692results about "Movement controllers" patented technology

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.

An operator interface device for a marine vessel includes a frame configured to couple to the marine vessel and a dial coupled to the frame and including a dial. The dial assembly is configured to be rotated by an operator about a dial axis into and between an initial position, a first operational position, and a second operational position. The dial assembly is rotated from the initial position toward the first operational position and when the dial assembly is released the first spring leg acts on the first dial endwall to return the dial assembly to the initial position. In addition, the dial assembly is rotated from the initial position toward the second operational position and when the dial assembly is released the second spring leg acts on the second dial endwall to return the dial assembly to the initial position.

The invention belongs to the technical field of ocean engineering, and particularly provides an offshore floating platform and a modular multifunctional offshore floating platform system.The offshore floating platform comprises a main body structure layer, a building module layer and a floating body layer, and the main body structure layer is provided with a plurality of buffer assemblies; the buffering assembly comprises a fixing sleeve, a supporting rod and a buffering mechanism. The buffer mechanism is arranged in the fixed sleeve, a flowing gap is reserved between a lantern ring of the buffer mechanism and a vertical rod of the I-shaped section of the supporting rod, and the flowing gap is filled with magnetorheological fluid; the lantern ring comprises a middle fixed section, a first flexible section and a second flexible section; the first pneumatic sleeve is positioned on the outer side of the first flexible section; the second pneumatic sleeve is positioned on the outer side of the second flexible section; and the winding coil is wound on the circumferential outer wall of the middle fixed section. The offshore floating platform can counteract vertical fluctuation energy caused by the action of waves or tides in real time, so that vertical vibration of the offshore floating platform can be buffered, the stability and safety of the building module layer are ensured, and the offshore operation difficulty is reduced.

The invention relates to a semi-submersible parking cabin and an unmanned aerial vehicle inspection system, and belongs to the technical field of unmanned aerial vehicles. Comprising a bearing device which is used for parking and centering of the unmanned aerial vehicle and comprises a supporting plate; the buoyancy adjusting device is used for providing buoyancy for the bearing device and comprises a semi-submersible platform; the automatic leveling device comprises a first inclination angle detection module, a second inclination angle detection module, a control module and an execution assembly, the two inclination angle detection modules are connected with the control module; the control module is connected with the execution assembly; the first dip angle detection module is connected with the supporting plate and detects dip angle information of the supporting plate in real time; the second inclination angle detection module is connected with the semi-submersible platform and detects inclination angle information of the semi-submersible platform in real time; the control module controls the execution assembly according to the two inclination angle information; and the driving device supplies power to the automatic leveling device. The cruising ability of the parking cabin is improved, human input and operation risks are reduced, the inspection coverage range is expanded, and the problem of unstable take-off and landing caused by shaking of the water platform is solved.

The invention discloses a strong anti-overturning power generation device and method based on wind wave combined capture, and the device comprises a four-column type semi-submersible fan platform and a wind driven generator located above the four-column type semi-submersible fan platform, and the four-column type semi-submersible fan platform comprises hollow columns. The bottom of the hollow stand column is fixedly connected with the bottom of the outer side stand column through a horizontal column, a floating wave energy absorption system is arranged on the outer side of the outer side stand column, and the output end of the floating wave energy absorption system is connected with the input end of a power generator system through a bevel gear power generation system in the hollow stand column. One end of the floating wave energy absorption system is connected with the spring system in the hollow stand column; the core technical problems that an existing device is poor in stability, high in cost, low in efficiency, weak in adaptability and the like are solved.

The invention belongs to the technical field of welding platforms, and particularly relates to an immersed tube overwater welding operation platform which comprises a floating box, a welding supporting mechanism and a plurality of pipeline locking mechanisms, and the inner wall of the floating box is divided into nine air floating chambers through partition plates. The pipeline can float on the water surface to complete welding butt joint, butt joint of pipelines of different lengths is adapted, and the quality efficiency is guaranteed by monitoring the inclination state of the floating box and the welding platform in real time and adjusting the balance weight to prevent tipping and create a stable welding environment; stable fixed tension is provided, wind power and water flow influences are resisted, position deviation is prevented, reverse compensation force can be provided in cooperation with a propeller when large driving force is applied in one direction, fatigue damage of a traction rope due to continuous impact force is avoided, rapid water supply and drainage of the buoyancy tank are achieved, water is rapidly injected to increase the overall weight when large impact force is applied, and the tensile force of the traction rope is improved in a matched mode; the water flow pushing efficiency is reduced, the resistance stability is improved, and the positioning effect is optimized.

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 provides a TMD lockout control method for motion suppression of a semi-submersible platform, and the method comprises the steps: carrying out the frequency domain decomposition of a random wave predicted by a target sea condition, obtaining the energy distribution of each frequency component, obtaining the equivalent amplitude of each frequency component according to the energy distribution, considering the amplitude response of the platform under the action of waves of different frequencies, and achieving the motion suppression of the semi-submersible platform. The method comprises the following steps of: calculating a weight ratio of platform motion response caused by each frequency component under the action of random waves by integrating three types of information, namely amplitude, amplitude response and motion suppression effect, and finally carrying out weighted combination on the locking time corresponding to each frequency component according to the weight ratio, so as to obtain the motion suppression effect of the platform. And the optimal locking control time suitable for the current random wave is obtained. According to the method, a high-complexity non-causal control command does not need to be deduced, control parameters can be updated in real time according to short-term sea condition changes, pitching response of a platform is effectively reduced, and comprehensive optimization control over multi-frequency waves is achieved.

A floating body for an offshore wind turbine includes: one first column; two second columns; two lower hulls connecting the first column to each of the second columns; and a beam member connecting the two lower hulls. The beam member is disposed within a height range between an upper surface and a lower surface of each lower hull.

The invention discloses a ship water gauge scale line fitting algorithm, and relates to the technical field of ship water gauge scale calculation, and the method comprises the steps: obtaining a ship water gauge region image through an image collection device to extract a measurement point coordinate, and building a mapping relation between a pixel position and a physical draft; a weighted least square method is adopted to perform nonlinear curve fitting, a weight coefficient is calculated based on a local neighborhood standard deviation, a polynomial order p is dynamically adjusted according to an adjusted decision coefficient, and the decision coefficient is iteratively optimized to improve the balance between amplitude and model complexity. And the system repeatedly corrects model parameters through a dynamic verification mechanism of the residual sum of squares and a preset threshold value, and finally an accurate water gauge scale fitting curve is generated. The method effectively solves the problems that traditional manual observation is prone to environmental interference and large in measurement error, high robustness is kept in a complex water area environment, and reliable data support can be provided for the fields of ship load evaluation, channel safety management and the like.

The invention relates to the technical field of ship body parts, in particular to a modularized cabin structure. Comprising a cabin body arranged below a ship body floor and power cabins arranged at the two ends of the cabin body, the cabin body comprises two sets of modular buoyancy cabins which are arranged at intervals, a self-adaptive draught space box is formed between the two sets of modular buoyancy cabins, and the modular buoyancy cabins and the self-adaptive draught space box are detachably connected. Each modular buoyancy bin comprises n unit bins arranged in an array mode, n is larger than or equal to 2, and a buoyancy block is arranged in each unit bin. A stabilizing assembly is arranged in the self-adaptive draught space box. Flexible construction of a site is achieved through modular structure setting, the buoyancy and strength of the ship are ensured through the synergistic effect of all the structures, the ship can not sink even if water enters the ship, meanwhile, the stability of the ship in heavy storm waves is enhanced through installation of the stabilizing assemblies, and the ship is suitable for various types of ships and has extremely high adaptability and safety.

The invention discloses a wind-solar hybrid drive ocean unmanned ship platform and a design method thereof, and relates to the technical field of unmanned ships, the wind-solar hybrid drive ocean unmanned ship platform comprises a platform body module, a power propulsion module, an energy supply module, an environment sensing module and a control module, the platform body module comprises an unmanned ship main body of a strip-shaped single ship structure and stabilization hydrofoils, the stabilization hydrofoils are arranged below the unmanned ship main body, the power propulsion module comprises a wing sail and a sail rotating device, the wing sail is arranged above the unmanned ship main body through the sail rotating device, and the energy supply module comprises a solar charging panel and a storage battery connected with the solar charging panel; the low-resistance characteristic of the strip-shaped single ship structure of the unmanned ship main body is utilized, wind power driving of the wing sails and light energy power generation of the solar charging panel are matched, the cruising ability of the unmanned ship is improved, meanwhile, the problem that the unmanned ship main body of the strip-shaped single ship structure is poor in stability is solved through the stabilization hydrofoils, and the unmanned ship is more stable. And the navigation stability and the anti-overturning capability are improved.

An assembly adapted for mounting a water engagement device to a marine vessel may include a transom plate, an actuator plate and a clamping assembly. The transom plate may be adapted to be connected to the marine vessel. The actuator plate may include a flange that is disposed under a bottom side of the transom plate. The clamping assembly is configured to engage the transom plate and the actuator plate to connect the actuator plate to the transom plate.

An improved cap rudder and a boat. The cap rudder (1) comprises a rudder shaft (10) and a cap plate (11) fixed to a lower end (104) of the rudder shaft, wherein a rudder shaft sleeve (12) is axially located between the cap plate (11) and an upper end (101) of the rudder shaft, the rudder shaft (10) is radially supported in the rudder shaft sleeve (12) by means of a first bearing, and a pair of coaxially arranged transverse shafts (13) are perpendicular to an axis of the rudder shaft (10), with one end of each transverse shaft (13) being fixed to an outer wall of the rudder shaft sleeve (12), and the other end of each transverse shaft (13) being a bearing connection end (132) connected to a second bearing (133). The transverse shafts of a rudder anchor and the rudder shaft sleeve form a cross-shaped structure, and the rudder shaft sleeve can rotate around the transverse shafts, so that the rudder angle of the cap rudder is changed, thereby realizing the adjustment and control of the trim of a hull.

A method of controlling steering of a marine vessel includes receiving a steering input from an operator-controlled steering input device, determining a desired turn rate for the marine vessel and a desired roll angle for the marine vessel based on the steering input, and controlling a steering angle of at least one trimmable propulsion device based on the desired turn rate and controlling a trim deployment of a pair of trim tabs and / or the trimmable propulsion device based on the desired roll angle so as to steer the marine vessel according to the steering input.

A vessel for transporting cargo by water comprises one or more propulsion devices with at least one air-breathing engine from the one or more propulsion devices disposed entirely above a surface of the water in a high-speed mode of operation. The least one air-breathing engine is configured to bleed airflow into a fluid circuit. The fluid circuit routes the bleed airflow to one or more fluid outlets disposed entirely below the surface of the water in the high-speed mode of operation. At least some of the one or more fluid outlets release the bleed airflow in the high-speed mode of operation generate a boundary layer along at least a portion of a hull of the vessel to reduce a skin friction drag thereof.

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.

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.

According to the semi-submersible floating platform based on the eddy current damping effect, the multiple buoyancy units and the multiple sets of supporting mechanisms are sequentially and alternately arranged to form an annular space frame structure, and the whole platform has good stability and rigidity. In each buoyancy unit, a heaving plate is mounted at the bottom of the buoy, meanwhile, dampers are innovatively arranged on the edges of the heaving plates, reserved spaces capable of exciting fluid vortexes are formed among the dampers, the buoys and the heaving plates, upwelling water flow of the heaving plates is actively guided through a unique structure, and the effect of generating fluid vortexes is achieved. And a reserved space is utilized to forcibly convert the eddy current into a high-strength and ordered eddy current field. Through the arrangement, the semi-submersible floating platform not only obviously enhances the eddy current dissipation effect and the additional mass effect of the platform to multiply the heaving damping performance, but also forms a synergistic effect with the main heaving plate, so that the vertical movement stability, the storm resistance and the operation safety of the platform in severe sea conditions are effectively improved.

An adjustable surf wake system enhances a wake formed by a watercraft travelling through water. The system may include a flap for deflecting water traveling past the stern of the watercraft, and / or a positioner operably connected to the flap for positioning the flap relative to a longitudinal axis of the watercraft between a neutral position and an outward position. Positioning a port flap in its extended position enhances a starboard surf wake, and positioning the starboard flap in its extended position enhances a port surf wake. A wake modifying system for modifying a wake produced by a watercraft traveling through water may include a rudder pivotally mounted to the watercraft for steering the watercraft, a fin pivotally mounted to the watercraft substantially along a centerline of the watercraft and forward the rudder, wherein the fin pivots about an upright axis to modify the wake produced by the watercraft traveling through the water, an actuator mounted within the watercraft and operably coupled to the fin for pivoting the fin relative to the centerline, and a controller mounted on the watercraft allowing an operator to control the actuator and selectively pivot the fin to a desired angle θd relative to the centerline.

The invention belongs to the technical field of ship equipment, and discloses a wave suppression device and a ship. The wave suppression device comprises a hinge four-bar mechanism, a spoiler sheet and a rotary driving part, and the rotary driving part drives the spoiler sheet to rotate through the hinge four-bar mechanism, so that the spoiler sheet has a working position extending into water. The rotary driving part is arranged above the water surface, and the sealing surface of the rotary driving part is separated from the seawater environment, so that the possibility that marine organisms are attached to the sealing surface of the rotary driving part is fundamentally avoided, and the maintenance frequency and the environmental protection risk are remarkably reduced. Besides, the rotary driving part is far away from a seawater corrosion environment and does not need to bear underwater pressure, so that the failure probability of the sealing part caused by seawater corrosion or mechanical shock is reduced, the working stability of the driving system is improved, and the service life of the driving system is prolonged.

The invention describes a wind turbine vessel (1) which autonomously sails at high sea by means of wind turbines (2) and produces, stores and transports energy. The wind turbine vessel (1) is a multi-hull vessel having three or more hulls (3), between which at least one wind turbine (2) is installed. The hulls (3) are installed rotationally symmetrically parallel to the longitudinal axis of the wind turbine vessel (1). This makes it possible for the wind turbine vessel (1) to pivot, that is to say to rotate about its own longitudinal axis, in order to be resilient in the case of sea storms. In the event that it capsizes in strong winds or waves, it retains its complete structural and functional integrity as a result of its rotationally symmetrical design. The wind turbines (2) are used simultaneously in two ways. Firstly, they are used for the production of electrical energy which is stored on board in the hulls (3), for example in batteries or with power-to-hydrogen. Secondly, the wind turbines (2) are used as sails for driving and controlling the wind turbine vessel (1) by means of yawing movements. It can thus sail autonomously at high sea in areas in which the wind conditions are favourable for energy production, that is to say it can use stronger and more uniform winds, and transport the energy stored on board to a location where it can be fed into the energy grid.

The invention belongs to the field of ship control, and provides a self-adaptive active stabilization method and system for a ship. The ship is configured to be provided with a plurality of water pressing plate executing mechanisms, each water pressing plate executing mechanism comprises a water pressing plate assembly and an executor connected with the water pressing plate assembly, and the method comprises the following steps that ship body attitude information of the ship is obtained; calculating a target moment according to the hull attitude information; generating an execution instruction corresponding to each actuator according to the target torque; and the executor responds to the execution instruction so as to drive the connected water pressing plate assembly to execute water pressing movement. According to the self-adaptive active stabilization method and system for the ship, the ship can be effectively controlled to reduce shaking, and the navigation stability, comfort and safety of the ship are improved.

The invention provides a ship liquid level intelligent monitoring system. The ship liquid level intelligent monitoring system comprises a data acquisition layer, a data processing layer and an application layer, the data acquisition layer comprises an inertial measurement unit and a liquid level measurement unit, the inertial measurement unit is used for measuring ship attitude information, and the liquid level measurement unit is used for acquiring original liquid level information in a liquid tank; the data processing layer comprises a data preprocessing module, an intelligent liquid level correction module, a model training updating module and a local server, the data preprocessing module is used for preprocessing information, and the intelligent liquid level correction module can calculate static liquid level information according to the preprocessed information; the model training and updating module can utilize historical navigation data stored in the local database to train the liquid level dynamic correction model; the application layer is used for receiving and displaying the static liquid level information; according to the invention, the finally output liquid level value is close to the real static liquid level, and the measurement precision and reliability are greatly improved.

A method and apparatus for adding buoyancy to the transom of a boat by attaching buoyant material to the trim tabs, or to the planing surface of the trim tab, or constructing the trim tab itself of buoyant material. The buoyancy can be used to correct listing of a boat, or compensate for outboard engines that are unable to clear the water line when tilted up, or generally raise the stern of the boat while at rest. Buoyancy can be added to conventional trim tab plates or added to vertically extending interceptor blade type trim tabs. The invention also proposes a method by which trim tabs can be attached to the transom or the “step” or “pocket” above by a fixed or manually adjustable linkage, such as with a turnbuckle or jack screw or through-bolted perforated rods.

The present invention relates to the technical field related to atomic gravity measurement and provides a steady-state identification method based on the multi-factor and multi-dimensional characteristics of a cold atom absolute gravimeter. The method comprises: S1, at each steady-state level, collecting historical data of hull operation based on the cold atom absolute gravimeter, the historical data including the acceleration and inclination of the hull, and the atomic number data of the cold atom absolute gravimeter; S2, dividing the acceleration, inclination, and atomic number data into feature groups to form a multi-factor and multi-dimensional hull steady-state feature matrix; S3, establishing a hull steady-state identification model based on the hull steady-state feature matrix and a machine learning algorithm, and cross-validating the hull steady-state identification model; S4, identifying the hull steady-state based on the cross-validated hull steady-state identification model and the currently collected hull acceleration, inclination, and atomic number data. The present invention further improves the accuracy of hull stability identification based on the multi-factor and multi-dimensional information of the ship-borne cold atom absolute gravimeter.

The invention belongs to the technical field of ship draft detection, and provides a ship draft real-time detection system which comprises the following steps: establishing a three-dimensional dynamic coordinate system, and updating a water surface reference surface in combination with real-time water level data; calculating water level variation of adjacent frames and compensating a point cloud Z axis; a pure ship body point cloud is separated in combination with a water surface datum plane, ship body reflectivity and a region growing algorithm; fitting a deck plane of the pure ship body point cloud, performing edge detection to extract ship board features, and correcting a side board feature surface; converting the pixel coordinates of the water surface reference surface and superposing the auxiliary lines; positioning a waterline, converting a bow / middle / tail waterline coordinate to a three-dimensional dynamic coordinate system, and calculating an initial draft; the deck Z-axis average coordinate is extracted, and the bow / middle / tail freeboard height is calculated in combination with the water surface datum plane coordinate; the theoretical draft is deduced in combination with the ship type depth, the theoretical draft is compared with the initial draft, the final draft is output, and the ship draft detection precision in the complex water level change environment is improved.

The invention discloses a hydrofoil with an adjustable attack angle for an electric control type boat and a control system, relates to the technical field of attack angle control, is used for solving the hidden danger of grounding caused by insufficient underwater distance and limited lift force compensation during navigation in a shallow water area, and comprises a working condition judgment module, a backstepping fitting module, a risk grade judgment module and an attack angle execution module, the modules are in signal connection; the working condition judgment module obtains a water depth value, a draught value and a water leaving height value through a sensor, calculates a bottom gap and compares the bottom gap with a safe minimum gap, and judges shallow water working condition triggering; the backstepping fitting module calculates the actual lift force by combining the gravity, the buoyancy and the vertical acceleration of the boat body when the shallow water working condition is triggered, and fits the shallow water corrected lift force slope; the risk grade judgment module calculates the residual available lifting force and the lifting force required by lifting, and sets a risk flag bit through a dual-condition criterion; and the attack angle execution module adjusts the attack angle according to the risk flag bit to realize closed-loop control.

The invention relates to the technical field of marine equipment, and particularly discloses a ship fin stabilizer which integrates bionic resistance reduction, intelligent control and energy recovery functions. The fins are of a layered structure of a flexible silica gel skin and a shape memory alloy wire mesh, V-shaped groove arrays are arranged on the surfaces of the fins, and the fins can be self-adaptively deformed into a U shape to reduce resistance. The driving mechanism realizes high-frequency compensation through cooperation of a hydraulic cylinder and piezoelectric ceramics; the energy recovery module converts mechanical energy into electric energy through a two-way pump-generator. According to the device, the rolling trend is predicted through the LSTM neural network, a Q-learning optimization control strategy is combined, the stabilization efficiency and energy efficiency are remarkably improved, and the device is suitable for stable control of ships under high navigational speed and complex sea conditions.

A support system for outboard marine motors at the transom of a boat includes a support device having a first part that is integral with the transom and a second part that is integral with the outboard motor. The second part is translatable with respect to the first part, so that the second part moves according to an orientation in the distancing or approaching direction of the water line of the boat. A control unit is configured to set the position of the second part with respect to the first part and to generate control signals, so as to move the second part in the direction of immersion of the propeller of the outboard motor.