The invention relates to the technical field of intelligent water conservancy, in particular to an inspection and rescue intelligent unmanned ship system for drainage basin safety. Under daily working conditions, the ship completes video monitoring of scenes along a drainage basin, a drainage basin hub, a hydropower station and the like and detection and positioning of potential safety hazard points and fault points through the shipborne robot based on image recognition, and timely notifies maintainers to carry out maintenance work; pollutants or hidden danger objects on the water surface are cleaned and checked through the mechanical arm. Under the disaster emergency rescue working condition, rescue of drowning people, salvage and carrying of disaster-affected materials and the like are implemented through the mechanical arm. A visual servo control method based on a fuzzy cerebellar model neural network control algorithm is adopted to control a mechanical arm, an electric servo control system is adopted to control the motion of a mechanical arm joint, and a ship-borne sonar depth finder is adopted to measure the depth of an inspection water area, so that high-precision river water level measurement is completed; navigation positioning and position tracking analysis are carried out on the inspection unmanned ship by adopting a mode of combining drainage basin space electronic identification positioning and visual navigation.

    本申请涉及智慧水利技术领域,具体涉及面向流域安全的巡检救援智能无人船系统。日常工况下,船通过船载机器人基于图像识别完成流域沿线、流域枢纽、水电站等场景的视频监控及安全隐患点和故障点的检测定位,及时通知检修人员开展维工作;通过机械臂清理排查水面污染物或隐患物。灾难应急救援工况下,通过机械臂实施溺水人员救援和受灾物资打捞搬运等。采用基于模糊小脑模型神经网络控制算法的视觉伺服控制法控制机械臂,机械臂关节的运动控制采用电动伺服控制系统,通过船载声纳测深仪对巡检水域实施测深作业,完成高精度河流水位测量,采用流域空间电子标识定位与视觉导航结合的方式对巡检无人船进行导航定位和位置跟踪分析。


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    Title :

    Inspection rescue intelligent unmanned ship system oriented to drainage basin safety


    Additional title:

    面向流域安全的巡检救援智能无人船系统


    Contributors:
    DU MINGFANG (author) / HAN LIMING (author) / ZHANG XIANG (author) / SHI DAWEI (author) / LIU YICUN (author) / WANG LIMING (author)

    Publication date :

    2022-09-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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