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公开(公告)号：US20230215186A1
公开(公告)日：2023-07-06
申请号：US17892418
申请日：2022-08-22
发明人： Fang Hua , Peng Zhao , Trevor Vieweg
IPC分类号： G06V20/58 , G06V20/20 , G06V10/48 , G06T7/168 , G06T7/70 , B63B43/18 , B63B49/00 , G06T19/00 , G08G3/02
CPC分类号： G06V20/58 , G06V20/20 , G06V10/48 , G06T7/168 , G06T7/70 , B63B43/18 , B63B49/00 , G06T19/006 , G08G3/02 , G06T2207/30252 , G06T2207/10016 , G06T2207/20061
摘要： A camera mounted on a seafaring vessel obtains an image showing an object. The distance to the object is computed using, in part, a normal vector of the plane containing the camera and the horizon.
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62.发明授权公开(公告)号：US11688285B2
公开(公告)日：2023-06-27
申请号：US17620755
申请日：2019-10-31
发明人： Xiaobin Hong , Kuncai Zhu , Xinyong Wei
CPC分类号： G08G3/02 , B63B79/10 , G01C21/005 , G01C21/16 , G01C21/203 , G01S19/42 , G01S5/02 , G05D1/0206 , G05D2201/0207
摘要： Disclosed is a dynamic collision avoidance method for an unmanned surface vessel based on route replanning. The method comprises the following steps: acquiring navigation information and pose information of a neighboring ship of an unmanned vessel itself via a vessel-borne sensor; constructing a collision cone between the unmanned vessel and the neighboring ship; introducing a degree of uncertainty with respect to observing movement information of the neighboring ship and applying a layer of soft constraint to the collision cone; applying a speed and a heading limit range of the unmanned vessel; acquiring an ultimate candidate speed set; introducing a cost function to select an optimum collision avoidance speed; and performing an internal recycle of navigation simulation with the optimum collision avoidance speed to obtain a route replanning point for dynamic collision avoidance of the unmanned vessel. According to the present invention, a dynamic collision avoidance strategy of the unmanned surface vessel is output in form of route replanning to meet constraints of international regulations for preventing collisions at sea, and it is well adapted to manipulate and control the unmanned vessel itself, so that a dynamic collision avoidance requirement of the unmanned vessel is met.
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公开(公告)号：US20230186774A1
公开(公告)日：2023-06-15
申请号：US17924482
申请日：2020-05-26
发明人： Hideyuki ANDO , Koji KUTSUNA , Satoru KUWAHARA
摘要： A technique capable of determining a suitable or optimum exclusive region (bumper) setting value and improving the accuracy and others of ship collision avoidance support and automatic ship maneuvering as a result is provided. A ship maneuvering calculation device 1 calculates setting information of an automatic ship collision avoidance program 3 for achieving a function of an automatic ship collision avoidance device 2 of a vessel. The ship maneuvering calculation device 1 generates a plurality of exclusive region values 103 that are different in at least a shape and a size as parameter values for an exclusive region set around a vessel, repeatedly executes simulation calculation using the automatic ship collision avoidance program (a copy 13) while changing a condition 102 and the parameter values, calculates an evaluation value 105 corresponding to the parameter value, based on the result of the simulation calculation, determines an optimum value 106 of the exclusive region, based on the evaluation value, and sets the optimum value 106 of the exclusive region to the automatic ship collision avoidance program 3.
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64.发明公开公开(公告)号：US20230169872A1
公开(公告)日：2023-06-01
申请号：US18059102
申请日：2022-11-28
发明人： NamSun Son , ChunSeon Pyo , HanSol Park
CPC分类号： G08G3/02 , G01C21/1652 , G01C21/1656 , G05D1/0038 , B63B79/40 , B63B79/00 , G06V20/58 , G06V10/12
摘要： A system and method for multi-image-based vessel proximity situation recognition support is proposed. The system may include an unmanned surface vehicle (USV) configured to detect and track surrounding objects by monitoring surroundings using surrounding images and navigation sensors. The system may also include a remote navigation controller configured to support proximity situation recognition of the unmanned surface vehicle according to detection of the surrounding objects, wherein the unmanned surface vehicle may include an image acquisition processor, a navigation sensor, and a detector.
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公开(公告)号：US11662726B2
公开(公告)日：2023-05-30
申请号：US17073104
申请日：2020-10-16
IPC分类号： G05D1/00 , G05D3/00 , G06F7/00 , G06F17/00 , G01C21/34 , G05D1/02 , G05D1/10 , G08G3/02 , G08G5/00 , G08G5/04 , G01C21/20
CPC分类号： G05D1/0088 , G01C21/20 , G01C21/3461 , G05D1/0212 , G05D1/101 , G05D1/106 , G08G3/02 , G08G5/003 , G08G5/006 , G08G5/0013 , G08G5/0026 , G08G5/0043 , G08G5/0069 , G08G5/045
摘要： Apparatuses and methods for movement control of a device are disclosed. The apparatus comprises memory for storing information of patterns covering sectors of the area indicating whether the patterns have at least one item relevant to movement in the area. The information has been configured based on determination of at least one pattern that has at least one item relevant to movement in the area, division of the determined at least one pattern into smaller patterns, determination of at least one of the smaller patterns with at least one item relevant to movement in the area, and repeat of the division until predefined smallest pattern size is reached. A processor is configured to determine whether a search path between first and second locations extends through at least one pattern having at least one item relevant to movement in the area, and to selectively use a path finding algorithm to determine a path of movement within at least one pattern with relevant items through which the search path is determined to extend.
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公开(公告)号：US20230068036A1
公开(公告)日：2023-03-02
申请号：US17976296
申请日：2022-10-28
申请人： Seadronix Corp.
发明人： Byeol Teo PARK , Han Keun KIM , Dong Hoon KIM
摘要： A method for situation awareness is provided. The method comprises: preparing a neural network trained by a learning set, wherein the learning set includes a plurality of maritime images and maritime information including object type information which includes a first type index for a vessel, a second type index for a water surface and a third type index for a ground surface, and distance level information which includes a first level index indicating that a distance is undefined, a second level index indicating a first distance range and a third level index indicating a second distance range greater than the first distance range; obtaining a target maritime image generated from a camera; and determining a distance of a target vessel based on the distance level index of the maritime information being outputted from the neural network which receives the target maritime image and having the first type index.
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公开(公告)号：US11529951B2
公开(公告)日：2022-12-20
申请号：US16726281
申请日：2019-12-24
申请人： Intel Corporation
IPC分类号： B60W30/095 , B60W30/09 , G08G1/16 , G08G5/04 , G08G3/02
摘要： In some aspects, a safety system may be configured to receive vehicle position data indicating a position of a vehicle, determine a first lane segment in a lane coordinate system based on the vehicle position data, the first lane segment being a lane segment in which the vehicle is located, determine a relevant set of lane segments based on a safety-range from the first lane segment, determine or receive obstacle position data indicating a second lane segment in the lane coordinate system, the second lane segment being a lane segment in which an obstacle is located, and classify the obstacle either as a non-relevant obstacle in the case that the second lane segment is not included in the relevant set of lane segments, or as a relevant obstacle in the case that the second lane segment is included in the relevant set of lane segments.
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公开(公告)号：US11508244B2
公开(公告)日：2022-11-22
申请号：US17249561
申请日：2021-03-05
申请人： SAAB AB
发明人： Mikaela Lokatt , Stefan Blom
摘要： The present disclosure relates to a method for determining an action for collision avoidance in a craft. The method (100) comprises obtaining (110) object data comprising three-dimensional object data points (420); obtaining (120) state data of the craft (260); determining (140) at least one set of manoeuvre paths (410a,b,c) for the craft (260) based on the obtained craft state data; determining (150) a set of distance thresholds (421) for the three-dimensional object data points (420) based on the object data; comparing (160) each set of manoeuvre paths (410a,b,c) with the object data and the set of distance thresholds (421), wherein the set of manoeuvre paths (410a,b,c) is identified as a colliding set of manoeuvre paths (410a,b,c) when each path of the set of manoeuvre paths (410a,b,c) is at least partially within the corresponding distance threshold (421) of at least one three-dimensional object data point (420); and determining (170) an action upon identification of at least one colliding set of manoeuvre paths (410a,b,c).
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公开(公告)号：US11472521B2
公开(公告)日：2022-10-18
申请号：US16798774
申请日：2020-02-24
申请人： Ultraflex S.p.A.
发明人： Piero Gai , Marcella Gai , Marco Vaccari
摘要： A control system for boats includes a direction control system of a propulsion unit having a directional control member, and an acceleration/deceleration control system of the propulsion unit having an acceleration/deceleration control member. The directional control member activates a directional unit that generates directional control signals, which set an orientation of the propulsion unit, and the acceleration/deceleration control member activates an acceleration/deceleration unit that generates acceleration/deceleration control signals, which set at least a number of revolutions of the propulsion unit. The control system further includes a display unit provided with a screen, and a camera having a control system that provides images of areas or zones that cannot be observed by an operator of the control system while steering the boat, so as to enable driving the acceleration/deceleration unit and/or the directional unit according to a content of those images.
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公开(公告)号：US11410002B2
公开(公告)日：2022-08-09
申请号：US17097057
申请日：2020-11-13
发明人： Min Yuan , Shulin Peng , Wei Qian , Kanjun Ni , Xinya Wang
摘要： Disclosed is a ship identity recognition method based on the fusion of AIS data and video data, comprising: collecting a ship sample to train a ship target classifier; performing, using the ship target classifier, ship target detection on a video frame collected by a gimbal camera; performing a comparison with a recognized ship library to filter a recognized ship; acquiring AIS data and filtering same across time and spatial scales; predicting the current position of an AIS target using a linear extrapolation method and converting the current position to an image coordinate system; performing position matching between a target to be matched and the converted AIS target; and performing feature extraction on the successfully matched target and storing the extracted feature, together with ship identity information, into the recognized ship library. Experimental results show that the present invention can quickly and accurately extract a surveillance video and perform identity recognition on the ship target, effectively reduces labor costs, and has a broad application prospect in the fields such as ship transportation and port management.
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