An autonomous maritime surface vehicle (AMSV) operating in a maritime environment includes an on-board vision perception optimization system, which operates on raw image data generated by an on-board passive remove sensing system. The vision perception optimization system may optimize the raw image data based on respective entropies of sub-areas within the raw image data, e.g., by detecting sub-areas of the raw image data having lower entropy, and filtering or cropping the raw image data to include only the detected sub-areas. An on-board vision perceptor may apply one or more computer vision techniques to the optimized image data to detect presences of objects within the field-of-view of the AMSV, measure respective distances of the objects from the AMSV, detect and/or track the movements of the objects, etc. The AMSV may responsively control one or more operations of the AMSV based on the information generated from the applied computer vision techniques.
A vision system including a frame including first and second openings and a stereovision camera disposed within the frame. The stereovision camera includes a first image sensor with a first field of view (FOV) having a first optical axis, the first image sensor being disposed immediately adjacent to the first opening, and a second image sensor with a second FOV having a second optical axis, the second image sensor being disposed immediately adjacent to the second opening. Both the first image sensor and the second image sensor are passive sensors. The second optical axis is not parallel with the first optical axis and/or the first FOV is larger than the second FOV.
A vision system including a frame including first and second openings and a stereovision camera disposed within the frame. The stereovision camera includes a first image sensor with a first field of view (FOV) having a first optical axis, the first image sensor being disposed immediately adjacent to the first opening, and a second image sensor with a second FOV having a second optical axis, the second image sensor being disposed immediately adjacent to the second opening. Both the first image sensor and the second image sensor are passive sensors. The second optical axis is not parallel with the first optical axis and/or the first FOV is larger than the second FOV.
H04N 23/45 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
H04N 23/54 - Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
H04N 23/58 - Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 13/271 - Image signal generators wherein the generated image signals comprise depth maps or disparity maps
4.
PAYLOAD RE-POSITIONING SYSTEM FOR A MARITIME VEHICLE
A payload re-positioning system for a maritime vehicle that includes a hull having a first portion and a second portion. The maritime vehicle includes a payload disposed within the second portion. The first portion may include an impact zone and a compressible zone. The impact zone is arranged to engage a target external to the maritime vehicle. The compressible zone is arranged to reduce the initial length of the first portion to a compressed length in response to the impact zone engaging the target external, thereby reducing a distance between the payload and the impact zone.
A payload re-positioning system for a maritime vehicle that includes a hull having a first portion and a second portion. The maritime vehicle includes a payload disposed within the second portion. The first portion may include an impact zone and a compressible zone. The impact zone is arranged to engage a target external to the maritime vehicle. The compressible zone is arranged to reduce the initial length of the first portion to a compressed length in response to the impact zone engaging the target external, thereby reducing a distance between the payload and the impact zone.
B63G 13/00 - Other offensive or defensive arrangements on vesselsVessels characterised thereby
B63B 11/02 - Arrangement of bulkheads, e.g. defining cargo spaces
B63B 43/18 - Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collisionImproving safety of vessels, e.g. damage control, not otherwise provided for reducing collision damage
B63B 79/10 - Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
B63B 79/40 - Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
6.
METHOD OF CALIBRATING A MULTI-SPECTRAL VISION SYSTEM
A method, system, and non-transitory CRM of calibrating a vision system includes a perforated calibration board and an optical device. Calibrating the vision system further includes positioning at least one of the optical devices or the perforated calibration board at a plurality of positions relative to each other; capturing, via the optical device, a plurality of images of the perforated calibration board at those positions; processing the images to analyze the perforated calibration board; establishing a correction by estimating parameters of the optical device based on the analysis; and applying the correction to subsequent images captured by the optical device.
7.
ADJUSTABLE CRADLE FOR TRANSPORTING AND LAUNCHING A FIRST MARITIME VEHICLE VIA A SECOND MARITIME VEHICLE
An adjustable cradle for transporting and launching a first maritime vehicle via a second maritime vehicle. The adjustable cradle includes a platform configured to receive and support an underside of the first maritime vehicle, a base configured to be removably secured to the second maritime vehicle, and a lift mechanism connecting the platform and the base such that the platform is movable relative to the base between a launch position and a transport position. The adjustable cradle also includes an actuator assembly coupled to the lift mechanism and configured to cause the lift mechanism to move between a raised position corresponding to the launch position of the platform and a lowered position corresponding to the transport position of the platform. The adjustable cradle further includes an energy absorber secured to the base and configured to substantially absorb shocks and vibrations associated with operation of the second maritime vehicle.
An approach for assembling a maritime vehicle includes forming a keel panel from a single sheet of metal, forming a first side panel from a single sheet of metal, forming a second side panel from a single sheet of metal, and forming a lip member. The first side panel and the second side panel are temporarily coupled with the lip member. The keel panel is secured with the first side panel and the second side panel using a cold joining process.
B63B 73/20 - Building or assembling prefabricated vessel modules or parts other than hull blocks, e.g. engine rooms, rudders, propellers, superstructures, berths, holds or tanks
B63B 73/40 - Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by joining methods
B63B 73/50 - Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by forming methods, e.g. manufacturing of curved blocks
B63B 73/60 - Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipmentBuilding or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by automation, e.g. use of robots
A jet pump assembly for causing a maritime vehicle to traverse a body of water, and a maritime vehicle including such a jet pump assembly. The jet pump assembly includes a jet pump drive system including an impeller and a motor operatively coupled to the impeller. The jet pump assembly also includes a transom assembly that includes a transom plate including a first aperture facing the motor, a transom housing coupled to the transom plate, thereby enclosing the first aperture, and a transom box coupled to the transom plate and including a second aperture aligned with the first aperture. The jet pump assembly further includes a bottom plate coupled to and disposed perpendicular to the transom plate. The bottom plate includes a base and an opening formed through the base, wherein the opening is enclosed by the transom housing. The impeller is at least partially disposed within the transom box.
A retention assembly for retaining a power source in a maritime vehicle includes at least one strap member and a buckle. The at least one strap member includes a first end, a second end, and an elongated length therebetween. The buckle is operably coupled with a portion of the elongated length of the at least one strap member and includes a quick release mechanism movable between a first, disengaged position and a second, engaged position. The second, engaged position is adapted to generate a tension in the at least one strap member to retain the power source within a cavity.
A tow assembly for a maritime vehicle and a maritime vehicle including a hull, a first opening formed in the hull, and the tow assembly, the tow assembly coupled to the hull. The tow assembly includes a housing disposed in the first opening of the hull, the housing defining a cavity recessed relative to an exterior surface of the hull. The two assembly also includes a bar coupled to the housing at a position within the cavity, such that the bar is recessed relative to the exterior surface of the hull. The bar defines one or more tow points for the maritime vehicle.
A micro-keel cooler for cooling a coolant flowing through a heat-generating component of a maritime vehicle. The cooler includes an inlet adapted to receive the coolant at a first temperature and an outlet adapted to output the coolant at a second temperature less than the first temperature. The cooler further includes a plurality of tubes fluidly coupled to an inlet mixing chamber of the inlet and an outlet chamber of the outlet and configured to direct the coolant from the inlet mixing chamber to the outlet mixing chamber, and a plate coupled to the inlet and the outlet and disposed adjacent to the tubes, the plate configured to direct a fluid over at least a portion of the tubes to cool the coolant flowing from the inlet mixing chamber to the outlet mixing chamber, the fluid having a cooling temperature that is less than the first temperature.
B63H 21/38 - Apparatus or methods specially adapted for use on marine vessels, for handling power plant or unit liquids, e.g. lubricants, coolants, fuels or the like
B63J 2/00 - Arrangements of ventilation, heating, cooling, or air-conditioning
A camera module for a maritime vehicle. The camera module includes a frame comprising first and second openings, first and second windows disposed in the frame immediately adjacent the first and second openings, respectively, a retention plate coupled to the frame and configured to retain the first and second windows in the frame immediately adjacent the first and second openings, a stereo camera disposed within the frame, the stereo camera disposed immediately adjacent the first opening, and an infrared (IR) camera disposed within the frame, the IR camera disposed immediately adjacent the second opening.
B63B 79/15 - Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers for monitoring environmental variables, e.g. wave height or weather data
G03B 30/00 - Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
G03B 35/10 - Stereoscopic photography by simultaneous recording having single camera with stereoscopic-base-defining system
H04N 13/204 - Image signal generators using stereoscopic image cameras
H04N 23/20 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from infrared radiation only
H04N 23/45 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
H04N 23/54 - Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
H05K 7/20 - Modifications to facilitate cooling, ventilating, or heating
14.
Maritime Vehicle with Removable Cap Having a Pick Point
An autonomous maritime surface vehicle (AMSV) that includes a hull and a cap removably coupled to the hull (e.g., via a plurality of latches). The cap is movable between a first configuration, in which the cap is coupled to and sealingly encloses an entirety of an interior of the hull, and a second configuration in which the cap is at least partially decoupled from the hull, thereby permitting access to the interior of the hull. The AMSV also includes a single pick point coupled to a top, exterior surface of the cap, such that the AMSV can be easily and efficiently picked up and carried via the single pick point.
patents
