A sensor is configured to output a signal corresponding to information in an outside area of the vehicle. A defogging device is configured to supply at least one of water, a compound, hot air, charged particles, ultrasonic waves, and infrared radiations to at least a portion of a detection area of the sensor.

Disclosed is an obstacle avoiding method and apparatus for an unmanned aerial vehicle based on a multi-signal acquisition and route planning model. The method comprises: conducting signal acquisition processing on a first environmental area to obtain an initial millimeter-wave radar signal, an initial laser radar signal, an initial image signal and an initial ultrasonic signal; generating an initial three-dimensional environmental model according to a preset dynamic environment real-time modeling method; acquiring a motion parameter and a body shape parameter of the unmanned aerial vehicle and inputting the parameters into an initial route planning model corresponding to the initial three-dimensional environmental model based on a genetic algorithm to process to obtain an output of the initial route planning model; judging whether the output is capable of avoiding an obstacle; if yes, generating an obstacle avoiding flight instruction to require the unmanned aerial vehicle to fly through the first environmental area.

A method for surveying a body of water includes providing a plurality of vehicles to a body of water. Each the plurality of vehicles includes a vehicle body, an electric-propulsion motor system mounted on the vehicle body, a rechargeable battery, at least one sonar device attached to the vehicle body, and a first communication device. The method also includes submerging each of the plurality of vehicles in the body of water, surveying an area, using the at least one sonar device, to map the body of water and to determine a location of each of the plurality of vehicles, and determining, based on the surveying, that a target object is detected within the area. The method also includes resurfacing each of the plurality of vehicles and transferring data, using the first communication device, between at least two of the plurality of vehicles at the surface of the body of water.

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for sending a flight plan for execution by a drone, where the flight plan is adapted to a flight controller of the drone. Receiving flight data from the drone while the drone is executing the flight plan. Determining a modification to the flight plan based on the flight data received from the drone. Sending the modification to the flight plan to the drone while the drone is executing the flight plan, such that the drone executes the flight plan as modified by the modification.

Techniques are disclosed for systems and methods to provide perimeter ranging for navigation of mobile structures. A navigation control system includes a logic device, a perimeter ranging system, one or more actuators/controllers, and modules to interface with users, sensors, actuators, and/or other elements of a mobile structure. The logic device is configured to receive perimeter sensor data from ultrasonic perimeter ranging sensor assemblies of the perimeter ranging system and generate an obstruction map based on the received perimeter sensor data. The logic device determines a range to and/or a relative velocity of a navigation hazard based on the received perimeter sensor data. The logic device determines navigation control signals based on the range and/or relative velocity of the navigation hazard. Control signals may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for sending a flight plan for execution by a drone, where the flight plan is adapted to a flight controller of the drone. Receiving flight data from the drone while the drone is executing the flight plan. Determining a modification to the flight plan based on the flight data received from the drone. Sending the modification to the flight plan to the drone while the drone is executing the flight plan, such that the drone executes the flight plan as modified by the modification.

The present invention is capable of determining the location(s) of waste (e.g. nuclear fuel debris, obstacles, contaminated or otherwise radioactive materials), monitoring and inspecting their surroundings, and transporting them, as well as use in repair, construction, and reactor decommissioning work in high radiation environment. Ultrasound (or sound) waves are not subject to interference from radiation. This modality is utilized in the present invention to detect and image waste and/or objects of interest. The system combines the resulting ultrasound (or sound) wave images for detecting waste and/or objects of interest with radiation information acquired by a radiation detector, to generate and adjust new composite images to display. For example, the image in the direction of strong radiation is red and the image in the direction of weak radiation is blue. Additionally, the constituent imaging apparatus may be fitted on a drone or robotic system for repair and construction work.

A method for controlling an unmanned aerial vehicle within a flight operating space. The unmanned aerial vehicle includes one or more sensor arrays on each spar. The method includes determining, using a plurality of sensor arrays, a flight path for the unmanned aerial vehicle. The method also includes receiving, by at least one sensor array of the plurality of sensor arrays, sensor data identifying at least one object in the operating space. The sensor data is transmitted over a communications bus connecting components of the UAV. The method further includes determining, by one or more processors onboard the unmanned aerial vehicle, a flight path around the at least one object. The method also includes generating, by the one or more onboard processors, a first signal to cause the unmanned aerial vehicle to navigate within the operating space around the at least one object.

A method for controlling an unmanned aerial vehicle within a flight operating space. The unmanned aerial vehicle includes one or more sensor arrays on each spar. The method includes determining, using a plurality of sensor arrays, a flight path for the unmanned aerial vehicle. The method also includes receiving, by at least one sensor array of the plurality of sensor arrays, sensor data identifying at least one object in the operating space. The sensor data is transmitted over a communications bus connecting components of the UAV. The method further includes determining, by one or more processors onboard the unmanned aerial vehicle, a flight path around the at least one object. The method also includes generating, by the one or more onboard processors, a first signal to cause the unmanned aerial vehicle to navigate within the operating space around the at least one object.

A method of controlling a mobile platform includes measuring a distance between the mobile platform and an object when the mobile platform is located at each of a plurality of positions to obtain a plurality of measured distances each being obtained at one of the plurality of positions. Location information of the plurality of positions of the mobile platform is obtained by an inertial measurement unit (IMU) on the mobile platform. The at least two distance sensors being configured to capture data from different directions. The method further includes determining a position of the object based on the plurality of measured distances and the location information and controlling the mobile platform to avoid the object based on the results of the determined position of the object.