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1.发明公开公开(公告)号：US20230400849A1
公开(公告)日：2023-12-14
申请号：US18178992
申请日：2023-03-06
申请人： FIRST INSTITUTE OF OCEANOGRAPHY, MINISTRY OF NATURAL RESOURCES , QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER
发明人： Guanlin WANG , Yanfeng WANG , Guanhui LIANG , Shujiang LI
CPC分类号： G05D1/0022 , G01S1/751 , B63B21/16 , G05D1/0016 , B63B79/15 , B63B79/40 , G05D1/0206 , B63B2021/566
摘要： A water surface and underwater dual-purpose automatic positioning and tracking system and method, which belongs to the field of marine environment observation technologies. The positioning and tracking system includes: a rope winding and unwinding structure, arranged on a main hull structure; where the rope winding and unwinding structure includes a rope roller and a winding and unwinding rope wound around the rope roller; an auxiliary positioning remote control ship, located outside a main body of the main hull structure, where the auxiliary positioning remote control ship is in transmission and fixed connection with the winding and unwinding rope away from the rope roller; communication control units, arranged on the main hull structure and the auxiliary positioning remote control ship; and an automatic positioning tracker unit, arranged on the hull structure, where the automatic positioning tracker unit is in remote communication connection with the communication control units.
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公开(公告)号：US20210286361A1
公开(公告)日：2021-09-16
申请号：US16849284
申请日：2020-04-15
申请人： NATIONAL DEEP SEA CENTER , QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER
发明人： Tongwei ZHANG , Lei YAN , Haibing LI , Xiujun SUN , Xianglin XU , Jingxiao LIU , Lei YANG , Shengjie QIN
摘要： The invention relates to a method and system for path planning of a wave glider, comprising acquiring historical navigation data of the glider and an underwater vehicle via a shore-based monitoring center; fitting historical navigation data nonlinearly by a deep learning neural network to obtain a trained network; acquiring real-time navigation data of the glider at an off-line end, real-time navigation data and predetermined shipping track data of the vehicle; obtaining the set of off-line optimized path planning schemes of the glider by the above data and the trained network; and determining an optimal path planning scheme of the glider by the deep learning neural network according to real-time data and constraint data of the glider at the on-line end. The invention can reasonably plan the path of the glider and ensure continuous and reliable information interaction between the glider and the vehicle.
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公开(公告)号：US11305854B2
公开(公告)日：2022-04-19
申请号：US16849482
申请日：2020-04-15
申请人： National Deep Sea Center , Qingdao National Laboratory for Marine Science and Technology Development Center
发明人： Tongwei Zhang , Guangjie Han , Lei Yan , Haibing Li , Xiujun Sun , Shuai Zhang , Jingxiao Liu , Lei Yang
摘要： A deep-sea low-cost long-endurance collaborative navigation and positioning system. A shore-based monitoring center transmits a route planning solution to a wave glider. The wave glider follows an underwater vehicle to travel and feeds back state information of the wave glider and state information of the underwater vehicle to the shore-based monitoring center in real time. The shore-based monitoring center adjusts the route planning solution according to the state information in real time. The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine. The wave glider obtains self location and time information through a satellite and transmits the location and time information to the underwater vehicle in an underwater acoustic communication manner, then the underwater vehicle calculates a horizontal distance between the underwater vehicle and the wave glider to assist a microelectromechanical system (MEMS) sensor of the underwater vehicle in navigation and positioning.
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公开(公告)号：US20210284305A1
公开(公告)日：2021-09-16
申请号：US16849482
申请日：2020-04-15
申请人： National Deep Sea Center , Qingdao National Laboratory for Marine Science and Technology Development Center
发明人： Tongwei ZHANG , Guangjie HAN , Lei YAN , Haibing LI , Xiujun SUN , Shuai ZHANG , Jingxiao LIU , Lei YANG
摘要： A deep-sea low-cost long-endurance collaborative navigation and positioning system. A shore-based monitoring center transmits a route planning solution to a wave glider. The wave glider follows an underwater vehicle to travel and feeds back state information of the wave glider and state information of the underwater vehicle to the shore-based monitoring center in real time. The shore-based monitoring center adjusts the route planning solution according to the state information in real time. The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine. The wave glider obtains self location and time information through a satellite and transmits the location and time information to the underwater vehicle in an underwater acoustic communication manner, then the underwater vehicle calculates a horizontal distance between the underwater vehicle and the wave glider to assist a microelectromechanical system (MEMS) sensor of the underwater vehicle in navigation and positioning.
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公开(公告)号：US11500384B2
公开(公告)日：2022-11-15
申请号：US16849284
申请日：2020-04-15
申请人： NATIONAL DEEP SEA CENTER , QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER
发明人： Tongwei Zhang , Lei Yan , Haibing Li , Xiujun Sun , Xianglin Xu , Jingxiao Liu , Lei Yang , Shengjie Qin
摘要： The invention relates to a method and system for path planning of a wave glider, comprising acquiring historical navigation data of the glider and an underwater vehicle via a shore-based monitoring center; fitting historical navigation data nonlinearly by a deep learning neural network to obtain a trained network; acquiring real-time navigation data of the glider at an off-line end, real-time navigation data and predetermined shipping track data of the vehicle; obtaining the set of off-line optimized path planning schemes of the glider by the above data and the trained network; and determining an optimal path planning scheme of the glider by the deep learning neural network according to real-time data and constraint data of the glider at the on-line end. The invention can reasonably plan the path of the glider and ensure continuous and reliable information interaction between the glider and the vehicle.
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6.发明授权公开(公告)号：US11829132B1
公开(公告)日：2023-11-28
申请号：US18178992
申请日：2023-03-06
申请人： FIRST INSTITUTE OF OCEANOGRAPHY, MINISTRY OF NATURAL RESOURCES , QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER
发明人： Guanlin Wang , Yanfeng Wang , Guanhui Liang , Shujiang Li
CPC分类号： G05D1/0022 , B63B21/16 , B63B79/15 , B63B79/40 , G01S1/751 , G05D1/0016 , G05D1/0206 , B63B2021/566 , B63G2008/005
摘要： A water surface and underwater dual-purpose automatic positioning and tracking system and method, which belongs to the field of marine environment observation technologies. The positioning and tracking system includes: a rope winding and unwinding structure, arranged on a main hull structure; where the rope winding and unwinding structure includes a rope roller and a winding and unwinding rope wound around the rope roller; an auxiliary positioning remote control ship, located outside a main body of the main hull structure, where the auxiliary positioning remote control ship is in transmission and fixed connection with the winding and unwinding rope away from the rope roller; communication control units, arranged on the main hull structure and the auxiliary positioning remote control ship; and an automatic positioning tracker unit, arranged on the hull structure, where the automatic positioning tracker unit is in remote communication connection with the communication control units.
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公开(公告)号：US11473335B1
公开(公告)日：2022-10-18
申请号：US17570031
申请日：2022-01-06
申请人： FIRST INSTITUTE OF OCEANOGRAPHY, MINISTRY OF NATURAL RESOURCES , QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER
发明人： Guanlin Wang , Shujiang Li , Guanhui Liang , Fengjun Wang
摘要： An acoustic-electric remote control release hook used on water and underwater includes a first shell and a cylindrical framework. The cylindrical framework is fixedly connected with the first shell in a detachable mode; the first underwater transducer is remotely matched with a second water transducer which extends to the underwater through a cable, and the second water transducer is connected with a control switch through a cable. An acoustic command receiving module is arranged inside the first shell, and a power supply end of the acoustic command receiving module is connected with the power supply. A signal input end of the acoustic command receiving module is connected with the first underwater transducer through a cable and a watertight connector assembly, and a signal output end of the acoustic command receiving module is connected with the driver of the direct-current motor.
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