328results about "Vessel stability improvement" 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 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 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.

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.

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 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.

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.

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 discloses an overwater floating device for installing a photovoltaic module, which belongs to the field of overwater photovoltaic technology, and is characterized in that the overwater floating device comprises a floating body, a folding bracket, the photovoltaic module and a rope, mortise and tenon structures are arranged on the side edges of the periphery of the floating body, bamboo raft through holes are formed in the bottom of the floating body, and rope penetrating through holes are formed in the left and right mortise and tenon structures of the floating body; a sinking face is arranged in the middle of the upper face of the floating body, the folding supports are installed, the photovoltaic assembly is placed in the sinking face, a wire groove is formed in the side edge of the upper face, the front folding support, the rear folding support, the left folding support and the right folding support are symmetrically installed, and the length of an upper rod of the front folding support is smaller than that of an upper rod of the rear folding support. The photovoltaic module floating body is high in wind and wave resistance and stability, the photovoltaic module can be horizontally placed in the floating body, and the photovoltaic module floating body is convenient to transport, light in overall structure, large in buoyancy and convenient to install and maintain.

The invention provides a device for ice load measurement and ice-induced vibration suppression and an ocean structure. The device for ice load measurement and ice-induced vibration suppression is characterized by comprising a fixed strut beam structure (2) which is arranged on the outer surface of an upright or nearly upright ocean structure and is axially parallel to the ocean structure, and a steel plate (1) covering the range of a tidal range zone is arranged on the outer side of the strut beam structure (2) in a sleeving mode. And a stress measuring device (3) is mounted on the inner side of the strut beam structure (2). The fixed strut beams and the steel plates are installed on the outer surface of the ocean structure, the contact form of sea ice and the structure is changed, the crushing mechanism of the sea ice is disturbed, the energy of the sea ice is absorbed, the vibration amplitude is reduced, meanwhile, real-time monitoring of the ice load is achieved, frequency locking vibration is eliminated, and the safety and stability of the structure are ensured.

The utility model belongs to ship equipment technical field discloses a kind of wave compression device and boat. Wave compression device includes hinged six-bar mechanism, spoiler piece and rotary drive part, rotary drive part drives spoiler piece rotation by hinged six-bar mechanism, to make spoiler piece have the working position of extension into water. The utility model is driven by first connecting rod continuous rotation, by the hinged transmission of fourth connecting rod and spoiler piece, the swing angle of spoiler piece is naturally limited by the rotation range of first connecting rod, without setting rigid stroke end, allowing rotary drive part continuous rotation, without reversing, avoid the "overshoot phenomenon" of traditional reciprocating motion, eliminate the vibration, wear and tear and control deviation problem caused by overshoot fundamentally.

The invention relates to a ship water gauge measurement method, a ship water gauge measurement system and a medium, and the method comprises the steps: collecting a video of a ship entering a port water area, and carrying out the target ship recognition detection of the ship video, so as to obtain a target ship cutting image frame sequence entering a preset region; performing water gauge area positioning detection on each frame of image in the target ship cutting image frame sequence to obtain a water gauge area image of the corresponding frame, and performing multi-target element synchronous detection on each water gauge area image to obtain a multi-target element detection result of the corresponding water gauge area image; and performing fusion processing on the multi-target element detection result of each water gauge area image to obtain a ship water gauge measurement result of the corresponding target ship, and finally processing all the obtained ship water gauge measurement results to obtain a current ship water gauge measurement result of the target ship. In this way, automatic and continuous measurement of the water gauge of the ship driving into the port water area is achieved, and the ship water gauge measurement precision and accuracy are improved.

A system for controlling a marine vessel comprises an input device for inputting an operator command, a sensor which senses and signals an engine function variable or a vessel dynamic variable, and a first structural element and a second structural element. The first structural element and the second structural element each control speed or direction of motion of the marine vessel, and the first structural element and the second structural element each affect the marine vessel dynamic variable. There is a controller which receives the operator command and the engine function variable or the vessel dynamic variable. The controller moves the first structural element and the second structural element based on the engine function variable or the vessel dynamic variable, after receiving the single operator command.

The present invention discloses a hybrid power generation device with built-in pendulum wave energy in a floating wind turbine platform, belonging to the technical field of offshore wind power generation; it includes a semi-submersible platform, the semi-submersible platform includes a plurality of buoys, connecting rods and mounting rods, a base is provided at the bottom of the buoy, the buoys are divided into an upper buoy and a lower buoy, a wave energy device is provided inside the buoy, a wind turbine is provided on the top surface of the semi-submersible platform, the buoys are connected by an inclined connecting rod, and the mounting rod and the buoys are connected by an intermediate connecting rod and an inclined support rod. The present invention adopts the above structure, and the semi-submersible platform is set on the sea surface to float unstably with the sea surface. With the help of the up and down displacement caused by the unstable floating, the pendulum rod in the internal wave energy device drives the hydraulic cylinder to move up and down to generate electricity. The inertial device is provided to generate electricity, which can absorb the displacement of the floating semi-submersible platform, thereby solving the problem of low stability and safety of offshore wind turbine power generation.

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.

The invention provides a parallel hydraulic interconnection damping catamaran which comprises an upper cabin, a hydraulic interconnection suspension and a floating body which are sequentially arranged from top to bottom, and the whole structure is symmetrically distributed in the front view and is trapezoidal in the left view. The hydraulic interconnection suspension forms two side waists of a trapezoid, the upper cabin body is connected with the transverse rocker arm through the hydraulic cylinder set, the front transverse rocker arm is hinged to the longitudinal rocker arm through the radial spherical plain bearing, the longitudinal rocker arm is hinged to the floating body through the radial spherical plain bearing, and the rear transverse rocker arm is directly connected with the floating body. The front hydraulic cylinder set and the rear hydraulic cylinder set stretch out and draw back to achieve pitching motion, the left hydraulic cylinder set and the right hydraulic cylinder set stretch out and draw back alternately to drive the floating bodies on the two sides to move in a staggered mode, heeling of the ship body is achieved, and therefore three-freedom-degree vibration reduction compensation of heaving, pitching and heeling is jointly completed. Through the eight-cylinder interconnected hydraulic loop design and the special connection pair layout, wave multi-degree-of-freedom impact is effectively decoupled, the seakeeping and stability of the ship are remarkably improved, and the device is suitable for special rescue scenes such as shallow water areas and complex channels.

This invention discloses a flexible, wave-resistant, floating photovoltaic system, including a photovoltaic platform frame. A photovoltaic power generation platform is located on the upper side of the photovoltaic platform frame, and a central float is coaxially positioned below the photovoltaic platform frame. The central float is fixedly connected to the photovoltaic platform frame via a float support. Around the central float, several arc-shaped attitude adjustment bodies are arranged in a circular array. Each arc-shaped attitude adjustment body has two ends connected to coaxial rotating shafts along its length, allowing it to rotate around the axes of its two ends. In addition to being wave-resistant, it also has a light-tracking function.

The utility model discloses a sharp-corner rubber boat which comprises a rubber boat body, the rear end of the rubber boat body is fixedly connected with a tail plate, the surface of the front end of the rubber boat body is fixedly connected with a group of safety grips which are symmetrical left and right, the safety grips are attached in seams, and anti-collision strips are arranged on the peripheral side of the rubber boat body. The sharp-corner rubber dinghy changes the phenomenon that a traditional rubber dinghy is prone to shaking and unstability when encountering heavy stormy waves, stabilizing treatment is conducted through the floating plate assembly, the phenomenon of shaking and unstability is avoided, the possibility of rollover is avoided, the overall safety is not affected, and the service life of the rubber dinghy is prolonged. By arranging a group of symmetrical safety grips, the situation that the front end of the rubber dinghy shakes severely when the rubber dinghy runs, people cannot find an acting point and fall down is avoided, and by arranging an anti-collision strip, it is guaranteed that the dinghy body firstly makes contact with the anti-collision strip when being collided at any position, and the dinghy body is prevented from being seriously injured; and secondly, during rescue, the safety buckles can conveniently find buckle points, and rescue goods can be conveniently fixed.

According to the ship stabilization system based on the electromagnetic actuators and the control method, the upper electromagnetic actuator, the lower electromagnetic actuator, the left electromagnetic actuator and the right electromagnetic actuator serve as executing mechanisms and are arranged on the upper portion, the lower portion, the left portion and the right portion of the central axis of a ship respectively. Rapid response in a full-wave period range is achieved, hydraulic oil or water tank liquid is not needed, a pure electrification scheme is adopted, energy consumption is low, occupied space is small, maintenance convenience is high, and an excellent stabilization effect is achieved; according to the method, actual current output values of the upper electromagnetic actuator, the lower electromagnetic actuator, the left electromagnetic actuator and the right electromagnetic actuator can be solved according to attitude signals collected by a ship, inherent parameters of the ship and a ship rolling kinetic equation, and the service life balance of the electromagnetic actuators and the reliable stabilization effect of the system are achieved. And the method is of great significance in improving the safety and comfort of the ship.

The utility model relates to the technical field of ship stabilization, and discloses a rotating wheel type small ship stabilization device which comprises a ship body provided with a ship bottom bin, and further comprises a momentum wheel rotationally installed at the position vertically above the gravity center of the ship body; the motor is fixedly mounted in the mounting seat and is used for driving the momentum wheel to rotate; and a main control chip and an attitude sensor are arranged in the electric control box. According to the rotating wheel type small ship stabilization device, stabilization control is achieved by controlling movement of the momentum wheel, and compared with a traditional hydraulic cylinder, the rotating wheel type small ship stabilization device has the advantages of being higher in cost performance, safe and reliable in performance, easy to maintain and manage and the like, and has wider market application prospects.

The utility model discloses a petroleum drilling and production platform with a good stabilizing effect. The petroleum drilling and production platform comprises a platform and a stabilizing mechanism, stand columns are arranged at the four corners of the lower surface of the platform, and lower floating bodies are arranged between the lower ends of every two stand columns corresponding to the longitudinal positions. The stabilizing mechanism comprises supports, flow guide pipes, rotating columns, push plates and spiral pieces, the supports are arranged between the two lower floating bodies, the flow guide pipes are arranged in mounting holes in the surfaces of the supports, the rotating columns are rotationally connected between the two flow guide pipes corresponding to the vertical positions, the push plates are arranged on the outer arc surfaces of the rotating columns, and the spiral pieces are arranged on the outer arc surfaces of the rotating columns. According to the oil drilling and production platform with the good stabilizing effect, two vertical acting forces in opposite directions are applied to the oil drilling and production platform through impact of sea waves, the acting force needed by horizontal shaking of the oil drilling and production platform is increased, shaking of the oil drilling and production platform during work on the sea surface is reduced, and the stability of the oil drilling and production platform is improved. And the stability of the oil drilling platform is improved.

The purpose of the present disclosure is to set the initial information of the anchoring object (target) of a ship with high accuracy. A ship navigation assistance device according to the present disclosure includes a provisional initial information setting module, a measurement module and a processing module. The provisional initial information setting module may accept a specification of provisional initial information for characteristic information on an object to which a ship anchors or docks (docks to a pier). The measurement module may acquire measurement information on an object using a ranging result of an area including the object.