CN108829101B - System and method for identifying and tracking unidentified marine vessels - Google Patents
System and method for identifying and tracking unidentified marine vessels Download PDFInfo
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- CN108829101B CN108829101B CN201810599258.6A CN201810599258A CN108829101B CN 108829101 B CN108829101 B CN 108829101B CN 201810599258 A CN201810599258 A CN 201810599258A CN 108829101 B CN108829101 B CN 108829101B
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Abstract
The invention discloses a system for identifying and tracking unconfirmed marine ships, which comprises an identification unit, a tracking unit and a data processing platform, wherein the identification unit comprises a plurality of marine ships, a plurality of fixed-wing unmanned aerial vehicles and a plurality of control consoles, wherein the plurality of marine ships at least reciprocate once in a designated marine course within 12 h; the tracking unit comprises an unmanned ship and a multi-rotor unmanned aerial vehicle arranged on the unmanned ship; the data processing platform is in communication connection with the control consoles and judges whether the multi-frame fixed-wing unmanned aerial vehicle is started to carry out timed formation cruise so as to identify unconfirmed marine ships; and whether a tracking unit is started to track the unconfirmed marine vessel. The invention simply and effectively identifies and tracks the unconfirmed marine ships by reasonably combining a plurality of marine ships, a plurality of fixed-wing unmanned planes, unmanned ships and multi-rotor unmanned planes. The present invention also provides a method for identifying and tracking an unidentified marine vessel.
Description
Technical Field
The present invention relates to the field of regional marine monitoring technology, and in particular to a system and method for identifying and tracking unidentified marine vessels.
Background
The existing monitoring of marine ships and information interaction among marine ships are generally based on an Automatic Identification System (AIS), that is, all marine ships are required to be provided with AIS equipment; while an unidentified marine vessel that does not carry or have an Automatic Identification System (AIS) installed will be difficult to discover or identify; marine vessels that do not have an Automatic Identification System (AIS) turned on cannot be monitored. Thus, such unconfirmed oceans will not be detected when performing illegal activities (e.g., sneak, illegal fishing, weaponry, or other illegal activities). Therefore, other identification and tracking devices are urgently needed to monitor marine vessels in a certain sea area and identify and track unidentified marine vessels at any time, so that illegal activities are effectively avoided, and the safety of the detected sea area is ensured.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
It is yet another object of the present invention to provide a system for identifying and tracking unidentified marine vessels which allows for the simple and efficient identification and tracking of unidentified marine vessels for the effective monitoring of the monitored sea area by the rational combination and application of a plurality of marine vessels, a plurality of fixed wing drones, drones and multi-rotor drones.
It is a further object of the present invention to provide a method for identifying and tracking unidentified marine vessels.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a system for identifying and tracking an unidentified marine vessel, comprising an identification unit, a tracking unit and a data processing platform,
the identification unit includes: 12h, a plurality of marine ships which reciprocate at least once in a designated marine route, wherein the plurality of marine ships are provided with positioning systems I; the system comprises a plurality of fixed-wing unmanned aerial vehicles, a plurality of monitoring radar, a plurality of positioning systems and a plurality of control systems, wherein the fixed-wing unmanned aerial vehicles are respectively arranged on a plurality of marine ships, at least three fixed-wing unmanned aerial vehicles are numbered on any marine ship, the plurality of fixed-wing unmanned aerial vehicles are respectively provided with a positioning system II, and the plurality of fixed-wing unmanned aerial vehicles are respectively provided with a monitoring radar; the control platforms are respectively arranged on the plurality of marine ships, and the control platform on any one marine ship is used for controlling at least three fixed-wing unmanned aerial vehicles which are arranged in a serial number to carry out timed formation cruising;
the tracking unit includes: the hatch cover of the unmanned ship is arranged in a manner that the hatch cover can be opened and closed through a hinged movable arm, and a positioning system III is arranged in the unmanned ship; a pair of suction cups, which are arranged at the front end of the unmanned ship and are used for detachably adsorbing the unmanned ship on an unconfirmed marine ship; the multi-rotor unmanned aerial vehicle is detachably arranged in a cabin of the unmanned ship, a positioning system IV is arranged in the multi-rotor unmanned aerial vehicle, and a high-definition pan-tilt camera is further arranged on the multi-rotor unmanned aerial vehicle and is used for collecting video information of an unconfirmed marine ship and returning the video information; the tracking units are detachably and correspondingly arranged in a cabin of a fixed-wing unmanned aerial vehicle and are used for marine fixed-point launching and tracking and positioning unconfirmed marine ships;
the data processing platform is arranged in the middle of the monitored sea area and comprises a database, and a plane distribution diagram of all the designated sea routes in a certain sea area is prestored in the database; the positioning data monitoring module is in communication connection with the positioning system I, converts position information I of the positioning system I obtained in real time into a position coordinate I and calculates the actual distance between adjacent ocean ships on the same appointed sea route; the display screen I is in communication connection with the database and the positioning data monitoring module respectively, displays a position coordinate I corresponding to the positioning system I in the plane distribution diagram in a designated marine route on the plane distribution diagram in real time, and displays a directional moving direction of the positioning system I on the designated marine route on the plane distribution diagram in real time;
the data processing platform is in communication connection with the control consoles, and judges whether to start the multi-frame fixed-wing unmanned aerial vehicle of the identification unit to perform timed formation cruising to identify unconfirmed marine ships according to a calculation result of calculating the actual distance between adjacent marine ships by the positioning data monitoring module; and whether the tracking unit is started to track the unconfirmed marine vessel or not in the timed formation cruising process.
Preferably, the back surfaces of the pair of suckers are connected and arranged at the front end of the unmanned ship through a pair of connecting rods, the spherical front ends of the pair of connecting rods are movably embedded into the grooves in the back surfaces of the pair of suckers, and the adsorption surfaces of the pair of suckers face the front of the unmanned ship.
Preferably, the adsorption surfaces of the pair of suckers are sprayed with magnetic powder.
Preferably, the data processing platform is in communication connection with the consoles of the plurality of marine vessels, and when the positioning data monitoring module calculates the distances between adjacent marine vessels, the calculation result is: when the distance L1 between two adjacent marine ships in the same designated marine route and in the same directional moving direction is more than or equal to 20KM, the control console of the marine ship which is relatively behind in the directional moving direction controls at least three fixed-wing unmanned aerial vehicles which are numbered on the marine ship to carry out timed formation cruise, and synchronously starts a positioning system II, a positioning system III and a positioning system IV to respectively establish communication connection with the control console and the data processing platform, and synchronously starts monitoring radars of at least three fixed-wing unmanned aerial vehicles to carry out radar scanning on the marine ship which is not confirmed on the sea surface, and obtains a scanning result:
if the scanning result returns to be 1, acquiring position information II of the marine vessel in the scanning result, sending the position information II to a positioning data monitoring module of the data processing platform, comparing the position information II with the position information I by the positioning data monitoring module, and if the comparison result returns to be 1, continuing radar scanning until one formation cruise is finished; if the comparison result returns to be 0, the unmanned ship on the fixed-wing unmanned aerial vehicle which is most forward in relative position of formation cruising is launched at a fixed point on the sea, the launching point of the unmanned ship launched at the fixed point on the sea is positioned right ahead of the directional moving direction of the unconfirmed marine ship, and the distance L2 between the launching point and the coordinate of the unconfirmed marine ship of the scanning result is not more than 500 m; after the unmanned ship is launched at the sea at a fixed point, the console remotely controls the unmanned ship to directionally move to the unconfirmed marine ship and be adsorbed on the outer side wall of the unconfirmed marine ship through the sucking disc; then opening a hatch cover of the unmanned ship, starting the multi-rotor unmanned aerial vehicle to acquire field video information and send the field video information to the data processing platform and the control console;
and if the scanning result returns to be 0, continuing radar scanning until one formation cruise is finished.
Preferably, the takeoff interval time between at least three fixed-wing drones cruising in formation is 2-3 min; and the flying heights among at least three fixed-wing unmanned aerial vehicles cruising in formation rise in sequence, the flying height of the fixed-wing unmanned aerial vehicle closest to the front relative position cruising in formation is relatively lowest, and the flying height is not more than 1000 m.
Preferably, the bottom of the body of any fixed-wing unmanned aerial vehicle is also provided with a ramp type cabin door controlled to be opened and closed by a control console, one tracking unit is detachably and correspondingly arranged on the inner side wall of the ramp type cabin door in a sliding manner, and the tracking unit slides down to the sea surface along with the opening of the ramp type cabin door so as to finish the marine fixed-point launching;
the ramp type cabin door is of a strip-shaped plate structure, one end of the ramp type cabin door is pivoted and arranged at the bottom of the body of the fixed-wing unmanned aerial vehicle, the other end of the ramp type cabin door is a free end, and the ramp type cabin door can be opened and closed through a telescopic arm; the telescopic arm is arranged in the cabin of the fixed-wing unmanned aerial vehicle, one end of the telescopic arm is fixed to the top of the cabin of the fixed-wing unmanned aerial vehicle, the other end of the telescopic arm is hinged to the inner side wall of the ramp type cabin door, and the ramp type cabin door is synchronously opened or closed along with the extension or contraction of the telescopic arm.
Preferably, the method further comprises the following steps: and the pair of balance plates are correspondingly arranged on two sides of the unmanned ship in an extending manner at a certain inclination angle, and the sum of the width of the pair of balance plates and the width of the widest position of the unmanned ship is less than the width of the ramp type cabin door.
Preferably, the hinged movable arm is arranged in a cabin of the unmanned ship and is arranged on one side of the multi-rotor unmanned aerial vehicle; the lower end of the hinged movable arm is hinged to the bottom of a cabin of the unmanned ship, the upper end of the hinged movable arm is arranged on the inner side wall of the cabin cover in a sliding mode through a sliding assembly, the sliding assembly comprises a sliding block arranged at the upper end of the hinged movable arm and a sliding rail arranged on the inner side wall of the cabin cover, and the extending direction of the sliding rail is perpendicular to the axial direction of the unmanned ship.
A method for identifying and tracking an unidentified marine vessel, comprising the steps of:
selecting a plurality of marine ships which reciprocate at least once in a designated marine route within 12h, wherein the distance L3 between two adjacent marine ships which are positioned on the same designated marine route and in the same directional moving direction is less than or equal to 40KM, and a positioning system I, a plurality of fixed-wing unmanned aerial vehicles and a control console corresponding to the plurality of fixed-wing unmanned aerial vehicles are arranged on each of the plurality of marine ships; at least three fixed-wing unmanned aerial vehicles are arranged on any one marine vessel, and a control console of the marine vessel is used for controlling the at least three fixed-wing unmanned aerial vehicles to carry out timed formation cruise and radar scanning to determine whether unconfirmed marine vessels exist in the monitored sea area; a tracking unit is detachably and correspondingly arranged in the cabin of any fixed-wing unmanned aerial vehicle and used for marine fixed-point launching and tracking and positioning unconfirmed marine ships, and a plurality of fixed-wing unmanned aerial vehicles are provided with positioning systems II; a tracking unit comprising: the hatch cover of the unmanned ship is arranged in a manner that the hatch cover can be opened and closed through a hinged movable arm, and a positioning system III is arranged in the unmanned ship; a pair of suction cups, which are arranged at the front end of the unmanned ship and are used for detachably adsorbing the unmanned ship on an unconfirmed marine ship; the multi-rotor unmanned aerial vehicle is detachably arranged in a cabin of the unmanned ship, a positioning system IV is arranged in the multi-rotor unmanned aerial vehicle, and a high-definition pan-tilt camera is further arranged on the multi-rotor unmanned aerial vehicle and is used for collecting video information of an unconfirmed marine ship and returning the video information;
the method comprises the following steps that a data processing platform is arranged in the middle of a monitored sea area and is in communication connection with control consoles of a plurality of marine ships, and when a positioning data monitoring module of the data processing platform calculates the distance between adjacent marine ships, the calculation result is as follows: when the distance L1 between two adjacent marine ships in the same designated marine route and in the same directional moving direction is more than or equal to 20KM, the control console of the marine ship which is relatively behind in the directional moving direction controls at least three fixed-wing unmanned aerial vehicles which are numbered on the marine ship to carry out timed formation cruise, and synchronously starts a positioning system II, a positioning system III and a positioning system IV to respectively establish communication connection with the control console and the data processing platform, and synchronously starts monitoring radars of at least three fixed-wing unmanned aerial vehicles to carry out radar scanning on the marine ship which is not confirmed on the sea surface, and obtains a scanning result:
if the scanning result returns to be 1, acquiring position information II of the marine vessel in the scanning result, sending the position information II to a positioning data monitoring module of the data processing platform, comparing the position information II with the position information I by the positioning data monitoring module, and if the comparison result returns to be 1, continuing radar scanning until one formation cruise is finished; if the comparison result returns to be 0, the unmanned ship on the fixed-wing unmanned aerial vehicle which is most forward in relative position of formation cruising is launched at a fixed point on the sea, the launching point of the unmanned ship launched at the fixed point on the sea is positioned right ahead of the directional moving direction of the unconfirmed marine ship, and the distance L2 between the launching point and the coordinate of the unconfirmed marine ship of the scanning result is not more than 500 m; after the unmanned ship is launched at the sea at a fixed point, the console remotely controls the unmanned ship to directionally move to the unconfirmed marine ship and be adsorbed on the outer side wall of the unconfirmed marine ship through the sucking disc; then opening a hatch cover of the unmanned ship, starting the multi-rotor unmanned aerial vehicle to acquire field video information and send the field video information to the data processing platform and the control console;
and if the scanning result returns to be 0, continuing radar scanning until one formation cruise is finished.
Preferably, the formation cruise returns when the distance between the fixed-wing unmanned aerial vehicle which is at the most front relative to the formation cruise and the marine ship which is at the most front relative to the formation cruise in the directional moving direction is less than or equal to 2KM, and other fixed-wing unmanned aerial vehicles which are at the back relative to the formation cruise return in sequence.
The invention at least comprises the following beneficial effects:
the system for identifying and tracking the unconfirmed marine ships selects the marine ships going and going within a certain time on the designated marine route to carry out regular cruising by taking the voluntary principle, does not need to additionally arrange an observation platform or park a special marine ship for monitoring operation, and saves the construction cost of the system;
the fixed-wing unmanned aerial vehicle is adopted for timed formation cruising, so that cruising time is shortened, and timed formation cruising efficiency is improved; the flight performance of the fixed-wing unmanned aerial vehicle can ensure that the influence of marine environment on the fixed-wing unmanned aerial vehicle is reduced as much as possible, and regular formation cruising is ensured to be normally carried out;
the method is characterized in that an unconfirmed marine ship is locked and tracked in a fixed-point launching mode of the unmanned ship, the method is convenient, accurate and high in efficiency, in practical application, a navigation system is further arranged on the unmanned ship and used for guiding the unmanned ship to approach and be adsorbed on the outer side wall of the unconfirmed marine ship through a sucking disc after fixed-point launching, and then the locked unconfirmed marine ship can be tracked through positioning information of a positioning system III of the unmanned ship; when necessary, the multi-rotor unmanned aerial vehicle is started to carry out video information acquisition and video information return so as to increase tracking information;
in actual use, the plurality of control consoles are close to the fixed-wing unmanned aerial vehicle, the unmanned ship and the multi-rotor unmanned aerial vehicle, when the data processing platform cannot directly acquire the positioning information and the video information of the fixed-wing unmanned aerial vehicle, the unmanned ship and the multi-rotor unmanned aerial vehicle, the positioning information and the video information of the fixed-wing unmanned aerial vehicle, the unmanned ship and the multi-rotor unmanned aerial vehicle can be firstly sent to the corresponding control consoles, and then the information is sent to the data processing platform through the automatic identification systems of the plurality of marine vessels and the like;
in addition, in the prior art, the multi-rotor unmanned aerial vehicle is not suitable for long-distance flight on a windy sea surface, has poor cruising ability, and may be exhausted before reaching an unconfirmed marine vessel, so that the video data of the unconfirmed marine vessel cannot be finally obtained; consequently, in this scheme, adopt unmanned ship to carry many rotor unmanned aerial vehicle's mode to solve above-mentioned technical problem, at first take many rotor unmanned aerial vehicle to near unconfirmed marine vessel and fix on its lateral wall through the sucking disc through unmanned ship, later restart many rotor unmanned aerial vehicle and carry out video acquisition, after video acquisition finishes, can also get back to and berth on the unmanned ship, avoid its electric energy to exhaust and fall into the sea.
In conclusion, the invention simply and effectively identifies and tracks the unconfirmed marine ships by reasonably combining and applying the plurality of marine ships, the plurality of fixed-wing unmanned aerial vehicles, the unmanned ships and the multi-rotor unmanned aerial vehicles so as to effectively monitor the monitored sea area.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic block diagram of a system for identifying and tracking an unidentified marine vessel according to one embodiment of the invention;
FIG. 2 is a schematic top view of an unmanned ship in a system for identifying and tracking an unidentified marine vessel according to one embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of an unmanned ship in a system for identifying and tracking an unidentified marine vessel according to an embodiment of the present invention;
FIG. 4 is a schematic top view of an unmanned ship in a system for identifying and tracking an unidentified marine vessel according to yet another embodiment of the present invention;
fig. 5 is a schematic cross-sectional view of an unmanned ship in a system for identifying and tracking an unidentified marine vessel according to still another embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-3, the present invention provides a system for identifying and tracking an unidentified marine vessel, comprising an identification unit, a tracking unit and a data processing platform,
the identification unit includes: 12h, a plurality of marine ships which reciprocate at least once in a designated marine route, wherein the plurality of marine ships are provided with positioning systems I; the system comprises a plurality of fixed-wing unmanned aerial vehicles 10, a plurality of monitoring radar, a plurality of positioning system II and a plurality of monitoring radar, wherein the fixed-wing unmanned aerial vehicles 10 are respectively arranged on a plurality of marine ships, at least three fixed-wing unmanned aerial vehicles are numbered on any marine ship, and the plurality of fixed-wing unmanned aerial vehicles are provided with the monitoring radar; the control platforms are respectively arranged on the plurality of marine ships, and the control platform on any one marine ship is used for controlling at least three fixed-wing unmanned aerial vehicles which are arranged in a serial number to carry out timed formation cruising;
the tracking unit includes: the unmanned ship 20 is provided with a hatch cover 205 which can be opened and closed through a hinged movable arm 201, and a positioning system III is arranged in the unmanned ship; a pair of suction cups 202 provided at the front end of the unmanned ship for detachably attracting the unmanned ship to an unconfirmed marine vessel; the multi-rotor unmanned aerial vehicle 30 is detachably arranged in a cabin of the unmanned ship, a positioning system IV is arranged in the multi-rotor unmanned aerial vehicle, and a high-definition pan-tilt camera is further arranged on the multi-rotor unmanned aerial vehicle and is used for collecting video information and video information feedback of an unconfirmed marine ship; the tracking units are detachably and correspondingly arranged in a cabin of a fixed-wing unmanned aerial vehicle and are used for marine fixed-point launching and tracking and positioning unconfirmed marine ships;
the data processing platform is arranged in the middle of the monitored sea area and comprises a database, and a plane distribution diagram of all the designated sea routes in a certain sea area is prestored in the database; the positioning data monitoring module is in communication connection with the positioning system I, converts position information I of the positioning system I obtained in real time into a position coordinate I and calculates the actual distance between adjacent ocean ships on the same appointed sea route; the display screen I is in communication connection with the database and the positioning data monitoring module respectively, displays a position coordinate I corresponding to the positioning system I in the plane distribution diagram in a designated marine route on the plane distribution diagram in real time, and displays a directional moving direction of the positioning system I on the designated marine route on the plane distribution diagram in real time;
the data processing platform is in communication connection with the control consoles, and judges whether to start the multi-frame fixed-wing unmanned aerial vehicle of the identification unit to perform timed formation cruising to identify unconfirmed marine ships according to a calculation result of calculating the actual distance between adjacent marine ships by the positioning data monitoring module; and whether the tracking unit is started to track the unconfirmed marine vessel or not in the timed formation cruising process.
In this scheme, through rationally combining and using a plurality of marine vessels, a plurality of fixed wing unmanned aerial vehicle, unmanned ship and many rotor unmanned aerial vehicle, simple effectual discernment and the trail of marine vessel to monitoring is carried out effective monitoring by the sea area.
On the basis of voluntary, the ocean ship which returns within a certain time is selected on a designated sea route to carry out regular cruising, an observation platform or a special ocean ship is not required to be additionally arranged for monitoring, and the system construction cost is saved;
the fixed-wing unmanned aerial vehicle is adopted for timed formation cruising, so that cruising time is shortened, and timed formation cruising efficiency is improved; the flight performance of the fixed-wing unmanned aerial vehicle can ensure that the influence of marine environment on the fixed-wing unmanned aerial vehicle is reduced as much as possible, and regular formation cruising is ensured to be normally carried out;
the method is characterized in that an unconfirmed marine ship is locked and tracked in a fixed-point launching mode of the unmanned ship, the method is convenient, accurate and high in efficiency, in practical application, a navigation system is further arranged on the unmanned ship and used for guiding the unmanned ship to approach and be adsorbed on the outer side wall of the unconfirmed marine ship through a sucking disc after fixed-point launching, and then the locked unconfirmed marine ship can be tracked through positioning information of a positioning system III of the unmanned ship; when necessary, the multi-rotor unmanned aerial vehicle is started to carry out video information acquisition and video information return so as to increase tracking information;
in actual use, the plurality of control consoles are close to the fixed-wing unmanned aerial vehicle, the unmanned ship and the multi-rotor unmanned aerial vehicle, when the data processing platform cannot directly acquire the positioning information and the video information of the fixed-wing unmanned aerial vehicle, the unmanned ship and the multi-rotor unmanned aerial vehicle, the positioning information and the video information of the fixed-wing unmanned aerial vehicle, the unmanned ship and the multi-rotor unmanned aerial vehicle can be firstly sent to the corresponding control consoles, and then the information is sent to the data processing platform through the automatic identification systems of the plurality of marine vessels and the like;
in addition, in the prior art, the multi-rotor unmanned aerial vehicle is not suitable for long-distance flight on a windy sea surface, has poor cruising ability, and may be exhausted before reaching an unconfirmed marine vessel, so that the video data of the unconfirmed marine vessel cannot be finally obtained; therefore, in the scheme, the multi-rotor unmanned aerial vehicle is carried by the unmanned ship to solve the technical problem, the multi-rotor unmanned aerial vehicle is firstly brought to the position near an unconfirmed marine ship by the unmanned ship and is fixed on the outer side wall of the marine ship by the suckers, then the multi-rotor unmanned aerial vehicle is started to carry out video acquisition, and the unmanned ship can be returned to stop after the video acquisition is finished, so that the situation that the unmanned ship falls into the sea due to the exhaustion of electric energy is avoided;
in the system of the embodiment, the positioning system I, the positioning system II, the positioning system III and the positioning system IV are used for accurately positioning the positions of a plurality of marine ships, a plurality of fixed-wing unmanned planes, unmanned planes and multi-rotor unmanned planes so as to identify, track and position the unconfirmed marine ships. The positioning system I, the positioning system II, the positioning system III and the positioning system IV can be a GPS positioning system, a Beidou satellite positioning system or both the GPS positioning system and the Beidou satellite positioning system.
As shown in fig. 2, in a preferred embodiment, the back surfaces of the pair of suction cups are connected to the front end of the unmanned ship through a pair of connecting rods 203, the spherical front ends of the pair of connecting rods are movably embedded into the grooves on the back surfaces of the pair of suction cups, and the suction surfaces of the pair of suction cups face the front of the unmanned ship. In this scheme, the back of sucking disc supports through a pair of connecting rod to the front end of a pair of connecting rod is spherical, can make the relative connecting rod of sucking disc have certain turned angle, with the absorption angle requirement of satisfying a pair of sucking disc adsorbing to unconfirmed ocean boats and ships. In practical application, the pair of suckers is higher than the waterline of the unmanned ship (for example, the lower edges of the pair of suckers are higher than the waterline of the unmanned ship by 6cm, 8cm, 10cm, 12cm or 14cm, etc.), so that on one hand, the pair of suckers can be prevented from increasing the driving resistance of the unmanned ship in the sea; on the other hand, the adsorption effect of the pair of suckers can be ensured.
In a preferred scheme, magnetic powder is sprayed on the adsorption surfaces of the pair of suckers. In this scheme, the spraying has the magnetic on the adsorption plane of sucking disc, can improve the adsorption effect of sucking disc to the lateral wall of the ocean boats and ships that do not confirm.
As shown in fig. 1, in a preferred embodiment, the data processing platform is in communication connection with the control consoles of the plurality of marine vessels, and when the positioning data monitoring module calculates the distances between adjacent marine vessels, the calculation result is: when the distance L1 between two adjacent marine ships in the same designated marine route and in the same directional moving direction is more than or equal to 20KM, the control console of the marine ship which is relatively behind in the directional moving direction controls at least three fixed-wing unmanned aerial vehicles which are numbered on the marine ship to carry out timed formation cruise, and synchronously starts a positioning system II, a positioning system III and a positioning system IV to respectively establish communication connection with the control console and the data processing platform, and synchronously starts monitoring radars of at least three fixed-wing unmanned aerial vehicles through the control console to carry out radar scanning on the marine ship which is not confirmed on the sea surface and obtain a scanning result:
if the scanning result returns to be 1, acquiring position information II of the marine vessel in the scanning result, sending the position information II to a positioning data monitoring module of the data processing platform, comparing the position information II with the position information I by the positioning data monitoring module, and if the comparison result returns to be 1, continuing radar scanning until one formation cruise is finished; when the comparison result is returned to be 1, the position information II is coincident with the position of a searched marine ship in the position information I and belongs to the positioning information of the positioning system I prestored in the database; if the comparison result returns to be 0, the unmanned ship on the fixed-wing unmanned aerial vehicle which is most forward in relative position of formation cruising is launched at a fixed point on the sea, the launching point of the unmanned ship launched at the fixed point on the sea is positioned right ahead of the directional moving direction of the unconfirmed marine ship, and the distance L2 between the launching point and the coordinate of the unconfirmed marine ship of the scanning result is not more than 500 m; if the comparison result is returned to be 0, the position information II does not coincide with the position of any one of the marine vessels searched in the position information I, belongs to new positioning information which is not prestored in a database, and the new positioning information needs to be tracked to confirm the position information and video information acquisition; after the unmanned ship is launched at the sea at a fixed point, the console remotely controls the unmanned ship to directionally move to the unconfirmed marine ship and be adsorbed on the outer side wall of the unconfirmed marine ship through the sucking disc; then the control console controls to open a hatch cover of the unmanned ship, controls to start the multi-rotor unmanned aerial vehicle to collect field video information and sends the field video information to the data processing platform and the control console;
and if the scanning result returns to be 0, continuing radar scanning until one formation cruise is finished.
In the scheme, firstly, whether the marine vessel in the monitored sea area is an unconfirmed marine vessel is identified through radar scanning and comparison, and then whether the tracking unit needs to be started through a control console to carry out tracking and video information acquisition on the marine vessel is determined, so that the unconfirmed marine vessel is monitored in an auxiliary mode.
In a preferable scheme, the takeoff interval time between at least three fixed-wing unmanned planes cruising in formation is 2-3 min; and the flying heights among at least three fixed-wing unmanned aerial vehicles cruising in formation rise in sequence, the flying height of the fixed-wing unmanned aerial vehicle closest to the front relative position cruising in formation is relatively lowest, and the flying height is not more than 1000 m. The flying height difference of two adjacent fixed-wing unmanned aerial vehicles can be 200m, 300m, 400m or even 500 m; regular formation cruise can guarantee to be monitored the monitoring effect in sea area, even if arrange the fixed wing unmanned aerial vehicle that leans on before relatively and carry out the fixed point of tracking unit and put in the back, all the other fixed wing unmanned aerial vehicles also can continue radar scanning and fixed point and put in, guarantee subsequent unconfirmed boats and ships's tracking unit's fixed point operation of putting in.
In a preferred scheme, the bottom of the body of any fixed-wing unmanned aerial vehicle is also provided with a ramp type cabin door controlled to be opened and closed by a control console, one tracking unit is detachably and correspondingly arranged on the inner side wall of the ramp type cabin door in a sliding manner, and the tracking unit slides down onto the sea surface along with the opening of the ramp type cabin door so as to finish the marine fixed-point launching; the ramp type cabin door is of a strip-shaped plate structure, one end of the ramp type cabin door is pivoted and arranged at the bottom of the body of the fixed-wing unmanned aerial vehicle, the other end of the ramp type cabin door is a free end, and the ramp type cabin door can be opened and closed through a telescopic arm; the telescopic arm is arranged in the cabin of the fixed-wing unmanned aerial vehicle, one end of the telescopic arm is fixed to the top of the cabin of the fixed-wing unmanned aerial vehicle, the other end of the telescopic arm is hinged to the inner side wall of the ramp type cabin door, and the ramp type cabin door is synchronously opened or closed along with the extension or contraction of the telescopic arm. In this scheme, the control that the cabin door is flexible through flexible arm, when the tracking unit is put in to needs fixed point, only need be close sea flight to open fixed wing unmanned aerial vehicle's flexible arm and extend to certain length, the tracking unit can drop on the sea, in order to be used for tracking unconfirmed marine vessel.
As shown in fig. 4 and 5, in a preferred embodiment, the method further includes: and the pair of balance plates 204 are correspondingly arranged on two sides of the unmanned ship in an extending manner at a certain inclination angle, and the sum of the width of the pair of balance plates and the width of the widest position of the unmanned ship is less than the width of the ramp type cabin door. A pair of balance plate is used for when the unmanned ship of tracking unit drops to the sea, keeps unmanned ship's balance fast, avoids unmanned ship to soak in the sea for a specified time, and then effectively protects many rotor unmanned aerial vehicle in the cabin, in addition, still can set up sealing washer etc. on the hatch door in cabin to guarantee the sealed effect in cabin.
As shown in fig. 2 and 3, in a preferred scheme, the hinged movable arm is arranged in a cabin of the unmanned ship and is arranged on one side of the multi-rotor unmanned aerial vehicle; the lower end of the hinged movable arm is hinged to the bottom of the cabin of the unmanned ship, and the upper end of the hinged movable arm is slidably disposed on the inner side wall of the hatch cover through a sliding assembly 206, wherein the sliding assembly comprises a sliding block 2061 disposed at the upper end of the hinged movable arm and a sliding rail 2062 disposed on the inner side wall of the hatch cover, and the extending direction of the sliding rail is perpendicular to the axial direction of the unmanned ship. In the scheme, the hinged movable arm is arranged in the cabin to avoid being corroded by seawater, and if the hinged movable arm is arranged above the unmanned ship, the balance effect of the unmanned ship can be influenced, and the overall performance of the unmanned ship is influenced. The hinged movable arm is a two-link hinged mechanism or a three-link hinged mechanism and can be driven by a motor or a hydraulic cylinder.
A method for identifying and tracking an unidentified marine vessel, comprising the steps of:
selecting a plurality of marine ships which reciprocate at least once in a designated marine route within 12h, wherein the distance L3 between two adjacent marine ships which are positioned on the same designated marine route and in the same directional moving direction is less than or equal to 40KM, and a positioning system I, a plurality of fixed-wing unmanned aerial vehicles and a control console corresponding to the plurality of fixed-wing unmanned aerial vehicles are arranged on each of the plurality of marine ships; at least three fixed-wing unmanned aerial vehicles are arranged on any one marine vessel, and a control console of the marine vessel is used for controlling the at least three fixed-wing unmanned aerial vehicles to carry out timed formation cruise and radar scanning to determine whether unconfirmed marine vessels exist in the monitored sea area; a tracking unit is detachably and correspondingly arranged in the cabin of any fixed-wing unmanned aerial vehicle and used for marine fixed-point launching and tracking and positioning unconfirmed marine ships, and a plurality of fixed-wing unmanned aerial vehicles are provided with positioning systems II; a tracking unit comprising: the hatch cover of the unmanned ship is arranged in a manner that the hatch cover can be opened and closed through a hinged movable arm, and a positioning system III is arranged in the unmanned ship; a pair of suction cups, which are arranged at the front end of the unmanned ship and are used for detachably adsorbing the unmanned ship on an unconfirmed marine ship; the multi-rotor unmanned aerial vehicle is detachably arranged in a cabin of the unmanned ship, a positioning system IV is arranged in the multi-rotor unmanned aerial vehicle, and a high-definition pan-tilt camera is further arranged on the multi-rotor unmanned aerial vehicle and is used for collecting video information of an unconfirmed marine ship and returning the video information;
the method comprises the following steps that a data processing platform is arranged in the middle of a monitored sea area and is in communication connection with control consoles of a plurality of marine ships, and when a positioning data monitoring module of the data processing platform calculates the distance between adjacent marine ships, the calculation result is as follows: when the distance L1 between two adjacent marine ships in the same designated marine route and in the same directional moving direction is more than or equal to 20KM, the control console of the marine ship which is relatively behind in the directional moving direction controls at least three fixed-wing unmanned aerial vehicles which are numbered on the marine ship to carry out timed formation cruise, and synchronously starts a positioning system II, a positioning system III and a positioning system IV to respectively establish communication connection with the control console and the data processing platform, and synchronously starts monitoring radars of at least three fixed-wing unmanned aerial vehicles to carry out radar scanning on the marine ship which is not confirmed on the sea surface, and obtains a scanning result:
if the scanning result returns to be 1, acquiring position information II of the marine vessel in the scanning result, sending the position information II to a positioning data monitoring module of the data processing platform, comparing the position information II with the position information I by the positioning data monitoring module, and if the comparison result returns to be 1, continuing radar scanning until one formation cruise is finished; if the comparison result returns to be 0, the unmanned ship on the fixed-wing unmanned aerial vehicle which is most forward in relative position of formation cruising is launched at a fixed point on the sea, the launching point of the unmanned ship launched at the fixed point on the sea is positioned right ahead of the directional moving direction of the unconfirmed marine ship, and the distance L2 between the launching point and the coordinate of the unconfirmed marine ship of the scanning result is not more than 500 m; after the unmanned ship is launched at the sea at a fixed point, the console remotely controls the unmanned ship to directionally move to the unconfirmed marine ship and be adsorbed on the outer side wall of the unconfirmed marine ship through the sucking disc; then opening a hatch cover of the unmanned ship, starting the multi-rotor unmanned aerial vehicle to acquire field video information and send the field video information to the data processing platform and the control console;
and if the scanning result returns to be 0, continuing radar scanning until one formation cruise is finished.
In a preferred scheme, the formation cruise returns when the distance between the fixed-wing unmanned aerial vehicle which is at the most front relative to the formation cruise and the marine ship which is at the most front relative to the formation cruise in the directional moving direction is less than or equal to 2KM, and other fixed-wing unmanned aerial vehicles which are at the back relative to the formation cruise return in sequence.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A system for identifying and tracking an unidentified marine vessel, comprising an identification unit, a tracking unit and a data processing platform, characterized in that,
the identification unit includes: 12h, a plurality of marine ships which reciprocate at least once in a designated marine route, wherein the plurality of marine ships are provided with positioning systems I; the system comprises a plurality of fixed-wing unmanned aerial vehicles, a plurality of monitoring radar, a plurality of positioning systems and a plurality of control systems, wherein the fixed-wing unmanned aerial vehicles are respectively arranged on a plurality of marine ships, at least three fixed-wing unmanned aerial vehicles are numbered on any marine ship, the plurality of fixed-wing unmanned aerial vehicles are respectively provided with a positioning system II, and the plurality of fixed-wing unmanned aerial vehicles are respectively provided with a monitoring radar; the control platforms are respectively arranged on the plurality of marine ships, and the control platform on any one marine ship is used for controlling at least three fixed-wing unmanned aerial vehicles which are arranged in a serial number to carry out timed formation cruising;
the tracking unit includes: the hatch cover of the unmanned ship is arranged in a manner that the hatch cover can be opened and closed through a hinged movable arm, and a positioning system III is arranged in the unmanned ship; a pair of suction cups, which are arranged at the front end of the unmanned ship and are used for detachably adsorbing the unmanned ship on an unconfirmed marine ship; the multi-rotor unmanned aerial vehicle is detachably arranged in a cabin of the unmanned ship, a positioning system IV is arranged in the multi-rotor unmanned aerial vehicle, and a high-definition pan-tilt camera is further arranged on the multi-rotor unmanned aerial vehicle and is used for collecting video information of an unconfirmed marine ship and returning the video information; the tracking units are detachably and correspondingly arranged in a cabin of a fixed-wing unmanned aerial vehicle and are used for marine fixed-point launching and tracking and positioning of unconfirmed marine ships;
the data processing platform is arranged in the middle of the monitored sea area and comprises a database, and a plane distribution diagram of all the designated sea routes in a certain sea area is prestored in the database; the positioning data monitoring module is in communication connection with the positioning system I, converts position information I of the positioning system I obtained in real time into a position coordinate I and calculates the actual distance between adjacent ocean ships on the same appointed sea route; the display screen I is in communication connection with the database and the positioning data monitoring module respectively, displays a position coordinate I corresponding to the positioning system I in the plane distribution diagram in a designated marine route on the plane distribution diagram in real time, and displays a directional moving direction of the positioning system I on the designated marine route on the plane distribution diagram in real time;
the data processing platform is in communication connection with the control consoles, and judges whether to start the multi-frame fixed-wing unmanned aerial vehicle of the identification unit to perform timed formation cruising to identify unconfirmed marine ships according to a calculation result of calculating the actual distance between adjacent marine ships by the positioning data monitoring module; and whether the tracking unit is started to track the unconfirmed marine vessel during the timed formation cruising process.
2. The system for identifying and tracking an unidentified marine vessel according to claim 1, wherein the back surfaces of the pair of suction cups are connected and disposed at the front end of the unmanned vessel by a pair of connecting rods, and the front ends of the pair of connecting rods having a spherical shape are movably inserted into the grooves of the back surfaces of the pair of suction cups, and the suction surfaces of the pair of suction cups are disposed toward the front of the unmanned vessel.
3. The system for identifying and tracking an unidentified marine vessel according to claim 1, wherein the suction surfaces of the pair of suction cups are coated with magnetic powder.
4. The system and method for identifying and tracking unidentified marine vessels according to claim 1, wherein the data processing platform is communicatively connected to the consoles of the plurality of marine vessels, and when the positioning data monitoring module calculates the distance between adjacent marine vessels, the calculation results are: when the distance L1 between two adjacent marine ships in the same designated marine route and in the same directional moving direction is more than or equal to 20KM, the control console of the marine ship which is relatively behind in the directional moving direction controls at least three fixed-wing unmanned aerial vehicles which are numbered on the marine ship to carry out timed formation cruise, and synchronously starts a positioning system II, a positioning system III and a positioning system IV to respectively establish communication connection with the control console and the data processing platform, and synchronously starts monitoring radars of at least three fixed-wing unmanned aerial vehicles to carry out radar scanning on the marine ship which is not confirmed on the sea surface, and obtains a scanning result:
if the scanning result returns to be 1, acquiring position information II of the marine vessel in the scanning result, sending the position information II to a positioning data monitoring module of the data processing platform, comparing the position information II with the position information I by the positioning data monitoring module, and if the comparison result returns to be 1, continuing radar scanning until one formation cruise is finished; if the comparison result returns to be 0, the unmanned ship on the fixed-wing unmanned aerial vehicle which is most forward in relative position of formation cruising is launched at a fixed point on the sea, the launching point of the unmanned ship launched at the fixed point on the sea is positioned right ahead of the directional moving direction of the unconfirmed marine ship, and the distance L2 between the launching point and the coordinate of the unconfirmed marine ship of the scanning result is not more than 500 m; after the unmanned ship is launched at the sea at a fixed point, the console remotely controls the unmanned ship to directionally move to the unconfirmed marine ship and be adsorbed on the outer side wall of the unconfirmed marine ship through the sucking disc; then opening a hatch cover of the unmanned ship, starting the multi-rotor unmanned aerial vehicle to acquire field video information and send the field video information to the data processing platform and the control console;
and if the scanning result returns to be 0, continuing radar scanning until one formation cruise is finished.
5. The system for identifying and tracking an unconfirmed marine vessel according to claim 4, wherein a takeoff interval time between at least three fixed-wing drones in formation cruising is 2-3 min; and the flying heights among at least three fixed-wing unmanned aerial vehicles cruising in formation rise in sequence, the flying height of the fixed-wing unmanned aerial vehicle closest to the front relative position cruising in formation is relatively lowest, and the flying height is not more than 1000 m.
6. The system for identifying and tracking an unconfirmed marine vessel according to claim 1, wherein the bottom of the body of any fixed wing drone is further provided with a ramp type cabin door controlled to open and close by a control console, one of the tracking units is detachably and correspondingly slidably arranged on the inner side wall of the ramp type cabin door, and the tracking unit slides down on the sea surface along with the opening of the ramp type cabin door to finish the marine fixed-point launching;
the ramp type cabin door is of a strip-shaped plate structure, one end of the ramp type cabin door is pivoted and arranged at the bottom of the body of the fixed-wing unmanned aerial vehicle, the other end of the ramp type cabin door is a free end, and the ramp type cabin door can be opened and closed through a telescopic arm; the telescopic arm is arranged in the cabin of the fixed-wing unmanned aerial vehicle, one end of the telescopic arm is fixed to the top of the cabin of the fixed-wing unmanned aerial vehicle, the other end of the telescopic arm is hinged to the inner side wall of the ramp type cabin door, and the ramp type cabin door is synchronously opened or closed along with the extension or contraction of the telescopic arm.
7. The system for identifying and tracking an unidentified marine vessel according to claim 6, further comprising: and the pair of balance plates are correspondingly arranged on two sides of the unmanned ship in an extending manner at a certain inclination angle, and the sum of the width of the pair of balance plates and the width of the widest position of the unmanned ship is less than the width of the ramp type cabin door.
8. The system for identifying and tracking an unconfirmed marine vessel according to claim 1, wherein said articulated boom is disposed within a hold of the drone and on a side of the multi-rotor drone; the lower end of the hinged movable arm is hinged to the bottom of a cabin of the unmanned ship, the upper end of the hinged movable arm is arranged on the inner side wall of the cabin cover in a sliding mode through a sliding assembly, the sliding assembly comprises a sliding block arranged at the upper end of the hinged movable arm and a sliding rail arranged on the inner side wall of the cabin cover, and the extending direction of the sliding rail is perpendicular to the axial direction of the unmanned ship.
9. A method for identifying and tracking an unidentified marine vessel, comprising the steps of:
selecting a plurality of marine ships which reciprocate at least once in a designated marine route within 12h, wherein the distance L3 between two adjacent marine ships which are positioned on the same designated marine route and in the same directional moving direction is less than or equal to 40KM, and a positioning system I, a plurality of fixed-wing unmanned aerial vehicles and a control console corresponding to the plurality of fixed-wing unmanned aerial vehicles are arranged on each of the plurality of marine ships; at least three fixed-wing unmanned aerial vehicles are arranged on any one marine vessel, and a control console of the marine vessel is used for controlling the at least three fixed-wing unmanned aerial vehicles to carry out timed formation cruising and radar scanning to determine whether unconfirmed marine vessels exist in the monitored sea area; a tracking unit is detachably and correspondingly arranged in the engine room of any fixed-wing unmanned aerial vehicle and used for marine fixed-point launching and tracking and positioning unconfirmed marine ships, and a positioning system II is arranged on each of the plurality of fixed-wing unmanned aerial vehicles; a tracking unit comprising: the hatch cover of the unmanned ship is arranged in a manner that the hatch cover can be opened and closed through a hinged movable arm, and a positioning system III is arranged in the unmanned ship; a pair of suction cups, which are arranged at the front end of the unmanned ship and are used for detachably adsorbing the unmanned ship on an unconfirmed marine ship; the multi-rotor unmanned aerial vehicle is detachably arranged in a cabin of the unmanned ship, a positioning system IV is arranged in the multi-rotor unmanned aerial vehicle, and a high-definition pan-tilt camera is further arranged on the multi-rotor unmanned aerial vehicle and is used for collecting video information of an unconfirmed marine ship and returning the video information;
the method comprises the following steps that a data processing platform is arranged in the middle of a monitored sea area and is in communication connection with control consoles of a plurality of marine ships, and when a positioning data monitoring module of the data processing platform calculates the distance between adjacent marine ships, the calculation result is as follows: when the distance L1 between two adjacent marine ships in the same designated marine route and in the same directional moving direction is more than or equal to 20KM, the control console of the marine ship which is relatively behind in the directional moving direction controls at least three fixed-wing unmanned aerial vehicles which are numbered on the marine ship to carry out timed formation cruise, and synchronously starts a positioning system II, a positioning system III and a positioning system IV to respectively establish communication connection with the control console and the data processing platform, and synchronously starts monitoring radars of at least three fixed-wing unmanned aerial vehicles to carry out radar scanning on the marine ship which is not confirmed on the sea surface, and obtains a scanning result:
if the scanning result returns to be 1, acquiring position information II of the marine vessel in the scanning result, sending the position information II to a positioning data monitoring module of the data processing platform, comparing the position information II with the position information I by the positioning data monitoring module, and if the comparison result returns to be 1, continuing radar scanning until one formation cruise is finished; if the comparison result returns to be 0, the unmanned ship on the fixed-wing unmanned aerial vehicle which is most forward in relative position of formation cruising is launched at a fixed point on the sea, the launching point of the unmanned ship launched at the fixed point on the sea is positioned right ahead of the directional moving direction of the unconfirmed marine ship, and the distance L2 between the launching point and the coordinate of the unconfirmed marine ship of the scanning result is not more than 500 m; after the unmanned ship is launched at the sea at a fixed point, the console remotely controls the unmanned ship to directionally move to the unconfirmed marine ship and be adsorbed on the outer side wall of the unconfirmed marine ship through the sucking disc; then opening a hatch cover of the unmanned ship, starting the multi-rotor unmanned aerial vehicle to acquire field video information and send the field video information to the data processing platform and the control console;
and if the scanning result returns to be 0, continuing radar scanning until one formation cruise is finished.
10. A method for identifying and tracking unidentified marine vessels according to claim 9, wherein the formation cruise takes place with a distance between the fixed-wing drone that is most forward in relation to the marine vessel that is relatively forward in the direction of directional movement of ≦ 2KM, the other fixed-wing drones taking place in turn.
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| CN111459191A (en) * | 2020-03-16 | 2020-07-28 | 天津大学 | Maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination |
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