism is arranged between the moving frame and the support frame, a display controller is fixed on the moving frame, and the display controller is connected with the display device. A radar detector is arranged on the supporting frame, and a horizontal mechanism is arranged between the radar detector and the supporting frame. When a slope appears on the detected ground, the radar detector is adjusted through the horizontal mechanism, the radar detector is kept horizontal, the radar detector is not affected by inclination of the slope, and the radar detector vertically detects the ground, so that the radar detector can be kept horizontal during detection; and the possibility of detection offset of the radar detector caused by movement on the slope is reduced.

The utility model discloses equipment for detecting a diseased road surface and a base layer, which comprises a detection vehicle chassis, four groups of walking mechanisms symmetrically arranged on the front side and the rear side of the detection vehicle chassis, a fixed block arranged in the middle of the front end of the detection vehicle chassis, two folding rods symmetrically arranged at two ends of the fixed block, and a first hinge seat arranged on the top surface of the fixed block, an inclined first electric push rod is arranged on the front side of the fixing block, the fixed end of the first electric push rod is hinged to a second hinge seat arranged on the front end face of the fixing block, the telescopic end of the first electric push rod is hinged to a third hinge seat correspondingly arranged on the side wall of the folding rod, and a plurality of crack detection sensors are arranged on the side face of the folding rod in the length direction at intervals. Two radar detection mechanisms are arranged on the two sides of the rear end of the detection vehicle chassis, each radar detection mechanism comprises a fixing plate, a swing rod and a radar detector, the fixing plates are horizontally fixed to the side face of the detection vehicle chassis in a suspended mode, and shaft seats are arranged on the fixing plates. The device is high in detection speed, large in detection range and convenient to carry.

A fully automated airborne flight test system and method for a composite detection device, belonging to the field of equivalent verification of aircraft-borne detection devices, includes a navigation module for acquiring real-time positioning information of the aircraft; a power supply module for connecting to the radar transmitter of the radar detector via a first power supply channel and to all components of the composite detection device except the radar transmitter via a second power supply channel, wherein the power supply of the first power supply channel is greater than that of the second power supply channel; and a control computer for connecting to the radar detection result output port of the radar detector via a high-speed channel and to all other data ports of the composite detection device except the radar detection result output port via a bus channel, wherein the bandwidth of the high-speed channel is greater than that of the bus channel. This application can simultaneously and automatically conduct airborne flight tests of radar and infrared detectors.

The utility model relates to the technical field of station area monitoring, in particular to a station area video monitoring patrol device, which comprises a plurality of upright posts, a plurality of camera groups and a plurality of radar detectors, the fence is divided into a plurality of length intervals, a monitoring interval is arranged on the side, away from the station area, of each length interval, and the stand column is vertically arranged in the center of each length interval; a camera group is rotatably arranged on the upper side of each stand column, the rotation direction is in the horizontal direction, the monitoring range of the camera group covers a monitoring interval, and a first driving mechanism for driving the camera group to rotate is arranged on each stand column; each stand column is provided with a radar detector, and the detection area of the radar detector covers a monitoring interval. Each stand column is provided with a sound post. All-dimensional and dead-corner-free accurate video monitoring on the periphery of the station area fence is realized, the approaching condition of an object in a monitoring range can be detected in advance, and a warning sound is given out when an abnormal condition is found.

The utility model relates to the technical field of optics, discloses an optical assembly for linkage of distance measurement and multispectral imaging, and lays a foundation for integration of multispectral imaging and distance measurement in the same system. According to the utility model, a second B / S beam splitter is arranged right above a first B / S beam splitter; the laser transmitter is positioned on the left side of the first B / S beam splitter; the laser radar detector and the CCD are located in the transmission direction and the reflection direction of the second B / S beam splitter respectively. A tunable light filter is arranged between the CCD and the second B / S beam splitter; wherein the detection wavelength of the laser radar detector is matched with the wavelength of the laser transmitter; a lens which shares the same optical axis with the laser transmitter and the first B / S beam splitter and can focus is reserved on the right side of the first B / S beam splitter; the optical distances between the first B / S beam splitter and the laser emitter, the CCD and the laser radar detector are equal; and a communication interface connected with the linkage controller is reserved on each electric control component.

The application provides a self-protection method and device of a hanging rail inspection robot for a harsh environment, the method comprising: using a high-definition camera to shoot high-definition image data of a first target device in an inspection area, obtaining a running state feature of the first target device based on the high-definition image data; determining an abnormal condition of the first target device based on the running state feature, and determining a danger level according to the abnormal condition; when the danger level is higher than a target danger level, controlling the high-definition camera to enter a self-protection mode, and switching to use a radar detector to inspect the first target device. When the analysis of the abnormal condition of the target device will cause a damage risk to the high-definition camera of the hanging rail inspection robot, the high-definition camera is controlled to enter the self-protection mode, so that the damage of the equipment is avoided.

The invention relates to an active obstacle avoidance method for a low-altitude unmanned aerial vehicle, and the method comprises the steps: scanning a surrounding environment in real time through a radar detector in the flight process of the unmanned aerial vehicle, and detecting potential obstacles; a distance-based obstacle classification algorithm is adopted to intelligently classify the detected obstacles: if there is an obstacle in a high threat area, whether there is a collision risk between the obstacle and the unmanned aerial vehicle is further determined, and if there is a collision risk, an emergency avoidance program is started; if there is an obstacle in the high threat area but there is no risk of collision between the obstacle and the unmanned aerial vehicle, or there is an obstacle in the medium threat area or the low threat area, turning to an obstacle avoidance path planning program; and if the obstacles do not exist in all the areas, advancing according to a set path.

The utility model belongs to the technical field of agricultural mechanical equipment, and particularly relates to a shoulder brush cutter capable of detecting height, which comprises a shoulder rod and a hand lever arranged on the surface of the shoulder rod, one end of the shoulder rod is provided with a mounting column, the surface of the mounting column is provided with a connecting disc through a bearing, and the outer surface of the connecting disc is fixedly sleeved with a blade. A height monitoring mechanism is arranged on the surface, close to the blade, of the shoulder back rod and comprises a radar monitor, and the radar monitor is used for detecting the height from the ground. According to the shoulder-back brush cutter capable of detecting the height, the height monitoring mechanism is arranged, the radar detector is used for detecting the height from the bottom of the shoulder-back rod to the ground, the control panel displays detected data, and when the detected data exceed a height interval threshold value preset by the radar detector, the alarm is triggered to give an alarm; therefore, weeds are controlled to be trimmed at the same height, and the situation that the shape of trimmed weeds is uneven, and attractiveness is affected is avoided.

The invention relates to a vehicle driver monitoring arrangement (10) for monitoring the breathing of a vehicle driver (100) sitting in a driver's seat (20) and wearing a seatbelt, with a safety belt (24) assigned to the driver's seat (20), the belt body (25) of which has a radar reflector (32, 33) which, when the safety belt (24) is fastened by the vehicle operator (100), is arranged on a chest belt section (241) and / or a pelvic belt section (242), a radar detector (30) directed at the driver's seat (20), which detects the radar signals reflected by the radar reflector (32, 33) of the seat belt (24) worn by the vehicle driver, and an electronic breathing monitoring system (40) which is informationally connected to the radar detector (30) which determines the breathing rate (f) of the vehicle operator (100) from the signals received by the radar detector (30) and which outputs a warning signal (w) when the breathing rate falls below a limit frequency (flimit) stored in a limit frequency memory (42).

The invention relates to the technical field of gas detection, in particular to an intelligent gas detection vehicle and a using method thereof.The intelligent gas detection vehicle comprises a vehicle body, tracks are fixedly arranged on the two sides of the vehicle body, a driving mechanism is arranged in the vehicle body, a battery is fixedly arranged in the vehicle body, and a module set is fixedly arranged in the vehicle body; a single-chip microcomputer is fixedly arranged in the vehicle body, the single-chip microcomputer is electrically connected with the module group, a radar detector and a high-precision sensor are fixedly arranged at the top of the vehicle body and electrically connected with the module group, and metal oxide semiconductor sensors are fixedly arranged on the radar detector and the high-precision sensor. According to the invention, autonomous positioning, automatic mapping and path planning of the trolley can be realized, then mileage information can be converted into robot pose change information through a wheel type odometer kinematic model, and through radar scanning and automatic cruising of the trolley, detection of gas leakage and standard exceeding of discharged gas pollution is successfully realized by using the gas detection vehicle.

The utility model provides a water area intrusion early warning device which comprises a monitoring box, a microprocessor, a remote transmission module, a radar detector and a laser early warning mechanism located in the monitoring box are arranged in the monitoring box, the laser early warning mechanism comprises a mounting seat, a positioning block, a control combination and a laser transmitter, the mounting seat is fixedly arranged in the monitoring box, and the positioning block is fixedly arranged in the monitoring box. The middle of one side of the positioning block is vertically rotationally connected with the mounting base. According to the utility model, the positioning block which swings up and down is arranged, then the laser transmitters are arranged at the two ends of the positioning block, when the positioning block swings up and down, laser emitted by the laser transmitters swings up and down to form a warning line which swings up and down, and then the warning board is arranged, and the warning board has the function of limiting the laser distance. Therefore, compared with the prior art, the device has the advantages that the early warning range covered by a single monitoring box is greatly enlarged, the cost input is reduced, and the convenience of later maintenance is improved.

The utility model provides a positioning device for a pile driving barge, and belongs to the technical field of pile driving barge positioning. The positioning device for the pile driving barge comprises a floating platform, a mounting frame is arranged at the top of the floating platform, a servo motor is arranged on one side of the mounting frame, a steel wire rope is arranged in the mounting frame, a mounting box is arranged at one end of the steel wire rope, and a radar detector is arranged in the mounting box. Through mutual cooperation of the ship body, the servo motor, the mounting stick, the steel wire rope, the mounting box, the sonar detector and the monitor, firstly, the servo motor is started to drive the mounting stick to rotate, the mounting stick can sink the mounting box into water through the steel wire rope, the mounting box is made of alloy, the anti-pressure capability can be improved, and the monitoring effect is good. At the moment, the sonar detector monitors the condition in the water and transmits a signal to the monitor, so that the condition in the water can be observed, the position of the ship body is adjusted according to the monitored condition, and then obstacles can be avoided.