无人船载无人机群在无卫星信号海域自主执行巡检与干预任务
Drone Carrier: An Integrated Unmanned Surface Vehicle for Autonomous Inspection and Intervention in GNSS-Denied Maritime Environment
- 电动力双体船搭载4架无人机，支持自动起降和海上作业
- 可在浪高1.25米海况下完成目标定位、搬运与机械臂操作
- 适用于港口安保或海上救援，适合复杂环境下的无人系统应用
本文提出一种创新的无人机母舰概念，应用于港口安全或海上救援场景。该系统由多架异构无人机（UAV）和无人船（USV）组成，在无全球导航卫星系统（GNSS）或信号中断环境下执行巡检与干预任务。母舰为长7米、宽4米的电动双体船，配备4米×6米甲板，可支持四架DJI M300无人机自动起降，并搭载可承受最高三级海况（波高1.25米）的10公斤负载机械臂。通过岸外云台相机导航，系统可自主航行、靠近并停靠非合作船只，覆盖范围达3平方公里，依赖船上摄像头、激光雷达（LiDAR）及多普勒测速仪（DVL）。配备超宽带（UWB）技术的无人机使用适应潮湿盐雾环境的多功能夹持器完成建图、探测与操作任务；两架无人机可协同搬运大型物体至机械臂或直接交互。所有流程实现全自动化，已在2024年穆罕默德·本·扎耶德国际机器人竞赛（MBZIRC2024）中成功验证，系统基于粗略目标信息，在海况等级3条件下独立完成干预任务。
原文摘要 · Abstract (English)
This paper introduces an innovative drone carrier concept that is applied in maritime port security or offshore rescue. This system works with a heterogeneous system consisting of multiple Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) to perform inspection and intervention tasks in GNSS-denied or interrupted environments. The carrier, an electric catamaran measuring 4m by 7m, features a 4m by 6m deck supporting automated takeoff and landing for four DJI M300 drones, along with a 10kg-payload manipulator operable in up to level 3 sea conditions. Utilizing an offshore gimbal camera for navigation, the carrier can autonomously navigate, approach and dock with non-cooperative vessels, guided by an onboard camera, LiDAR, and Doppler Velocity Log (DVL) over a 3 km$^2$ area. UAVs equipped with onboard Ultra-Wideband (UWB) technology execute mapping, detection, and manipulation tasks using a versatile gripper designed for wet, saline conditions. Additionally, two UAVs can coordinate to transport large objects to the manipulator or interact directly with them. These procedures are fully automated and were successfully demonstrated at the Mohammed Bin Zayed International Robotic Competition (MBZIRC2024), where the drone carrier equipped with four UAVS and one manipulator, automatically accomplished the intervention tasks in sea-level-3 (wave height 1.25m) based on the rough target information.
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