625results about "Steering rudders" patented technology

To provide a navigation monitoring robot for a ship and an avoidance navigation maneuvering system of an automatic navigation single-screw twin-rudder ship capable of ensuring safety navigation by assessing the collision risk in an extended warning sea area.SOLUTION: A navigation monitoring robot 300 for a ship acquires present positional information of an own ship, analyzes real time image data of a synthetic aperture radar image photographing a navigation sea area including the own ship, calculates a distance between a target object affecting the navigation and a present position of the own ship as a target separation distance, identifies whether or not the target object is a ship by collating an image pattern of a far-infrared camera image of the target object, image patterns of the far-infrared camera image of various target objects where temperature information of the far-infrared camera image is stored in a library, and the temperature information of the far-infrared camera image, recognizes the target separation distance as an influence degree that the ship gives to the safety navigation, and sends alarm information when it is determined that the target separation distance is within a dangerous area impairing the safety navigation.SELECTED DRAWING: Figure 5

The invention discloses an intelligent emergency control system of an arrangement ship steering oar, and belongs to the technical field of arrangement ship steering oar control. An intelligent emergency control system of an arrangement ship steering oar comprises a main control module, a steering oar driving module and a steering oar control module. The problem that in the prior art, when a main steering system breaks down, a ship is prone to being out of control, colliding or other safety accidents are caused is solved, the steering oar driving module is used for conducting driving operation on the arrangement ship steering oar in an emergency mode, the state of the arrangement ship steering oar is monitored in real time, and the safety of the arrangement ship steering oar is improved. When potential problems and fault trends exist in the arrangement ship steering oar, a control instruction of the arrangement ship steering oar is adjusted so as to ensure safe operation of the arrangement ship steering oar, quick response can be made and an emergency mode can be started in emergency, dangerous situations such as out-of-control of the ship can be effectively avoided, remote monitoring and management can be achieved, and the safety of the arrangement ship steering oar is improved. Safety and management efficiency of the ship are improved, and safe driving of the ship is effectively guaranteed.

A hull motion control unit performs steering for a pinwheeling swing such that a bow distance and a stern distance that are measured by a quay separation distance measuring device are made equal to each other and the fore-and-aft direction of a ship is parallel to a target quay, and then the ship is caused to laterally approach and dock in the target quay while keeping the parallel state.

The invention provides a marine stabilizing rudder capable of preventing rudder blade shaking and an installation method.The rudder blade of a rudder system structure is internally provided with a rudder hole with an upward opening, the bottom of the rudder hole is downwards connected with a rudder button, the lower end of a rudder stock penetrates through the rudder hole and is fixedly connected with the rudder button, and a rudder tube lower forge piece is inserted into a gap between the rudder stock and the side wall of the rudder hole; a rudder tube bush is clamped between the lower end of the rudder tube lower forge piece and the rudder stock, a check ring bearing is clamped between the upper end of the rudder hole and the rudder tube lower forge piece, and the check ring bearing and the rudder tube bush play a dual-sealing role, prevent seawater from entering the rudder hole and the rudder tube, play a limiting role and prevent the rudder tube and the rudder stock from shaking up and down in the operation process. The stability is improved. By using the stable structure, seawater can be effectively prevented from entering the internal structure of the rudder blade, and dual protection is formed for the rudderstock, the rudder knob and the rudder barrel bushing. Meanwhile, the rudder blade can be well installed and fixed and is prevented from shaking, the safety and efficiency of a ship are guaranteed, and the stability of the ship is improved.

Disclosed is a steering-support system for facilitating manual steering of a marine vessel comprising motors and independent manual throttle and shift control units, rudders and manual rudder-steering means mechanically and / or hydraulically connected to the rudders for direct rudder-angle control. The steering-support system comprises electronic rudder-angle reset means connected to at least one automated rudder drive unit, which, when activated, disables use of the manual rudder-steering means and automatically controls the rudder drive unit to steer the rudders from any current off-center position to a mid position at which the rudders are parallel to a longitudinal axis of the vessel and to block the rudders at this mid position, thereby enabling steering of the marine vessel solely by the manual throttle and shift control units in absence of rudder influence on steering.

The invention relates to the technical field of ship power and propulsion control. The invention provides a multi-source cooperative propulsion control method and system based on hybrid power and a straight wing steering oar. The method comprises the following steps: collecting ship motion state parameters and environment parameters in real time; constructing a multi-objective joint optimization model, and solving an optimal power distribution proportion and an optimal thrust vector under the current working condition by adopting a dynamic programming algorithm; based on the optimal power distribution proportion, a fuzzy PID controller is adopted to dynamically adjust the torque coupling ratio of the diesel engine and the motor; according to the optimal thrust vector calculation result, vector synthesis is carried out on the propulsive force and the steering torque; and predicting the motion state of the ship based on an extended Kalman filter, and correcting the weight coefficient of the multi-target joint optimization model on line in combination with the change rate of the channel boundary distance. The problem that adaptability to complex working conditions is insufficient due to the fact that a traditional control strategy does not fully fuse ship motion states and environment parameters is solved.

To provide a uniaxial two-rudder vessel capable of easily carrying out directional control and speed control and capable of carrying out vessel position retention maneuvering with fixed retention capacity at a low speed range.SOLUTION: A biaxial four-rudder vessel includes a maneuvering controller 201 for controlling an action direction of thrust around a stern working on a hull 110 by controlling a direction of a propeller wake flow of propulsion propellers 101a, 101b. The maneuvering controller 201 has parallel movement maneuvering unit 286 for moving the hull 110 in parallel in an arbitrary direction by combining an action direction of thrust of a starboard propulsion system 100a and an action direction of thrust of a stern propulsion system 100b in low speed range maneuvering.SELECTED DRAWING: Figure 2

The invention belongs to the technical field of rudder horn, and particularly relates to a high-stability low-resistance large marine rudder horn which comprises a rudder horn main body and an environment temperature sensor, the rudder horn main body is of a hollow structure, and a plurality of reinforcing plates are fixedly arranged in the rudder horn main body at equal intervals up and down; ventilation openings are formed in the upper end of the rudder horn body and the surface of the reinforcing plate, two connecting bases are integrally connected to the rear side of the rudder horn body, and shaft holes are formed in the surfaces of the connecting bases. Heating and deicing of the rudder horn can be automatically triggered at low temperature, and the heating intensity is adjusted according to the environment temperature; after the ice layer is fragile, knocking deicing is automatically started, and the knocking force is regulated and controlled according to the environment temperature; lubricating oil can be automatically injected into the connecting position of the rudder horn and the rudderstock at intervals, temperature compensation is conducted at low temperature to ensure smooth injection, the single-time injection amount is adjusted according to the temperature, the performance of the rudder horn is effectively maintained, and the stable course of a ship is guaranteed.

The invention belongs to the technical field of ships, and discloses an arrangement position type polar region ship with a stern-direction ice breaking and discharging structure. The arrangement position type polar region ship comprises a ship body, an ice discharging piece and a rudder, and the width size of the ship body is B; the ice discharging piece is fixed to the bottom face of the stern, the outer surfaces of the ice discharging piece are all curved surfaces, the curvature radius R1 of the ice discharging piece in the ship length direction ranges from 0.20 B to 0.80 B, the curvature radius R2 of the ice discharging piece in the ship width direction ranges from 2 to 8, the contact area of the large-curvature outer surface and crushed ice is small, the crushed ice and the curved surfaces are difficult to form a stable attachment relation, and the ice discharging piece is not prone to falling off. Therefore, under the action of hydrodynamic force, crushed ice at different positions of the curved surface can quickly slide to different positions, accumulation of the crushed ice on the inner side of the upper portion of the rudder is avoided, and the sailing safety of a ship is improved. The rudder extends in the height direction of the ship, and the upper end of the rudder is installed on the bottom face of the ice discharging piece in a swinging mode and located at the end, close to the bow, of the ice discharging piece in the length direction of the ship, so that the ice discharging piece plays a role in protecting the rudder.

To provide a two propeller four-rudder ship with an excellent maneuvering performance capable of easily performing a direction control and a speed control.SOLUTION: A twin-propeller four-rudder ship comprises a pair of propeller shafts rotating in the mutually opposite direction, a pair of left and right propulsion propellers 101a, b equipped on each propeller shaft, arranged at the stern and having mutually opposite wing angle, a pair of left and right high-lift rudders 102a, b, 103a, b arranged behind each of the propulsion propellers 101a, b, and multiple steering gears 104a, b, 105a, b to drive each of the high-lift rudders 102a, b, 103a, b. The ship independently causes to operate each of the high-lift rudders 102a, b, 103a, b by each of the steering gears 104a, b, 105a, b in the state where the left and right propulsion propellers 101a, b rotate at a constant rate in the forward direction. The ship controls the propeller wake flow direction of each of the propulsion propellers 101a, b and controls the thrust direction around the stern acting on the hull by changing the rudder angle combination of the pair of the high-lift rudders 104a, b or 105a, b corresponding to each of propulsion propellers 101a, b.SELECTED DRAWING: Figure 2

The invention relates to a control method and system for wind pile abutting operation of a wind power operation and maintenance ship, and belongs to the technical field of wind power operation and maintenance ships. According to the method, a mapping relation database containing data such as a wave environment, a ship loading state and main engine thrust is constructed through a high-precision CFD numerical simulation method; a wave measuring floating ball is arranged near the wind pile, and wave parameters are measured in real time; querying a predicted motion response from a database based on the current state; collecting actual motion data to correct the database; and calculating the motion state of the ship during abutting, considering the elastic coefficient and the friction coefficient of the rubber pad, dynamically adjusting the course, the host power and the loading state according to the corrected prediction result, and controlling the motion response within a preset range. According to the method, economy and comfort can be considered, and the motion response of the wind power operation and maintenance ship abutting against the wind pile is effectively controlled.

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.

The invention discloses a rudder system structure and an assembling method. The rudder system structure comprises a stern and a rudder blade. The stern is provided with a rudder horn, a steering engine and a rudderstock, the steering engine is arranged on the upper side of the stern, the rudderstock penetrates through the stern, the steering engine drives the rudderstock to rotate, the rudder horn protrudes in the horizontal direction to form a rudder button, and a rudder pintle is rotatably arranged on the rudder button; the rudder blade is connected with the rudder stock, the rudder blade is provided with a supporting part, a rudder pintle and a mounting concave position, the supporting part protrudes out of the rudder blade, the mounting concave position is located above the supporting part, the rudder button is arranged in the mounting concave position, the rudder pintle penetrates through the rudder button to be connected with the supporting part, the rudder pintle is rotatably connected with the rudder button, a box body is detachably arranged in the mounting concave position, and the box body is arranged above the rudder button. The rudder pintle is pre-installed on the rudder blade, the rudder button is in butt joint with the rudder pintle, meanwhile, the rudder blade is connected with the rudder stock, and then the box body is installed on the rudder blade, so that the activity space of the rudder button is enlarged, the operation difficulty is reduced, the operation is simple, the installation period is shortened, the slipway utilization rate is improved, and time and cost are saved.

A boat stabilizer having an upper harness for attachment to a vessel, the upper harness having an assembly control system for controlling attached wing assemblies, each wing assembly having a wing attached to the assembly control system and a wing mount attached to the wing and the assembly control system. The boat stabilizer may be further comprised of a controllable parasail comprising a parasail canopy, a plurality of parasail cords attached the parasail canopy, a parasail mount attached to the upper harness and the parasail cords, a parasail control rudder attached to each parasail cords, and yaw and pitch controllers, both of which are attached to the parasail control rudder. The assembly control system is configured to work in conjunction with the controllable parasail to provide the desired balance of vertical lift and forward propulsion to the attached vessel, while also providing directional control to the attached vessel.

A pedal assembly and steering assembly are disclosed for converting an inflatable, drop stitch paddle watercraft into a pedal watercraft. The pedal assembly includes a mounting plate and mounting bracket for supporting a geared drive shaft in an opening extending through the floor of the watercraft. The steering assembly includes a rudder connected to a tiller through push pull cables.

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 marine maneuvering system for maneuvering a vessel body includes a steering including a steering wheel, a manual operator on the steering to cause predetermined functions to the vessel body to be executed, and a controller configured or programmed to change the predetermined functions executed by an operation of the manual operator in accordance with maneuvering modes in which behaviors of the vessel body are mutually different.

The invention belongs to the technical field of ship steering structures, and particularly relates to a ship rudder horn capable of improving course stability, which comprises a rudder horn main body and a controller mounted in a ship body, the rudder horn main body is used for mounting a rudderstock, a mounting groove is formed in the bottom of the rudder horn main body, and the lower end of the rudderstock extends into the mounting groove; the rudder horn further comprises an upper mounting box which is arranged on the outer side of the rudder stock in a covering mode, and the upper mounting box is fixedly mounted at the top of the rudder horn body. Eccentric wear of the joint of the rudderstock and the rudder horn can be avoided, the long-term supporting stability of the rudder horn to the rudderstock is improved, and the course stability is improved; according to the inclination angle and direction of the rudder horn main body, proper reverse jacking pressure can be automatically controlled to be applied to the rudderstock, and the reverse jacking supporting effect is improved; meanwhile, the maintenance time of a rudder horn and the like can be automatically estimated and reminded, seawater drying is accelerated through airflow, ice slag cleaning is assisted, and seawater corrosivity is reduced.

Techniques are disclosed for systems and methods for water non-water segmentation of navigational imagery to assist in the autonomous navigation of mobile structures. An imagery based navigation system includes a logic device configured to communicate with an imaging module coupled to a mobile structure and / or configured to capture images of an environment about the mobile structure. The logic device may be configured to receive at least one image from the imaging module; determine a water / non-water segmented image based, at least in part, on the received at least one image, and generate a range chart corresponding to the environment about the mobile structure based, at least in part, on the determined water / non-water segmented image and / or the received at least one image.

The objective is to obtain an azimuth control apparatus and an azimuth control method that require no excessive memory capacity and calculation time for information processing and can cope with a disturbance by adaptively adjusting a control gain while calculating changing vessel parameters online. The vessel azimuth control apparatus hasan azimuth control unit that outputs a steering-angle command signal for making a vessel turn to an azimuth to which the vessel should travel, based on an azimuth command signal generated by an azimuth command generation unit, a yaw-angle signal, and a yaw-angular-velocity signal,a steering-angle control unit that controls a rudder based on the steering-angle command signal, anda control gain adjustment unit that calculates respective frequency responses of the yaw-angle signal and the yaw-angular-velocity signal to a steering-angle signal outputted by a steering-angle detection unit and then adjusts a control gain of the azimuth control unit.

A propulsion system (TWIN1) for moving a ship (SHIP1) comprises: - a controllable pitch propeller (PRO1) driven by an engine (ENG1), - a left rudder (R1), - a right rudder (R2), and - a control system (CSYS1), wherein the left rudder (R1) has a first turning axis (AX1) and a first trailing edge (TE1), wherein the right rudder (R2) has a second turning axis (AX2) and a second trailing edge (TE2), wherein a distance (wG) between the trailing edges (TE1, TE2) is adjustable by changing the difference (θ1-θ2) between a rudder angle (θ1) of the left rudder (R1) and a rudder angle (θ2) of the right rudder (R2), wherein the propulsion system (TWIN1) has a first operating mode (MODE1), where changing the velocity (vS) of the ship (SHIP1) comprises changing the shaft power (PS) of the propeller (PRO1), wherein the propulsion system (TWIN1) has a second operating mode (MODE2), where the control system (SYS1) is arranged to change the velocity (vS) of the ship (SHIP1) by changing the difference (θ1-θ2) between the rudder angle (θ1) of the left rudder (R1) and the rudder angle (θ2) of the right rudder (R2), wherein the control system (SYS1) is arranged to change the pitch angle (αP) of the propeller (PRO1) such that the shaft power (PS) is kept substantially equal to a first power value (P1) in a situation where the velocity (vS) of the ship (SHIP1) is changed by changing the difference (θ1-θ2) between the rudder angles (θ1-θ2).

Techniques are disclosed for systems and methods to provide dynamic display systems for mobile structures. A dynamic marine display system includes a user interface comprising a primary display and secondary display, where the secondary display is disposed along and physically separate from an edge of the primary display, and where the secondary display comprises a touch screen display configured to render pixelated display views and receive user input as one or more user touches and / or gestures applied to a display surface of the secondary display. A logic device is configured to receive user selection of an operational mode associated with the user interface and / or the mobile structure and render a primary display view via the primary display and / or a secondary display view via the secondary display corresponding to the received user selection and / or operational mode.

The steering engine (1) includes: a steering engine body (11) of the Rahson sliding type including at least one hydraulic device operating according to an electrical signal; and at least one control device (9) which is installed on the steering engine main body (11) and controls the at least one hydraulic device. For example, the steering engine main body (11) comprises: a tiller (2) fixed to a rudder shaft (15); plungers (3A, 3B) that engage with the tiller (2); cylinders (4A-4D) into which both ends of the plungers (3A, 3B) are inserted, respectively; and a plurality of hydraulic units (5) that constitute a hydraulic circuit together with the cylinders (4A-4D), and a control device (9) is attached to each of the cylinders (4A-4D).

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 provides an amphibious vehicle integrated steering control method and device, and relates to the technical field of amphibious vehicle steering, the method comprises the following steps: obtaining steering angle data sent by an angle sensor, the steering angle data being a steering angle of a steering wheel measured by the angle sensor; determining working modes of the amphibious vehicle, wherein the working modes comprise a land mode and a water mode; if it is determined that the working mode is the land mode, determining the number of motor rotation turns of the land steering gear based on the steering angle data, and sending a first control signal to the land steering gear according to the number of motor rotation turns; if it is determined that the working mode is the overwater mode, the electric push rod stroke of the overwater steering gear is determined based on the steering angle data, and a second control signal is sent to the overwater steering gear according to the electric push rod stroke. The steering strategy can be adjusted according to the working environment of the vehicle.

The invention belongs to the technical field of rudder steering, and particularly relates to a water steering control device of an amphibious vehicle. Comprising a vehicle body, a vehicle head floating plate is fixedly arranged on the vehicle head of the vehicle body, and a vehicle tail floating plate is fixedly arranged on the vehicle tail of the vehicle body; the bottom of the vehicle head floating plate is rotationally connected with a propelling mechanism, and the bottom of the vehicle tail floating plate is rotationally connected with a steering rudder mechanism. A control mechanism is installed in the vehicle body and used for controlling steering of the propelling mechanism and the steering rudder mechanism. The direction of the vehicle body can be quickly adjusted at a small angle on water; according to the invention, when an underwater foreign matter causes that one steering wheel cannot steer and is stuck, the control mechanism can be quickly adjusted to control one steering wheel to steer independently, so that one-way emergency adjustment is realized, and the problem that the steering wheel runs and is stuck in water is avoided; only one person is needed for quick operation, and one-way emergency adjustment is facilitated.

The invention discloses a wave glider capable of being separated remotely, the wave glider comprises a water surface boat body and an underwater part, the underwater part and the water surface boat body can be separated remotely, the separated underwater part comprises a flexible umbilical cable and an underwater wave energy hydrodynamic propeller, the upper end of the flexible umbilical cable is connected to the water surface boat body through a separation mechanism A, and the lower end of the flexible umbilical cable is connected to the underwater wave energy hydrodynamic propeller through a separation mechanism B; the lower end of the flexible umbilical cable is connected to the underwater wave energy hydrodynamic propeller, the water surface boat body is provided with an independent electric propulsion device, an electronic compass, a navigation control unit, a satellite communication positioning unit, an electric propeller and a steering controller are arranged on the water surface boat body, and the independent electric propulsion device is the electric propeller; the ship has the beneficial effects that the ship is practical and novel in structure, automatic separation of the water surface ship body and the underwater part is achieved, operation is convenient, when the underwater part is wound or trapped under other conditions, the separated water surface ship body can return automatically, and larger loss is avoided.

The utility model discloses a container transport ship, and belongs to the technical field of ships, and the container transport ship comprises a ship body used for loading containers; the tail vane is mounted at the bottom of the stern end of the hull; the propeller is installed at the bottom of the stern end of the ship body, the propeller is set to be of a fixed pitch, and the propeller is used for providing advancing thrust; wherein the tail vane is closer to the end part of the ship body relative to the propeller, a bulge is arranged at the end part of the tail vane opposite to a middle shaft of the propeller, the surface of the bulge is an arc-shaped surface, and a gap is formed between the bulge and the end part of the middle shaft of the propeller. According to the invention, the fuel consumption is reduced, better power performance can be realized, meanwhile, the pollutant emission in the sailing process is also effectively reduced, and the low-carbon requirement is met.

The invention discloses a three-dimensional variable controller based on a ship rudder angle and thrust, and the controller comprises a) a data collection unit which is used for obtaining the real-time navigational speed of a ship, the real-time rotating speed of a ship propeller, and possible other related navigation parameters; b) a three-dimensional variable control algorithm unit; c) a dynamic control unit; the normal stop input unit is used for receiving an external normal stop instruction and sending a signal to the dynamic control unit after receiving the instruction so as to relieve the limitation on the rudder angle of the ship; e) a human-computer interaction interface HMI unit; and f) a navigation data recorder VDR interface unit which is connected with the three-dimensional variable control algorithm unit and is used for comprehensively recording key information in the navigation process. According to the method, the sailing state and the environmental parameters of the ship are monitored in real time, and the safe operation range of the current ship rudder angle is dynamically calculated and determined, so that accurate control over the steering engine is achieved, ship overturning caused by too large restoring torque is prevented, and the sailing safety of the ship is effectively guaranteed.