CN116168498B - Offshore wind farm ship intrusion identification and warning method and system - Google Patents

Offshore wind farm ship intrusion identification and warning method and system

Info

Publication number
CN116168498B
CN116168498B CN202310248427.2A CN202310248427A CN116168498B CN 116168498 B CN116168498 B CN 116168498B CN 202310248427 A CN202310248427 A CN 202310248427A CN 116168498 B CN116168498 B CN 116168498B
Authority
CN
China
Prior art keywords
mobile monitoring
monitoring device
water
unit
water unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202310248427.2A
Other languages
Chinese (zh)
Other versions
CN116168498A (en
Inventor
刘达荣
陈熙韵
邓汝侃
贺照伟
陈怡�
杨克须
黄璐璐
张为科
王斯皓
陆俊榕
孙健凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bangxin Data Technology Co ltd
Original Assignee
Guangdong Bangxin Data Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Bangxin Data Technology Co ltd filed Critical Guangdong Bangxin Data Technology Co ltd
Priority to CN202310248427.2A priority Critical patent/CN116168498B/en
Publication of CN116168498A publication Critical patent/CN116168498A/en
Application granted granted Critical
Publication of CN116168498B publication Critical patent/CN116168498B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems

Landscapes

  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Emergency Management (AREA)
  • Business, Economics & Management (AREA)
  • Architecture (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Alarm Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a marine wind farm ship intrusion recognition early warning method and system, wherein the method comprises the steps of configuring a server and configuring a mobile monitoring device capable of maneuvering in a designated water area, the configuring server comprises the steps of receiving video/image data uploaded by the mobile monitoring device, performing image recognition to obtain a recognition result and returning the recognition result, configuring the mobile monitoring device comprises the steps of executing shooting fixing action if a designated water unit exists in the recognition result, searching a preset database according to the recognition result to obtain the size of the water unit, calculating the pixel size of a real-time shot water unit image, solving an image scale, calculating the estimated distance between the mobile monitoring device and the water unit based on the image scale, sending early warning information to the designated terminal through the server if the estimated distance is larger than a preset following threshold value, and controlling the mobile monitoring device to approach the designated water unit to send fishing interference information. The application can help staff to improve the invasion management effect of the offshore wind power plant.

Description

Marine wind farm ship intrusion recognition and early warning method and system
Technical Field
The application relates to the technical field of maintenance of offshore wind farms, in particular to a marine wind farm ship intrusion recognition and early warning method and system.
Background
In recent years, the development of the offshore wind power in China is rapid, the newly-increased installed capacity is continuously realized for years, the world is first, and the offshore wind power is developed at high speed and related accidents of the offshore wind power are frequent. The existing offshore wind farm accidents comprise fan accidents, offshore booster station accidents, construction accidents, operation and maintenance accidents, cable accidents and the like.
Part of human factors causing the accidents are that after the offshore wind farm is built, the wind power foundation becomes an offshore fish reef due to the structural characteristics of the wind power foundation, and the wind power foundation attracts fish shoals to gather. Part of fishermen and fishermen catch fish and fish near the offshore wind power plant for the benefit, and fishing boats and the like are easy to strike the foundation and damage the paint protective coating of the foundation, and simultaneously, the fishing boats are anchored near the foundation, so that the sea cable is easy to be anchored. However, manual monitoring of the sea area near a wind farm is labor intensive, difficult, and is subject to weeping.
At present, related enterprises consider that the ship automatic identification AIS technology is applied to intrusion early warning of sea areas near wind power plants, but:
for partial fishing boats, the automatic control system has illegal shutdown behaviors, and a few small ships are not selected to install AIS equipment, and monitoring omission still exists, so that the automatic control system provides a new technical scheme.
Disclosure of Invention
In order to improve the intrusion management effect of an offshore wind farm, the application provides a marine wind farm ship intrusion recognition and early warning method and system.
In a first aspect, the application provides a marine wind farm ship intrusion recognition and early warning method, which adopts the following technical scheme:
a marine wind farm ship intrusion recognition and early warning method comprises the following steps:
step one, establishing a monitoring foundation, which comprises the following steps:
a plurality of mobile monitoring devices integrating wireless communication, water area maneuver, real-time picture acquisition, satellite positioning and fishing interference information release are configured and distributed to a designated water area;
Building a site server in an offshore wind farm, and establishing data connection between the server and a mobile monitoring device;
Establishing a ship intrusion response mechanism, which comprises a configuration server and a configuration mobile monitoring device, wherein the configuration server comprises:
Receiving positioning data uploaded by a mobile monitoring device, and calibrating the positioning data on a preset wind power plant electronic map to generate a base map;
Updating a monitoring area of the mobile monitoring device on the base map based on a predefined device monitoring range to generate a patrol map;
Monitoring a patrol diagram based on preset patrol scheduling logic, and sending a maneuvering instruction to control the mobile monitoring device to adjust the position;
Receiving video/image data uploaded by the mobile monitoring device for image recognition, obtaining a recognition result and returning the recognition result;
The configuration mobile monitoring device comprises:
receiving the identification result, if the identification result indicates that the water unit exists, executing shooting fixing action, and searching a preset database according to the identification result to obtain the size of the water unit;
calculating the pixel size of a unit image on water shot in real time, and calculating an image scale according to the size of the unit on water;
Calculating the estimated distance between the mobile monitoring device and the water unit based on the image scale;
if the estimated distance is greater than the preset following threshold, sending early warning information to the appointed terminal through the server, controlling the mobile monitoring device to approach the appointed water unit, and sending out fishing interference information.
Optionally, the mobile monitoring device is provided with an interference unit which is thrown into water through a rope, and the rope is controlled to be retracted and released through an automatic rope winder;
the configuration mobile monitoring device further includes:
receiving a time correction instruction and correcting time, wherein the time comprises a date and 24-hour time;
acquiring the current time and recording the current time as a condition parameter;
Searching a preset database based on the condition parameters to obtain current active fish population information of the current water area;
And identifying whether pre-stored fish suitable for fishing or economic fishing exists in the current active fish population information, and if so, executing an interference throwing process.
Optionally, the executing the interference delivery procedure includes:
searching a preset database according to the current suitable fish or economic fishing fish to obtain matched active water depth data of the fish shoal;
The automatic rope winder is put in the interference unit, and the release length of the rope is determined according to the data of the active water depth of the fish shoal.
Optionally, the patrol scheduling logic includes:
Judging whether each mobile monitoring device actively approaches to a water unit, if not, adding monitoring point spacing monitoring, wherein the monitoring point monitoring comprises:
calculating the distance between any two mobile monitoring devices based on the patrol diagram;
if the distance is smaller than the preset optimized distance, one mobile device moves towards the direction away from the other mobile device, and the closer to the center of the patrol diagram, the lower the movement priority is.
Optionally, the configuration server further includes:
taking T1 as an interference prevention duration;
if the video/image data uploaded by two or more mobile monitoring devices in the time period T1 are identified to have the appointed water units and the feature comparison similarity exceeds the similarity threshold, executing single following logic;
The single follow logic includes a mobile monitoring device that later monitors a specified water unit to keep silent.
Optionally, the identification result comprises a ship model and a bow characteristic;
the single follower logic, comprising:
if a plurality of mobile monitoring devices find the water units of invasion at the same time, the following steps are:
estimating the ship course based on the bow characteristics;
predicting the ship position based on the estimated distance between the mobile monitoring device and the water unit;
predicting an intrusion position after the time length T2 according to the ship position and the ship heading;
calculating a real-time tracking distance between the intrusion point and a mobile monitoring device for monitoring the ship;
And the mobile monitoring device with the minimum real-time tracking distance is determined to follow the current water unit.
In a second aspect, the application provides a marine wind farm ship intrusion recognition and early warning system, which adopts the following technical scheme:
An offshore wind farm vessel intrusion identification pre-warning system, comprising:
The mobile monitoring device integrates wireless communication, water area maneuver, real-time picture acquisition, satellite positioning and fishing interference information release, is arranged in a designated water area, and
The server establishes data connection with the mobile monitoring device;
Wherein the server is configured to:
Receiving positioning data uploaded by a mobile monitoring device, and calibrating the positioning data on a preset wind power plant electronic map to generate a base map;
Updating a monitoring area of the mobile monitoring device on the base map based on a predefined device monitoring range to generate a patrol map;
Monitoring a patrol diagram based on preset patrol scheduling logic, and sending a maneuvering instruction to control the mobile monitoring device to adjust the position;
Receiving video/image data uploaded by the mobile monitoring device for image recognition, obtaining a recognition result and returning the recognition result;
the mobile monitoring device is configured to:
receiving the identification result, if the identification result indicates that the water unit exists, executing shooting fixing action, and searching a preset database according to the identification result to obtain the size of the water unit;
calculating the pixel size of a unit image on water shot in real time, and calculating an image scale according to the size of the unit on water;
Calculating the estimated distance between the mobile monitoring device and the water unit based on the image scale;
And if the estimated distance is greater than the preset following threshold, controlling the mobile monitoring device to approach the appointed water unit, and sending out fishing interference information.
In summary, the method has the advantages that the method is characterized in that a mobile monitoring device which can maneuver in a designated water area is used for defending, an invasive water level unit is found based on real-time images collected by the mobile monitoring device, after the invasive water level unit is determined, early warning information is sent to a designated terminal, the mobile monitoring device follows and approaches to evidence collection, meanwhile, fishing interference information can be released to guide and drive a fishing boat and the like away from a wind farm, and at the moment, the wind farm actively discovers the invasive boat and does not have continuous monitoring, so that the invasion management effect of the offshore wind farm is better.
Drawings
FIG. 1 is a schematic illustration of the main flow of the method of the present application;
FIG. 2 is a schematic diagram of the main structure of the device of the present application;
FIG. 3 is a schematic diagram of the control architecture of the apparatus of the present application;
fig. 4 is another schematic structural view of the device of the present application.
The reference numerals indicate 1, a water platform, 11, a cabin body, 111, a throwing pipe, 12, an upper frame body, 13, a camera module, 14, a distance sensing unit, 2, an interference unit, 3, a throwing action module, 31, an automatic rope winder, 32, an upper air pipe, 33, a blowing unit, 34, a lateral air pipe, 4, a general control module and 5, a solar battery.
Detailed Description
The application is described in further detail below with reference to fig. 1-4.
The embodiment of the application discloses a marine wind farm ship intrusion recognition and early warning method.
Referring to fig. 1, the marine wind farm ship intrusion recognition and early warning method comprises the following steps:
step one, establishing a monitoring foundation, which comprises the following steps:
a plurality of mobile monitoring devices integrating wireless communication, water area maneuver, real-time picture acquisition, satellite positioning and fishing interference information release are configured and distributed to a designated water area;
Building a site server in an offshore wind farm, and establishing data connection between the server and a mobile monitoring device;
and establishing a ship intrusion response mechanism, wherein the ship intrusion response mechanism comprises a configuration server and a configuration mobile monitoring device.
The following explanation will be given to the matters related to the first step and the second step, respectively, and it is helpful to understand the method considering the features of the mobile monitoring device, so the mobile monitoring device will be specifically explained first.
With reference to fig. 2 and 3, the mobile monitoring device comprises a water platform 1, a power unit, an interference unit 2, a throwing action module 3, a general control module 4 and a power supply module.
The water platform 1 is a comprehensive integrated platform, and the shell material of the water platform can refer to a buoy, so that the water platform has certain corrosion resistance to meet the requirements of offshore operation. The water platform 1 collects environmental information in a nearby planning range (a user-defined device monitoring range), generates positioning data and floats in a designated water area to serve as a carrier, and a power unit, an interference unit 2, a throwing action module 3, a master control module 4 and a power supply module are all arranged on the water platform 1 and are powered by the power supply module.
When the device is used, the master control module 4 is used as a control core of the device, is in communication connection with a server serving as a site, performs data interaction, and is used as a control power unit to drive the water platform 1 to follow a specified water unit, controls the throwing action module to release the interference unit 2, and controls the interference unit 2 to send out fishing interference information.
The above is explained in detail below.
In one embodiment of the present apparatus, the above-mentioned water platform 1 includes a cabin 11, an upper frame 12, a camera module 13, and a positioning module.
The cabin 11 is divided into an upper part and a lower part, the upper part is columnar, a mounting cavity is formed inside the upper part, an electrical component such as the master control module 4 is arranged in the cavity, the mounting cavity is at least provided with an opening, and the opening seals and fixes the cabin door. The lower part of the cabin 11 is funnel-shaped, hollow and is not communicated with the installation cavity, and the cavity at the lower part of the cabin 11 is called a water sump.
The upper frame 12 is fixed to the upper surface of the cabin 11, like a four-foot round stool structure, with the upper portions of the four feet being close to each other. The camera module 13 is mounted on the top of the upper frame 12 to obtain a better shooting height and a larger shooting angle.
It should be noted that, in order to protect the camera module 13, the probability of damaging the camera module 13 when the water platform 1 is tilted is reduced, and a protection ring is formed around the top of the upper frame 12 by a connecting rod.
Because the use of this device is to the certain dependence of image (follow-up content explanation), and the unavoidable existence of when aquatic platform 1 is placed in the sea area near wind turbine generator system platform rocks, the better top of last support body 12 of this reason installs the stabilizer, and the stabilizer selects to hold cloud platform, shooting cloud platform class, can make shooting module 13 reduce shooting shake can to guarantee later stage to the effect of utilizing of image.
The camera module 13, i.e. the camera, in this embodiment is preferably of the type having night vision and capable of 180 ° circumferential rotation. The night vision function is used for meeting 24-hour monitoring requirements, and 180-degree steering is used for reducing the rotation requirement of the water platform 1, so that the camera shooting rotation meets circumferential monitoring. The camera module 13 is connected to the master control module 4.
It can be understood that the device is not used alone when used in the sea, but a plurality of cooperations form a large-area monitoring area, and the camera is not necessarily continuously rotated in the circumferential direction in practice, and more is the angle when the target is shot.
The main body of the positioning module, namely the Beidou positioning module and the GPS positioning module, is arranged at the upper part of the cabin 11, and if the antenna is configured, the antenna is arranged at the top of the cabin 11. The positioning module is connected to the master control module 4.
In one embodiment of the present application, the water tank is divided into an equipment area and other areas in a sealed structure, and the delivery motion module 3 includes an automatic rope reel and a tank internal pressure balancing mechanism.
Wherein, the automatic rope winder 31 is connected to the master control module 4, which may be an electric rope reel, and the motor is arranged in the equipment area, and the rope reel structure is positioned at the top of the water sump and is close to the central axis of the cabin body 11. The interference unit 2 is bound and fixed at the free end of the rope end of the automatic rope winder 31, falls down by gravity, and is retracted by the winding action of the automatic rope winder 31, so as to realize the retraction and release actions of the interference unit 2.
In one embodiment of the present application, the interference unit 2 includes a column and an acoustic/optical interference device embedded and installed on the column, where the acoustic/optical interference device is connected to the master control module 4, and may be, for example, a lamp or an acoustic wave generator (probe, main body has a cabin 11). A delivery pipe 111 is formed in the center of the bottom of the cabin 11, and the upper end of the delivery pipe 111 is communicated with a water sump of the cabin 11. The columnar body is matched with the inner diameter of the delivery pipe 111, and is separated from the delivery pipe 111 to enter water when in use. The wires of the acoustic/optical disrupter are bundled, braided, embedded in the hauling rope of the automatic rope winder 31.
In order to guide the interfering unit 2 when it is recovered, the lower end edge of the delivery pipe 111 is provided to be flared outwardly to guide the interfering unit 2 by means of an outwardly flared edge.
Referring to fig. 4, in one embodiment of the present application, the above-described in-bin pressure balancing mechanism includes:
at least two upper air pipes 32 are arranged on the upper part of the cabin body 11 in a penetrating way, and the lower ends of the upper air pipes extend into the water sump;
if the blower unit 33 is hidden in the cabin 11 and installed, the air outlet pipeline of the blower unit passes through the top surface of the cabin 11 upwards and then bends downwards;
A side air pipe 34 which penetrates the side part of the cabin 11 and one end of which is communicated with the water sump, one end of the water is downwards introduced.
Assuming that the number of the upper air pipes 32 is two, a check valve is installed at the upper end of one upper air pipe 32, and an electromagnetic valve is installed at the upper end of the other upper air pipe 32 and then communicates with the air supply port of the blower unit 33.
The blower unit 33 and the solenoid valve are connected to the main control module 4, respectively.
The plurality of side air pipes 34 are uniformly distributed around the lower part of the cabin 11, and the side air pipes 34 are also provided with electromagnetic valves which are also connected with the master control module 4 for control.
For the application, the cabin internal pressure balancing mechanism has a plurality of characteristics for matching with other constituent elements, and the following is combined with the description of the use process:
1) When the disturbing work is required, the automatic rope reel 31 unwinds the traction rope, and the disturbing unit 2 falls down along the delivery pipe 111 under the action of gravity and out of the cabin 11 until reaching a prescribed depth. And then the master control module 4 controls the interference unit 2 to work so as to release interference information to interfere the fish shoal in the sea.
It should be noted that the drooping interference unit 2 is swayed under the influence of the flow direction of the seawater after entering the water, and can interfere the stability of the device main body, so that the master control module 4 opens the electromagnetic valve of one path of the air blowing unit 33 and opens the electromagnetic valve of the side air pipe 34 to enable the seawater to be filled into the water bin, and the gravity center offset influence of the drooping interference unit 2 is reduced by using the seawater to balance the cabin body 11, thereby enhancing the stability.
2) When the interference operation is not needed any more, the automatic rope reel 31 is used for collecting the traction rope, the interference unit 2 is pulled to retract the throwing tube 111, and the lower end of the interference unit is stopped in the upper port of the throwing tube 111.
It should be noted that, when the disturbing unit 2 is recovered, besides the disturbing unit 2 needs to stop working, the water sump of the cabin 11 needs to be emptied, specifically, the master control module 4 controls the blower unit 33 to feed air into the water sump, and the air is used for discharging the seawater from the throwing pipe 111 or the side air pipe 34.
When the interference unit 2 returns to the standby state, the electromagnetic valve of the side air pipe 34 is closed, and the electromagnetic valve of the other upper air pipe 32 is opened, and in this mode, the air blowing unit 33 continuously feeds air to the water sump, and the air is discharged from the upper air pipe 32, so that the flowing air can air-dry the water sump, and the service life of the device is prolonged.
It will be appreciated that when the air drying action ceases may be a timed control or may be determined by configuring the humidity sensor to detect. When the air drying action is finished, the solenoid valves of the side air duct 34 and the upper air duct 32 are closed. In order to ensure the dryness of the sump, the lower end of the column-shaped body of the interference unit 2 is preferably provided with a sealing ring.
In one embodiment of the application, the power supply module of the device comprises a storage battery and a solar battery 5, wherein the storage battery is arranged in a cabin 11 and is used as a main power supply unit, a plurality of solar batteries 5 are fixed around an upper frame 12 and are connected with the storage battery through a matched controller so as to charge the storage battery by utilizing solar energy, and the cruising ability of the device is improved.
It is understood that the storage battery can be realized by establishing a wireless charging station in the sea area of the wind power plant based on the current wireless charging technology background besides manual periodic charging.
In one embodiment of the application, the power unit can be composed of the same electric propeller as the current unmanned ship, and is connected with the master control module 4 to control the movement of the water platform 1.
It should be noted that, in order to better meet the following and monitoring requirements of the device on the water unit, the steering of the power unit is not realized by using a traditional rudder, but is realized by two symmetrical electric propellers, and the two propellers are not in a right-over mode, but are splayed or parallel in overlooking mode, so that the rapid steering is realized by utilizing the differential speed of the two propellers.
In one embodiment of the present application, the master control module 4 (i.e., a control circuit board integrated with a processor, a memory, a conversion circuit, a driving controller, etc.) performs data interaction with the server through a configured communication unit (GPRS, etc.), and at the same time, the server establishes a connection with a terminal of the established shore-based master control center through a communication facility, so as to implement intrusion early warning and shore-based supervision functions.
The video/image of the appointed water area collected by the camera module 13 is transmitted to a server, and the server performs image recognition to obtain a recognition result. The identification mainly refers to ship identification, such as marine ship target classification detection based on YOLOv and SORT, and the server is loaded with corresponding software when in use.
In the present application, the master control module 4 is configured to:
1) And receiving the identification result of the data acquired by the camera module 13 by the server.
The identification result comprises the types of element features, the types of ship features and the integrity of the features in the image.
2) If the identification result indicates that the water unit exists, the camera module 13 shoots and fixes the water unit, and searches a preset database according to the identification result to obtain the size of the water unit;
the water unit is designated as a ship in the present application.
Regarding shooting fixation, any image is known to have a center, and the ship characteristic elements in the image are always positioned in the center of the image, namely the shooting fixation. The implementation means can be that the characteristic is right-shifted in the image, the camera is adjusted to the right once by the minimum rotation amount, and the adjustment is continuously carried out for a plurality of times until the condition is met.
The data base is used for storing the actual size data of various ships and matching ships, and the size data at least comprises the length, the width or the height of the ship.
3) And calculating the pixel size of the unit image on water shot in real time, and calculating an image scale according to the size of the unit on water.
One key point of image recognition is known to be the calibration and extraction of the outline of the target feature, and at the same time, any position in the image has corresponding pixel coordinates, so that the pixel size of the unit on water can be obtained.
Assuming that the target ship is an A-type fishing ship, the actual size is 100m, and the pixel size is 100p of the characteristic outline pixel length, and the image scale is 1m/p.
4) And calculating the estimated distance between the water platform 1 and the water unit based on the image scale.
It will be appreciated that, with the photographing lens unchanged, the dimensions of the ship features are different in one image scale for each of taking one a-ship from a position of 300m and one a-ship from a position of 100 m.
Thus, the estimated distance between the water platform 1 and the water unit can be obtained by searching the scale-space relation table obtained by verification in the database based on the image scale obtained in the step 3).
It should be noted that if the image capturing module is variable, the change of the shooting parameter needs to be added to correct in the above process, for example, the parameter is added correspondingly to the scale when the image capturing is amplified by 20 times.
5) And if the estimated distance is greater than the preset following threshold, controlling the power unit to drive the water platform to approach the appointed water unit.
In the embodiment, the following threshold is preferably 20m-35m, so that the following threshold effectively follows, the safety of evidence taking and interference implementation is ensured, and the fishing personnel can be prevented from damaging equipment deliberately to a certain extent.
In one embodiment of the device, the following is provided for the consideration that when the water platform 1 approaches the vessel to a certain distance there is no full representation of the complete vessel profile in the image:
The above-water platform 1 further comprises a distance sensing unit 14, wherein the distance sensing unit 14 can select an ultrasonic sensor, a laser ranging sensor and the like, and is fixed on the camera module 13 (the side of the lens and the top) so as to ensure the direction of the ship by means of the shooting following function. The distance sensing unit 14 is connected to the master control module 4.
Correspondingly, the master control module 4 is configured to:
1) If the identification result is judged to be the incomplete water unit, the distance sensing unit is awakened, the distance detection value fed back by the distance sensing unit is received, and the calculation of the image scale is stopped.
It can be understood that in order to save energy, a sleep standby mode is often adopted in the electronic equipment, and the device is powered by a non-trailing cable, so that a sleep design is relatively necessary to prolong the cruising ability of the device.
2) And if the distance detection value is larger than the preset following threshold value, controlling the power unit to drive the water platform 1 to approach the appointed water unit.
3) And if the distance detection value is smaller than the risk threshold value, controlling the power unit to drive the water platform 1 to be far away from the appointed water unit.
The risk threshold, in this embodiment, refers to the collision risk threshold, which may be 5m instead of 0, and after all, the water platform 1 needs a buffer distance for turning braking.
According to the above arrangement, the present device automatically employs the closely adapted distance sensing unit 14 for a following function when the captured image is insufficient to encompass the entire ship contour.
In one embodiment of the method, based on the characteristics of the mobile monitoring device, the configuration server in the second step includes:
1) And receiving the positioning data uploaded by the mobile monitoring device, and calibrating on a preset electronic map of the wind power plant to generate a base map.
It can be understood that the map is an electronic map with dot matrix distribution, each mobile monitoring device is calibrated on the base map in the form of dots, and the dot positions on the electronic map correspondingly change along with the position transition of the mobile monitoring device.
2) Updating the monitoring area of the mobile monitoring device on the base map based on the predefined device monitoring range to generate a patrol diagram.
Based on the above-mentioned characteristics of the mobile monitoring device, the camera is used to collect environmental information, so that in theory, the camera can shoot very far targets, however, after any target exceeds a certain range, the target is relatively blurred, and the collected image is difficult to be used for the subsequent water level unit identification, so that a user is required to select a moderate stable shooting range, namely a monitoring range, according to the suggestion provided by a manufacturer.
3) And monitoring the patrol diagram based on a preset patrol scheduling logic, and sending a maneuvering instruction to control the mobile monitoring device to adjust the position.
Regarding patrol dispatch logic, it includes:
Judging whether each mobile monitoring device actively approaches a water unit, if so, ending, and if not, adding monitoring point spacing monitoring, wherein the monitoring point monitoring comprises:
calculating the distance between any two mobile monitoring devices based on the patrol diagram, namely calculating the distance between any two marking points on the electronic map;
If the distance is smaller than the optimized distance preset by the user, one mobile device is moved towards the direction away from the other mobile device until the distance exceeds the optimized distance and the closer to the center of the patrol diagram, the lower the movement priority is.
The arrangement of the patrol scheduling logic can avoid the influence of wind waves and ocean currents on the whole wind farm from being too close to each other when the mobile monitoring devices float on the sea surface, and the arrangement of the priority is realized in such a way that when the two mobile monitoring devices are determined that the distance is smaller than the optimized distance, the mobile monitoring devices closer to the center of the defense distribution diagram are enabled to be silent, and the other mobile monitoring device is enabled to be powered on and away from the periphery.
The maneuvering optimal mode is mainly used for avoiding that after the inner side mobile monitoring device maneuvers, the linkage drives excessive other mobile monitoring devices to adjust positions.
It should be noted that for any mobile monitoring device, the staff should define the maximum maneuver boundary to prevent the mobile monitoring device from losing power due to being too far from the charging station. Similarly, in severe weather such as storm, the system can be set to send a return site instruction and uniformly move to a safe area to avoid losing risks.
4) And receiving the video/image data uploaded by the mobile monitoring device for image recognition, obtaining a recognition result and returning the recognition result.
Correspondingly, the configuration mobile monitoring device in the second step includes:
1) And receiving the identification result, if the identification result indicates that the water unit exists, executing shooting fixing action, and searching a preset database according to the identification result to obtain the size of the water unit.
2) Calculating the pixel size of a unit image on water shot in real time, and calculating an image scale according to the size of the unit on water;
3) Calculating the estimated distance between the mobile monitoring device and the water unit based on the image scale;
4) If the estimated distance is larger than the preset following threshold, sending early warning information to the appointed terminal through the server, controlling the mobile monitoring device to approach the appointed water unit, and sending out fishing interference information.
The foregoing is already described in the mobile monitoring device, and thus will not be described in detail.
In one embodiment of the application, the delivery of the interfering unit 2 is not started after the mobile monitoring device approaches the water unit to a specified certain preset distance, but the mobile monitoring device is configured to:
receiving (user input) a time correction instruction, and correcting time, wherein the time comprises a date and a 24-hour moment;
acquiring the current time and recording the current time as a condition parameter;
Searching a preset database based on the condition parameters to obtain current active fish population information of the current water area;
And identifying whether pre-stored information of the current active fish population exists for fishing proper fishes or economic fishes, if so, executing an interference putting flow, and if not, not performing interference behaviors.
It is known that fish shoals have different habits and living sea areas, and particularly that mobile fish shoals are not fixed in a certain area, but are carried to wind farms for capturing corresponding fish by fishing boats and fishing persons. Through the above, when the current sea area evaluation is considered unsuitable for fishing and fishing, only the abutting evidence is adopted, and the interference is not performed blindly, so that the energy consumption is reduced.
Regarding the above-described interference delivery flow, specifically:
searching a preset database according to the current suitable fish or economic fishing fish to obtain matched active water depth data of the fish shoal;
The automatic rope winder 31 is made to put in the interference unit 2, and the rope release length is determined according to the data of the active water depth of the fish shoal, for example, if the active water depth of the fish shoal is 10-15m, the put-in depth of the interference unit 2 is 12m, and a specific put-in scheme is prestored in a storage unit of the device to wait for calling.
For the automatic rope reel 31, it is known that it is driven by a motor, so that the length of the rope to be paid down can be controlled by controlling the amount of rotation of the motor. According to the living water layer position of the fish school, the interference unit 2 is released directionally, so that the interference effect can be effectively improved.
In one embodiment of the application, the method also considers that a plurality of mobile monitoring devices discover the influence caused by the invasion of the ship successively and simultaneously, and specifically, the method comprises the steps of configuring a server to:
Taking T1 as an interference prevention duration, wherein T1 can be 10min;
if the video/image data uploaded by two or more mobile monitoring devices within the time period T1 are identified to have the appointed water units and the feature comparison similarity exceeds the preset similarity threshold, executing the single following logic.
The feature comparison is image comparison, but does not refer to original image comparison, but refers to comparison of ships extracted in the image recognition process, such as contour comparison.
The single follow logic includes a mobile monitoring device that later monitors a specified water unit to keep silent.
According to the above, the problems of oversized monitoring loopholes and resource waste caused by the fact that a plurality of mobile monitoring devices repeatedly follow the water unit can be prevented.
The above is aimed at finding the same invasion ship first and then, and when two mobile monitoring devices find the invasion water units at the same time, then:
1) And estimating the ship heading based on the bow features (one of the recognition results).
2) Predicting the ship position based on the estimated distance between the mobile monitoring device and the water unit;
the ship position is estimated by the position of the mobile monitoring device, the estimated distance and the current shooting direction.
3) Predicting the invasion position after the time length T2 (for example, 5 min) according to the ship position and the ship heading;
the above-mentioned ship position+observed change amount per unit time is T2+ ship course, and the intrusion position is estimated.
4) And calculating a real-time tracking distance between the intrusion point and a mobile monitoring device for monitoring the ship.
5) And the mobile monitoring device with the minimum real-time tracking distance is determined to follow the current water unit.
According to the arrangement, on one hand, a plurality of mobile monitoring devices can be prevented from simultaneously following a target ship, and on the other hand, the maneuvering distance is optimized, so that the energy consumption of the mobile monitoring devices can be reduced.
The embodiment of the application also discloses a marine wind farm ship intrusion recognition and early warning system.
The marine wind farm ship intrusion recognition and early warning system comprises a mobile monitoring device and a server.
The setting and effects of the mobile monitoring device and the server are already described in the embodiments of the method, and thus are not described in detail.
In summary, the present application may:
1. Taking the mobile monitoring device as a water monitoring unit, and distributing the protection around the offshore wind turbine generator;
2. The mobile monitoring device is used for collecting pictures on the sea surface in real time, and providing basic data for finding an invading ship by utilizing an image recognition technology;
3. after the intrusion ship is determined, the mobile monitoring device is enabled to follow and obtain evidence, and fishing interference information is generated by throwing the interference unit 2 into the water after fishing and fishing values exist in the fish shoal information analysis of the current sea area;
4. The throwing of the interference unit 2 is directionally throwing according to the information of the perch of the fish and the like, so that the interference effect is improved.
The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.

Claims (6)

1.一种海上风电场船舶入侵识别预警方法，其特征在于，包括：1. A method for identifying and warning of ship intrusion in an offshore wind farm, comprising: 步骤一、建立监测基础，其包括：Step 1: Establish a monitoring foundation, which includes: 配置多个集成无线通信、水域机动、实时画面采集、卫星定位及捕鱼干扰信息释放于一体的移动监测装置，并布设至指定水域；Configure multiple mobile monitoring devices that integrate wireless communication, water mobility, real-time image acquisition, satellite positioning, and release of fishing interference information, and deploy them in designated waters; 于海上风电场搭建站点服务器，且建立服务器与移动监测装置之间的数据连接；Set up a site server at the offshore wind farm and establish a data connection between the server and the mobile monitoring device; 步骤二、建立船舶入侵响应机制，其包括：配置服务器和配置移动监测装置；其中，所述配置服务器包括：Step 2: Establishing a ship intrusion response mechanism, which includes: configuring a server and configuring a mobile monitoring device; wherein, the configuring server includes: 接收移动监测装置上传的定位数据，并在预设的风电场电子地图上标定，产生底图；Receive positioning data uploaded by the mobile monitoring device and mark it on the preset wind farm electronic map to generate a base map; 基于预定义的装置监测范围，在底图上更新移动监测装置的监测区，产生巡防图；Based on the predefined monitoring range of the device, the monitoring area of the mobile monitoring device is updated on the base map to generate a patrol map; 基于预设的巡防调度逻辑监控巡防图，并发送机动指令控制移动监测装置调节位置；Monitor patrol maps based on preset patrol dispatch logic and send maneuvering instructions to control the mobile monitoring device to adjust its position; 接收移动监测装置上传的视频/图像数据做图像识别，得到识别结果并回传；Receive video/image data uploaded by mobile monitoring devices, perform image recognition, obtain recognition results and send them back; 所述配置移动监测装置包括：The configuration of the mobile monitoring device includes: 接收识别结果，若识别结果存在指定水上单位，则执行拍摄固定动作，且根据识别结果查找预设的数据库，得到水上单位的尺寸；Receive the recognition result, if the recognition result shows the specified water unit, perform the shooting fixed action, and search the preset database according to the recognition result to obtain the size of the water unit; 计算实时拍摄的水上单位图像的像素尺寸，并根据水上单位的尺寸求图像比例尺；Calculate the pixel size of the water unit image captured in real time, and find the image scale based on the size of the water unit; 基于图像比例尺计算移动监测装置与水上单位的估计距离；Calculate the estimated distance between the mobile monitoring device and the surface unit based on the image scale; 若估计距离大于预设跟随阈值，则通过服务器向指定终端发送预警信息，且控制移动监测装置接近指定水上单位，发出捕鱼干扰信息；If the estimated distance is greater than the preset following threshold, an early warning message is sent to the designated terminal through the server, and the mobile monitoring device is controlled to approach the designated water unit and send a fishing interference message; 所述移动监测装置设置有通过绳索向水下投放的干扰单元（2），且绳索设置为通过自动卷绳器（31）控制收和放；The mobile monitoring device is provided with an interference unit (2) that is deployed underwater via a rope, and the rope is configured to be retracted and released by an automatic rope reel (31); 所述配置移动监测装置还包括：The configuration of the mobile monitoring device also includes: 接收时间校正指令，校对时间；其中，所述时间包括日期和24小时时刻；Receiving a time correction instruction and checking the time; wherein the time includes the date and the 24-hour time; 获取当前的时间，记为条件参数；Get the current time and record it as the condition parameter; 基于条件参数查找预设的数据库，得到当前水域的当前活跃鱼类种群信息；Search the preset database based on the conditional parameters to obtain the current active fish population information in the current water area; 识别当前活跃鱼类种群信息是否存在预存的垂钓适宜鱼类或经济捕捞鱼类，如果是，则执行干扰投放流程。Identify whether there are pre-stored fish suitable for fishing or economically catching fish in the current active fish population information. If so, execute the interference release process. 2.根据权利要求1所述的海上风电场船舶入侵识别预警方法，其特征在于，所述执行干扰投放流程，其包括：2. The offshore wind farm ship intrusion identification and early warning method according to claim 1, wherein the execution of the interference delivery process comprises: 根据当前的垂钓适宜鱼类或经济捕捞鱼类查找预设的数据库，得到匹配的鱼群活跃水深数据；Search the preset database based on the current suitable fishing fish or economically catching fish to obtain the matching fish active water depth data; 令自动卷绳器（31）投放干扰单元（2），且绳索释放长度根据鱼群活跃水深数据确定。The automatic rope reel (31) is ordered to release the interference unit (2), and the rope release length is determined according to the active water depth data of the fish school. 3.根据权利要求1所述的海上风电场船舶入侵识别预警方法，其特征在于，所述巡防调度逻辑，其包括：3. The offshore wind farm ship intrusion identification and early warning method according to claim 1, wherein the patrol and dispatch logic comprises: 判断各个移动监测装置是否主动接近水上单位，如果否，则加入监测点间距监控；所述监测点监控包括：Determine whether each mobile monitoring device is actively approaching the water unit. If not, add monitoring point spacing monitoring; the monitoring point monitoring includes: 基于巡防图计算任意两个移动监测装置之间的间距；Calculate the distance between any two mobile monitoring devices based on the patrol map; 若间距小于预设的优化间距，则令一个移动装置朝向远离另一个移动装置的方向移动，且越靠近巡防图中心，移动优先级越低。If the distance is less than the preset optimized distance, one mobile device is made to move in a direction away from the other mobile device, and the closer to the center of the patrol map, the lower the movement priority. 4.根据权利要求1所述的海上风电场船舶入侵识别预警方法，其特征在于，所述配置服务器，其还包括：4. The offshore wind farm ship intrusion identification and early warning method according to claim 1, wherein the configuration server further comprises: 以T1为防干涉时长；T1 is the anti-interference duration; 若T1时长内两个及以上移动监测装置上传的视频/图像数据被识别到有指定水上单位，且特征比对相似度超过类同阈值，则执行单一跟随逻辑；If the video/image data uploaded by two or more mobile monitoring devices within the T1 duration is identified as a designated water unit, and the feature comparison similarity exceeds the similarity threshold, the single follow logic is executed; 所述单一跟随逻辑，其包括：在后监测到指定水上单位的移动监测装置保持静默。The single following logic includes: the mobile monitoring device that subsequently detects the designated water unit remains silent. 5.根据权利要求4所述的海上风电场船舶入侵识别预警方法，其特征在于：所述识别结果包括船舶型号和船首特征；5. The offshore wind farm ship intrusion identification and early warning method according to claim 4, wherein the identification result includes the ship model and bow features; 所述单一跟随逻辑，其包括：The single follow-up logic includes: 若多个移动监测装置同时发现入侵的水上单位，则：If multiple mobile monitoring devices detect an invading water unit at the same time, then: 基于船首特征预估船舶航向；Estimating the ship's heading based on bow characteristics; 基于移动监测装置与水上单位的估计距离预测船舶位置；Predicting the vessel's position based on the estimated distance between the mobile monitoring device and the surface unit; 根据船舶位置和船舶航向预测T2时长后的侵入位置；Predict the intrusion location after T2 time based on the ship's position and heading; 计算侵入点和监测到船舶的移动监测装置之间的实时追踪距离；Calculate the real-time tracking distance between the intrusion point and the mobile monitoring device monitoring the vessel; 确定实时追踪距离最小的移动监测装置跟随当前水上单位。Determine the mobile monitoring device with the smallest real-time tracking distance to follow the current water unit. 6.一种海上风电场船舶入侵识别预警系统，其特征在于，包括：6. An offshore wind farm ship intrusion identification and warning system, comprising: 移动监测装置，其集成无线通信、水域机动、实时画面采集、卫星定位及捕鱼干扰信息释放于一体，且布设于指定水域；移动监测装置设置有通过绳索向水下投放的干扰单元（2），且绳索设置为通过自动卷绳器（31）控制收和放；以及，A mobile monitoring device, which integrates wireless communication, water maneuvering, real-time image acquisition, satellite positioning and fishing interference information release, and is deployed in a designated water area; the mobile monitoring device is provided with an interference unit (2) that is deployed underwater via a rope, and the rope is configured to be retracted and released by an automatic rope reel (31); and, 服务器，与移动监测装置之间建立数据连接；A server establishes a data connection with the mobile monitoring device; 其中，所述服务器，配置为：Wherein, the server is configured as follows: 接收移动监测装置上传的定位数据，并在预设的风电场电子地图上标定，产生底图；Receive positioning data uploaded by the mobile monitoring device and mark it on the preset wind farm electronic map to generate a base map; 基于预定义的装置监测范围，在底图上更新移动监测装置的监测区，产生巡防图；Based on the predefined monitoring range of the device, the monitoring area of the mobile monitoring device is updated on the base map to generate a patrol map; 基于预设的巡防调度逻辑监控巡防图，并发送机动指令控制移动监测装置调节位置；Monitor patrol maps based on preset patrol dispatch logic and send maneuvering instructions to control the mobile monitoring device to adjust its position; 接收移动监测装置上传的视频/图像数据做图像识别，得到识别结果并回传；Receive video/image data uploaded by mobile monitoring devices, perform image recognition, obtain recognition results and send them back; 所述移动监测装置配置为：The mobile monitoring device is configured as follows: 接收时间校正指令，校对时间；其中，所述时间包括日期和24小时时刻；Receiving a time correction instruction and checking the time; wherein the time includes the date and the 24-hour time; 获取当前的时间，记为条件参数；Get the current time and record it as the condition parameter; 基于条件参数查找预设的数据库，得到当前水域的当前活跃鱼类种群信息；Search the preset database based on the conditional parameters to obtain the current active fish population information in the current water area; 识别当前活跃鱼类种群信息是否存在预存的垂钓适宜鱼类或经济捕捞鱼类，如果是，则执行干扰投放流程；Identify whether there are pre-stored fish species suitable for fishing or economically catching in the current active fish population information. If so, execute the interference release process; 接收识别结果，若识别结果存在指定水上单位，则执行拍摄固定动作，且根据识别结果查找预设的数据库，得到水上单位的尺寸；Receive the recognition result, if the recognition result shows the specified water unit, perform the shooting fixed action, and search the preset database according to the recognition result to obtain the size of the water unit; 计算实时拍摄的水上单位图像的像素尺寸，并根据水上单位的尺寸求图像比例尺；Calculate the pixel size of the water unit image captured in real time, and find the image scale based on the size of the water unit; 基于图像比例尺计算移动监测装置与水上单位的估计距离；Calculate the estimated distance between the mobile monitoring device and the surface unit based on the image scale; 若估计距离大于预设跟随阈值，则控制移动监测装置接近指定水上单位，并发出捕鱼干扰信息。If the estimated distance is greater than a preset following threshold, the mobile monitoring device is controlled to approach the designated water unit and a fishing interference message is issued.
CN202310248427.2A 2023-03-14 2023-03-14 Offshore wind farm ship intrusion identification and warning method and system Active CN116168498B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310248427.2A CN116168498B (en) 2023-03-14 2023-03-14 Offshore wind farm ship intrusion identification and warning method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310248427.2A CN116168498B (en) 2023-03-14 2023-03-14 Offshore wind farm ship intrusion identification and warning method and system

Publications (2)

Publication Number Publication Date
CN116168498A CN116168498A (en) 2023-05-26
CN116168498B true CN116168498B (en) 2025-08-29

Family

ID=86420149

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310248427.2A Active CN116168498B (en) 2023-03-14 2023-03-14 Offshore wind farm ship intrusion identification and warning method and system

Country Status (1)

Country Link
CN (1) CN116168498B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118678191B (en) * 2024-08-21 2024-12-06 杭州海康威视数字技术股份有限公司 Video camera
CN119694051B (en) * 2024-12-04 2025-11-18 生态环境部南京环境科学研究所 A monitoring system and method for human interference activities within ecological protection red lines

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114202581A (en) * 2021-12-09 2022-03-18 云赛智联股份有限公司 Intelligent control system and method for fish prohibition in Yangtze river

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI127510B (en) * 2017-12-22 2018-08-15 Raisioagro Oy System comprising alarm devices
GB201807489D0 (en) * 2018-05-08 2018-06-20 Sentinel Subsea Ltd Apparatus and method
CN115166742A (en) * 2022-07-29 2022-10-11 华融海洋渔业发展股份有限公司 Radar sea area nursing system and control method thereof

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114202581A (en) * 2021-12-09 2022-03-18 云赛智联股份有限公司 Intelligent control system and method for fish prohibition in Yangtze river

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
浅析渤海海域防外来人员登平台钓鱼问题的防控措施;徐志鹏;刘倩;;石化技术;20180828(08);278 *

Also Published As

Publication number Publication date
CN116168498A (en) 2023-05-26

Similar Documents

Publication Publication Date Title
US11679851B2 (en) Submersible drone devices and systems
US10599147B1 (en) Control systems for open ocean aquaculture
US11147251B1 (en) Nature-inspired design and engineering of autonomous seafood capturing, sorting and delivering system
CN116168498B (en) Offshore wind farm ship intrusion identification and warning method and system
US20240008463A1 (en) Fishing System and Method to Enhance the Fishing Experience
KR102169701B1 (en) System for colleting marine waste
JP7639124B2 (en) Floating vertical wind profile sensor device and method for determining vertical wind profile - Patents.com
CN107301689A (en) A kind of net cage inspection device and its method based on unmanned boat
CN115937721B (en) Enteromorpha monitoring method
CN117508518A (en) Maritime search and rescue method and system
JP7675625B2 (en) Unmanned inspection system and unmanned inspection method
CN114667975A (en) An assisted fishing method based on big data and drones
CN116476984A (en) Offshore wind farm ship monitoring device and method
US20050223618A1 (en) Intelligent submersible device for locating and intercepting marine species for control and harvesting
TWI692750B (en) Marine mammal tracking system, method and carrier thereof
KR102924651B1 (en) System for monitoring the marine environment using drones
TWM583606U (en) Marine mammal tracking system and carrier thereof
CN105230581B (en) A kind of fishing feelings detection device based on seabird image
CN121385899A (en) Intelligent unmanned ship for detecting fish shoal in lakes and reservoirs and fish shoal detection method
CN120207523A (en) Multi-purpose unmanned ship
Bollinger et al. Mission Report for BOEM–Carolina Long Bay: NOAA Ship Nancy Foster NF-24-06, June 9–21, 2024
CN117809393A (en) Black box system suitable for wave glider water surface observation platform and application method
CN121397013A (en) Intelligent fishery cultivation safety management system and method
TW202146282A (en) Marine garbage cleaning system and method thereof
CN120646163A (en) Shipyard formula boats and ships on water trade electric system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant