1716results about "Cargo handling apparatus" patented technology

The invention provides a new class of transportation with a partially aerostatically supported ram air cushion ship (PASRACS) that can provide safe, fast, efficient global transport services with extraordinary comfort, luxury and amenities. The PASRACS employs inventive synergistic combinations of lift from aerostatic, aerodynamic, hydrostatic and hydrodynamic forces for different modes of operation ranging from a stationary floating configuration on a water surface, to flight in ground effect at high speed. A propulsion system can utilize hydrogen as an energy source driving fluid-dynamic thrusters, to enable zero carbon emissions operations. A transition method is provided for a PASRACS to transition from a floating mode to a takeoff mode to a flight in ground-effect mode in an inventive optimized manner. A transport method for multimodally transporting payload is provided with PASRACS vehicles and systems, with quick turn time operations enabled by the use of payload transfer transport modules and transfer vehicles.

A method and system for discharge operation of a ship loader at a bulk cargo terminal. The method comprises: acquiring initial ship point cloud data; establishing a three-dimensional coordinate system, and acquiring an initial frame ship hold center line and a discharge planning point; continuously scanning a ship to be unloaded, acquiring real-time ship point cloud data, and acquiring a current frame ship center line and a normal vector of a ship deck on the basis of the real-time ship point cloud data; obtaining a real-time ship body deviation value on the basis of the current frame ship center line and the initial frame ship hold center line; obtaining a real-time ship body inclination angle on the basis of the normal vector of the ship deck; correcting coordinates of the discharge planning point on the basis of the real-time ship body deviation value and the real-time ship body inclination angle to obtain coordinates of a real-time discharge planning point, and acquiring coordinates of a current discharge point of a chute mechanism (5); a superordinate computer (1) controlling, on the basis of the coordinates of the real-time discharge planning point and the current discharge point, a ship loader to complete current discharge operation. The present application enables a ship loader to complete operation accurately, and enhances the safety and efficiency of operation of the ship loader.

The invention discloses a hierarchical cooperative motion control method for a ship dynamic positioning and wave compensation embarkation system. The method comprises the following steps: acquiring historical motion data of a ship; the historical motion data of the ship are fused, and the current ship posture and speed are obtained; the prediction model generates a predicted value of the disturbance of the ship in the future preset time; extracting to obtain a low-frequency slow drift motion component; the total output force of the thruster is calculated, and the ship dynamic positioning system controls the thruster to work based on the total output force of the thruster so as to compensate the low-frequency slow drift motion component; a Stewart platform in the wave compensation embarkation system controls supporting legs to work based on the target lengths of the supporting legs so as to compensate low-frequency motion left after compensation of the ship dynamic positioning system and high-frequency motion which is not compensated; and residual disturbance after the Stewart platform is compensated is compensated through the gangway ladder. According to the invention, an energy distribution mode that low-frequency disturbance is compensated by a ship dynamic positioning system and high-frequency disturbance is compensated by a wave compensation embarkation system can be realized.

A system for removing contaminants from a body of water includes a vessel including floating contaminant cleanup and recovery equipment, that includes an intake port capable of removing contaminants from a body of water and transporting same to the vessel. The system may include a conveyor capable of removing contaminants from the body of water and transferring same to the vessel. The system also including lengths of a type of towable contaminant containment booms, connected to each side of the vessel. The system may include equipment having extendable, angularly positionable armatures, or telescopic cranes or tow boats, capable of positioning and maintaining the lengths of contaminant containment booms that are also connected to end portions of same, and extended outward in front of and off to each side of the vessel to gather and channel floating contaminants back to the intake port of the floating contaminant cleanup and recovery equipment.

The invention discloses a portable underwater vehicle throwing device which comprises a control device and further comprises a hoisting assembly (1), and the upper portion of the hoisting assembly (1) is used for being connected with a marine crane (9) for use; the lifting assembly (2) is detachably installed in the middle of the lower portion of the hoisting assembly (1), and the lower portion of the lifting assembly (2) is connected with an underwater navigation body (7) for use; the supporting assemblies (3) are symmetrically connected to the two sides of the lower portion of the hoisting assembly (1); the two ends of the upper portion of the supporting frame (4) are detachably connected with the lower portions of the corresponding supporting assemblies (3) through adapters (5) respectively; wherein the hoisting assembly (1) is wirelessly connected with the control equipment. The system is easy to operate, stable and reliable, pre-tightening constraint of the underwater vehicle can be stable and controllable in the using and releasing process, and the releasing function of the underwater vehicle can be conveniently and rapidly completed by controlling the middle remote control cordless detacher.

The utility model relates to a light large-span wave compensation type seaborne lightering device which comprises a mechanical body, a hydraulic system and an electric control system, and the mechanical body comprises a container type base, an anti-swing base assembly, a rotary tower body assembly, an arm frame assembly, a working basket assembly, a winding and unwinding winch assembly and a variable-amplitude oil cylinder. The container type base is connected with a ship body base, and the anti-swing base assembly is connected with the container type base through a fastener and a thrust block. The slewing tower body assembly is connected with the anti-swing base assembly through a slewing support; the arm support assembly is connected with the slewing tower body assembly through a variable-amplitude oil cylinder and a pin shaft assembly; the working basket assembly is connected with the arm support assembly through a variable-amplitude oil cylinder and a pin shaft assembly; the winding and unwinding winch assembly is installed at the lower end of the boom assembly. The hydraulic system is connected with the anti-swing base assembly, the rotary tower body assembly, the arm frame assembly, the working basket assembly, the winding and unwinding winch assembly and the variable-amplitude oil cylinder. The electric control system is connected with the hydraulic system. The maritime lightering device has high environment self-adaptive capacity and high reliability.

The invention relates to the field of navigation technology and ship engineering, and discloses an automatic measuring and monitoring system for ship loading, which comprises a monitoring network construction module used for configuring a multi-mode sensor array of a ship and constructing a distributed intelligent monitoring network of the ship; the loading state data fusion module is used for collecting the multi-dimensional loading state data of the ship and then carrying out data fusion to generate fused loading state data; the loading state analysis module is used for mapping the fused loading state data to a parameterized three-dimensional model so as to calculate the stability parameter, the shearing force bending moment distribution and the cabin breaking stability margin of the ship under the current loading working condition, and the loading state of the ship is determined; the risk early warning module is used for analyzing the loading state change of the ship in the subsequent loading process so as to determine a risk early warning mechanism and a loading parameter optimization scheme of the ship; and the intelligent monitoring execution module is used for executing automatic measurement and monitoring of loading of the ship. According to the invention, the real-time performance and accuracy of ship loading monitoring can be improved.

The invention provides a laying tool, a laying method and a recovery method for a sailing type temperature-salinity-depth detector, and the tool comprises a tow fish which is provided with an attitude sensor on the surface of a housing and is used for detecting the pitch angle of the tow fish; the throwing frame is installed on the ship body and used for guiding the laying path of the tow fish; the winch is installed on a ship afterdeck or in a cabin, and the tow fish is hung through a mooring rope. Wherein an executing mechanism of the winch is in communication connection with the attitude sensor and is configured to respond to an attitude signal generated when the tow fish enters water and drive the tow fish to be adjusted to be in a vertical state; and driving the tow fish to be adjusted to be in a horizontal state in response to a posture signal when the tow fish is out of water. The laying tool provided by the invention is suitable for various laying scenes, realizes automatic posture adjustment of the tow fish when the tow fish enters and exits water, improves the automation degree and safety of operation, avoids human interference, and is beneficial to improving the measurement precision of the temperature-salinity-depth sensor.

The invention relates to the technical field of port machinery loading and unloading, and provides a ship-shore linkage loading and unloading method and system suitable for a mast crane. The method comprises the steps that position data, course data and attitude data of a ship are obtained in real time through ship navigation equipment, and tide height data and tide flow velocity data of the sea surface are obtained in real time through tide monitoring equipment; inputting the obtained ship position data, course data, attitude data, tidal height data and tidal flow velocity data into a control system of the mast crane; the control system generates a corresponding control instruction according to the calculated dynamic compensation parameter, and sends the control instruction to a variable amplitude control system of the mast crane; the hoisting path and the hoisting posture of the mast crane are adjusted in real time through the variable amplitude control system according to the control instruction, so that the hoisting point is kept vertical and the stress is balanced in the equipment lowering process; in the whole hoisting operation process, the operation process is monitored in real time through monitoring equipment arranged on the mast crane and the ship.

The invention discloses six-degree-of-freedom wave compensation embarkation equipment suitable for complex sea conditions and a control method of the six-degree-of-freedom wave compensation embarkation equipment. The six-degree-of-freedom wave compensation embarkation equipment comprises a base platform fixed to an operation ship deck; a lower platform of the Stewart parallel mechanism is connected with the base platform, and an upper platform of the Stewart parallel mechanism is connected with the lower platform through six hydraulic cylinders; the embarkation gangway ladder system is mounted on the upper platform; the hydraulic servo driving system is used for driving the six hydraulic cylinders; the intelligent sensing system is used for collecting ship motion data and relative pose data of the target platform; the intelligent control system is electrically connected with the hydraulic servo driving system and the intelligent sensing system; wherein the intelligent control system is configured to execute a compound control algorithm based on a nonlinear extended state observer and nonlinear model predictive control so as to drive the hydraulic servo driving system and compensate ship motion. The embarkation equipment provided by the invention has the advantages of high precision, high stability and strong robustness, and can realize accurate and stable compensation of complex sea conditions.

The invention relates to the technical field of engineering machinery control, and provides a mast crane wind load posture self-stabilizing method and system for high wind area operation. The method comprises the following steps: acquiring wind speed data of a current environment in real time through a wind speed sensor arranged at the top end of a main arm of the mast crane, and acquiring current arm angle data of the main arm of the mast crane in real time through an arm angle detector; a control instruction is sent to an execution mechanism of the mast crane, so that the mast crane executes an operation deceleration action, a lifting braking action or a posture fine adjustment action; in the process of executing the control instruction, historical wind load data and rigidity model parameters of the mast crane boom frame are obtained, and predictive analysis is conducted on the current wind load stress state of the mast crane; and according to a predictive analysis result, parameters of the control instruction are adjusted so as to dynamically correct the operation deceleration amplitude, the lifting braking force or the posture fine adjustment angle of the mast crane.

The present invention relates to a six-point truss-type sand pumping and lifting device for a mattress laying vessel. The device comprises a support assembly and six working assemblies. The six working assemblies are all slidably connected to the support assembly. Each working assembly comprises a moving assembly, a sand pumping assembly, and a lifting assembly. The sand pumping assembly and the lifting assembly are both connected to the moving assembly, and thus move and work by means of the moving assembly. The support assembly comprises two main beams. Two ends of each main beam are respectively connected to one main frame support leg. Two auxiliary beams are connected between every left and right main frame support legs. The moving assembly is slidably connected to the two main beams. Each auxiliary beam is connected to a hydraulic pump station, a frequency converter cabinet, and a cab. The present invention minimizes the labor intensity of operators and labor costs, and can effectively improve medium precision control, safety performance, and construction efficiency in the construction process.

A floating power-generation group comprises a floating hub such as a spar buoy that is anchored to subsea foundations by anchor lines. Floating power producer units such as wind turbines are connected electrically and mechanically to the hub. The power producer units are each moored by mooring lines. At least one mooring line extends inwardly toward the hub to effect mechanical connection to the hub and at least one other mooring line extends outwardly toward a subsea foundation. The groups are combined as a set whose hubs are connected electrically to each other via subsea energy storage units. Anchor lines of different groups can share subsea foundations. The storage units comprise pumping machinery to expel water from an elongate storage volume and generating machinery to generate electricity from a flow of water entering the storage volume. The pumping machinery can be in deeper water than the generating machinery.

The invention discloses a loading, transporting and unloading integrated giant multifunctional material guarantee ship and a using method, and belongs to the technical field of material guarantee ships. A loading, transporting and unloading integrated giant multifunctional material guarantee ship comprises a ship body and further comprises a dredge pump cabin, a diesel engine cabin, an intermediate deck, a double-side loading system, a triangular cabin and a bow blowing device, an in-cabin dredge pump and a flushing pump are arranged on a cabin bottom deck of the dredge pump cabin, and a diesel engine is arranged on a cabin bottom deck of the diesel engine cabin. The double-board loading system comprises loading pipes arranged at the left and right board positions and connected with a dredge pump cabin, a winch hoisting device and a quick connector module used for achieving connection of a floating pipe of a cutter suction dredger and the loading pipes. The hydraulic loading and unloading mode is adopted, the problems that a traditional sand transporting mode is not suitable for long-distance transportation, the loading and unloading efficiency is low or the traditional sand transporting mode depends on wharf facilities and anchorage ground lightering can be effectively solved, and the operability and the operation efficiency of long-distance sand transporting business are greatly improved.

The utility model relates to an electric type lifting system for a ship, which comprises an electric hoist arranged at the rear end of a modeling structure; the first fixed pulley is arranged on the deck; a second fixed pulley and a third fixed pulley are arranged at the lower end of the mounting plate; performing shaping; the first end of the traction rope is connected with the output end of the electric hoist, the middle sequentially penetrates through the first fixed pulley, the second fixed pulley and the third fixed pulley, and the second end is connected with the size upper end; when the ship electric size lifting system is overlooked, the first fixed pulley and the second fixed pulley are located at the front end of the size and located at the rear ends of the electric hoist and the modeling structure. The ship body mast is used as a main body structure, the electric hoist is used as power, the first fixed pulley on the deck and the second fixed pulley and the third fixed pulley on the mounting plate are used for guiding the traction rope, the traction rope is wound and unwound through the electric hoist, automatic lifting of the corresponding size is achieved, the structure is simple, operation is convenient, and cost is low. And operators are protected from being injured.

The invention provides a marine intelligent test device, which comprises a heave measurement unit, a tension detection device, a winch, a telescopic mechanism and a control unit, and is characterized in that the heave measurement unit is used for measuring a heave signal of a ship body and transmitting the heave signal of the ship body to the control unit; the winch is used for winding and unwinding a cable, the telescopic mechanism comprises a pulley block used for guiding the cable, the pulley block is installed on a telescopic beam, the telescopic beam is connected with a telescopic driving device used for driving the telescopic beam to horizontally move, and the cable of the winch penetrates through the pulley block on the telescopic mechanism to be connected with a tested object; the tension detection device is used for detecting the tension on the cable and transmitting a tension signal to the control unit; and the control unit is used for receiving the heave signal and the tension signal, outputting a first control signal to the winch according to the heave signal and the tension signal so as to realize winding and unwinding of the cable, and outputting a second control signal to the telescopic driving device so as to realize expansion or retraction of the telescopic beam.

A safety system for a boat, watercraft or other vehicle includes a kill switch connected to the motor for preventing the motor from running under dangerous circumstances. The system may include proximity sensors operatively connected to the kill switch, so that the motor only runs when the proximity sensor detects a person properly positioned at the captain's console. Other sensors may form an array to communicate with the kill switch, to automate certain features and systems, or to otherwise provide alarms upon detection of dangerous situations, including a carbon monoxide detection sensor system, gate sensors, anchor-down sensors, ladder sensors, ambient light sensors, optical rain sensors for operating an automated windshield wiper safety system, an array of cameras strategically positioned around the periphery of the watercraft for monitoring purposes, and an automated anchor / navigation light system.

Systems and methods are provided for assembling and installing multiple wind turbines from a single vessel. In general, different embodiments use wind turbine components on the vessel including blades, a nacelle assembly with a rotating hub, and a tower. A Turbine Installation Gantry System (TIGS) embodiment uses a gantry system with a truss substructure and at least one bridge crane on an elevated vessel for assembling the wind turbine blades on the vessel to a nacelle hub supported on the seabed. A Skidding Turbine Installation Crane (STIC) embodiment has a rotatable crane mounted on a skidding pedestal or cantilever structure, providing full access to the vessel deck and blades, and for bringing the assembled nacelle assembly outboard to assemble each blade. A Turbine Assembly Positioning System (TAPS) embodiment includes both a handling system and a crane mounted on a skidding cantilever structure for securing the blades to the assembled tower section and nacelle hub that are cantilevered outboard of the vessel by the handling system. The combination embodiment uses selected components and systems from the TIGS, STIC and TAPS embodiments to provide component and system redundancy and concurrent operation.

The invention relates to the technical field of operation control of hoisting equipment, and provides a ship loading-truck loading integrated operation method and system for mast hoisting equipment. The method comprises the following steps: adjusting an anchor cable of the mast crane to enable the mast crane to be in an initial operation state; a main arm variable-amplitude combined lifting system is started, and the mast crane is controlled to lift the heavy equipment from the cabin at the intelligently optimized lifting angle until the heavy equipment is completely separated from the cabin; the heavy equipment is controlled to hover to a shoreside transition area along with the amplitude variation action of the main arm; in the reverse amplitude variation process or after the reverse amplitude variation process is completed, according to the real-time position of the transport vehicle and the posture of the equipment, dynamic fine adjustment is conducted on the operation path, and the dynamic fine adjustment comprises adjustment of the amplitude variation angle of a main arm, the lifting height and the horizontal movement track of the equipment; and the equipment is controlled to fall to a transport vehicle plate, and the postures of the lifting points and the alignment deviation of the equipment and the vehicle plate are continuously monitored in the vehicle falling process till the equipment accurately falls in place, and vehicle loading is completed.

The invention provides an unmanned ship grabbing and positioning system based on multi-body configuration design, and belongs to the technical field of unmanned ships, the unmanned ship grabbing and positioning system comprises a multi-body ship body, a machine vision module, a positioning calculation unit, a stable platform, a grabbing device and a control module, the multi-body ship body is composed of a double-hull structure or a three-hull structure; the machine vision module is used for identifying a target object and acquiring visual information of the target object; the positioning calculation unit is connected with the machine vision module and is used for calculating spatial position coordinates of the target object according to the acquired vision information; the stable platform is arranged on the multi-hull ship body; the grabbing device is installed on the stable platform and used for grabbing the target object according to the coordinates calculated by the positioning calculation unit. The robot has the comprehensive advantages of being high in environmental adaptability, high in positioning precision, flexible in operation, good in controllability, high in maintainability and the like, and can efficiently cope with target object grabbing operation in the complex water environment.

The invention discloses a steel wire rope splicing device and method for deepwater salvage, and relates to the technical field of salvage and salvage of offshore sunken ships, the steel wire rope splicing device comprises a sunken ship, a crane ship and a crane installed on a deck of the crane ship, a stern side jack is arranged at the stern of the deck of the crane ship, and a bow side jack is arranged at the bow of the deck; a 80t anchor gear is arranged at one end of the stern side jack, and a wave compensator is arranged at the other end of the stern side jack; one end of the bow side jack is provided with a rope container used for storing bow side steel wire ropes, the crane is provided with two main hook steel wire ropes, each main hook steel wire rope is provided with a triangular plate, the main hook steel wire ropes are spliced or disassembled through the bow side steel wire ropes and a second steel wire rope, and the triangular plates can achieve switching of lifting force when the steel wire ropes are spliced; the stern side jack is used for bearing ship sinking acting force when the steel wire rope is spliced or detached; the ship bow side jack plays a role in temporarily fixing the steel wire rope B in seawater when the crane of the crane ship is connected with or dismantled from the steel wire rope B.

Provided is a self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device and its method. The device includes a docking module, a vertical handling module, and a rotary handling module; the docking module includes a rotary platform with a guide frame, and a top surface of the rotary platform is provided with a first clamping device; the vertical handling module is mounted on a side of the docking module; the vertical handling module includes a liftable handling platform, and the handling platform is provided with a locking device and a second clamping device; the rotary handling module is mounted below the docking module; the rotary handling module includes a multi-branch rotating shaft and a horizontal plate mounted on each branch rotating shaft; and the horizontal plate is arranged with an AUV charging and information interaction device and a third clamping device.

The invention discloses a ship crane stabilization device based on magneto-rheological damping and hydraulic servo technology and a control system and method thereof, the ship crane stabilization device comprises an upper layer platform, a middle layer platform and a lower layer platform, the upper layer platform, the middle layer platform and the lower layer platform are connected through servo oil cylinders which are uniformly distributed at 120 degrees, and a magneto-rheological damper is connected with the middle layer platform and the lower layer platform. The control unit calculates the compensation displacement of the servo oil cylinder according to the inclination angle detected by the gradienter to achieve leveling of the middle platform. Hoisting mass is obtained through the weighing sensor, damping force is calculated by combining the stretching speed and the acceleration of the magnetorheological damper, and swinging of the lifting hook is dynamically restrained. A cooperative control strategy of servo active leveling and magneto-rheological semi-active suppression is adopted, the number of shaking times of the hoisting weight during operation of the ship crane is remarkably reduced, and the ship crane is compact in structure and adapts to different sea conditions.

A crane for use on an offshore vessel is provided with a boom restrainer, wherein the boom restrainer is a hydro-pneumatic boom restrainer, for reducing upward pivoting of the boom, when the boom is in the top zone, wherein the boom restrainer includes: multiple hydraulic cylinders, each having a hydraulic circuit and a cylinder rod with a cylinder head, wherein the cylinders are mounted on the crane structure with the cylinder heads directed towards the boom of the crane, preferably are mounted on a stay of the crane structure, a catcher for each hydraulic cylinder, wherein each catcher is mounted on the boom and is configured for receiving the cylinder head of the corresponding hydraulic cylinder, and to lock the cylinder head, preferably pivotable locks the cylinder head, relative to the boom, when the boom pivots upwards in the top zone; a gas buffer for each hydraulic cylinder, wherein each gas buffer is mounted to the corresponding hydraulic cylinder, and is connected to the hydraulic circuit of the corresponding hydraulic cylinder via a medium separator, wherein the gas buffer forces the hydraulic cylinder in an extended position, and wherein the volume ratio between the hydraulic cylinder and the gas buffer is such that the hydraulic cylinder acts as a progressive spring, e.g. the gas buffers each have a size in the range of 1000-1400 litre, for example 1200 litre and the hydraulic cylinders each have a size in the range of 800-1000 litre, for example 900 litre, and preferably the ratio between the volume of the gas buffer and the volume of the associated hydraulic cylinder is 4:3.

A marine eight-degree-of-freedom anti-swing gallery bridge stabilizing system comprises an anti-swing lifting system and a telescopic gallery bridge device arranged on the upper portion of the anti-swing lifting system. The anti-swing lifting device is fixedly connected with a deck of a ship body through a base, and the anti-swing lifting system is composed of a horizontal left-right rotating device arranged on the upper plane of the base, a transverse anti-swing longitudinal anti-swing device arranged on the upper portion of the horizontal left-right rotating device, and a longitudinal anti-swing device arranged on the lower portion of the base. The lifting devices are arranged on the left side and the right side of the transverse anti-swinging and longitudinal anti-swinging device and on the bottom base; the telescopic gallery bridge device is erected on a rolling platform at the upper part of a transverse anti-swinging device and a longitudinal anti-swinging device which are arranged between the left frame and the right frame of the lifting device in a stacked manner; the whole telescopic gallery bridge device can swing left and right, transverse and longitudinal state adjustment can be achieved under the action of the transverse anti-swing and longitudinal anti-swing device, and eight-degree-of-freedom regulation and control of the whole telescopic gallery bridge device can be achieved under the action of the lifting device.

The invention relates to the technical field of loading and transporting equipment, in particular to a bulk material loading and unloading wharf boat for a port, which comprises a wharf boat, a shellfish grab machine and conveying equipment, the wharf boat is fixedly connected with a rotating base, the shellfish grab machine is rotatably connected with the rotating base, the other end of the wharf boat is connected with a rotating disc, and the rotating disc is connected with a driving structure arranged in the wharf boat; the conveying equipment is fixedly connected with the rotating disc, the conveying equipment comprises a rotating base fixedly connected with the rotating disc, a first-stage conveying frame is fixedly connected to the rotating base, a second-stage conveying frame connected with the rotating base is arranged at the end, away from the shellfish grab machine, of the first-stage conveying frame, and the end of the first-stage conveying frame and the end of the second-stage conveying frame are both rotationally connected with driving rollers; the first-stage conveying frame, the second-stage conveying frame and the driving rollers are jointly connected with a conveying belt, the conveying belt is in a concave shape, materials are prevented from slipping off in the conveying process, one driving roller is externally connected with a motor, and the upper end of the rotating base is fixedly connected with a feeding hopper. And the practicability is high.

A computer-implemented method for managing deck operations on a floating deck is disclosed. One example of the method comprises the following: obtaining a prediction of local environment conditions including one or more wave characteristics during a future time-window, generating, using the predicted environmental conditions with a vessel model, a forecast vessel motion during the future time-window, providing the predicted vessel motion to a vessel stabilization system model; determining, using the vessel stabilisation system model a predicted vessel stabilization configuration, and generating, using the predicted vessel stabilization configuration for the future time-window, a refined forecast vessel motion during the future time-window, providing the refined forecast vessel motion to a physics model of a candidate deck operation for execution on the floating deck during the future time-window, and generating, using the physics model for a candidate deck operation, one or more predictions of one or more deck operation physical characteristic metrics of the candidate deck operation for over the duration of the future time-window.

The underwater robot for retrieving an underwater glider according to the present invention for retrieving an underwater glider for exploring the underwater to a ship comprises a main body module; a gripping module provided on the main body module, gripping the underwater glider to prevent damage to the underwater glider by restricting movement of the underwater glider while adjacent to the underwater glider; a connecting module connected to the main body module so that the underwater glider is lifted by the gripping module to the ship in a fixed state; and a control module for controlling the main body module and the gripping module by receiving location information from a receiver provided on the underwater glider and determining a distance from the underwater glider.

The invention relates to the technical field of mast crane equipment control, and provides a precise amplitude variation control method and system for a main arm of a mast crane. The method comprises the steps of obtaining structural parameters, and calibrating an arm angle sensor and a steel wire rope tension sensor; sensor data of an arm angle sensor and a steel wire rope tension sensor are collected and preprocessed in real time, and angle and tension feedback signals are generated; judging an adjustment strategy corresponding to the current working condition according to the angle and tension feedback signal, and generating a winch traction rate parameter corresponding to the adjustment strategy; a synchronous control instruction is sent to the two sets of variable frequency winches, the rotating angle and the hoisting state are adjusted, corresponding feedback data are obtained, closed-loop correction is conducted based on the feedback data, and control parameters are dynamically adjusted; wherein in the micro-amplitude adjustment stage, a segmented low-speed control and tension balance strategy is adopted, and high-precision positioning is ensured; and after the conditions of angle stability and stress balance are met, adjustment is ended. The method realizes control of high-precision adjustment of the angle of the main arm.