244results 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.

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 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 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 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 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 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.

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 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.

To provide a ship capable of holding at least a part of a deck in a target height position without using a friction force sensor.SOLUTION: A ship comprises a hull, a hydraulic cylinder, a deck connected via the hull and the hydraulic cylinder, a hydraulic pump constituting a closed circuit through connection to the hydraulic cylinder, a supporting capacity calculation unit to calculate the supporting capacity to support the deck using the hydraulic cylinder, and a flow control unit to adjust a flow rate of the hydraulic oil flowing in the circuit by controlling the hydraulic pump based on the supporting capacity. The flow control unit controls the flow rate so that the supporting capacity of the hydraulic cylinder approaches the preset standard weight as weight supported by the hydraulic cylinder.SELECTED DRAWING: Figure 9

The embodiment of the application provides a ship posture detection method, acquires a monitoring image sequence of a target ship; carries out target detection on each frame of image in the monitoring image sequence, obtains a ship body detection result and a wake detection result of the target ship in each frame of image; and determines the posture of the target ship according to the ship body detection result and the wake detection result in each frame of image. The posture of the target ship is determined by carrying out target detection on the monitoring image sequence of the target ship, using the ship body detection result of the target ship and the wake detection result of the target ship, the wake condition generated by the interaction between the ship body of the target ship and the water surface during the sailing process is considered, and then the posture detection of the target ship can be assisted by the wake condition of the target ship, so that the accuracy of the ship posture detection is improved.

The application discloses a marine piezoelectric liquid level sensor protection device, a layout method and a ship. The marine piezoelectric liquid level sensor protection device comprises a protection pipe structure and a sealing connection assembly. The protection pipe structure comprises a first protection pipe and a second protection pipe which are spaced apart along the height direction of a cabin. The first protection pipe is fixedly arranged on the inner wall of the cabin and is in communication with the cabin. The second protection pipe is fixedly arranged on the top plate of the cabin and is in communication with the cabin. A piezoelectric liquid level sensor is floatingly arranged in the first protection pipe. The sealing connection assembly is arranged outside the cabin. The sealing connection assembly can seal one end of the second protection pipe which is away from the first protection pipe. A cable is sequentially arranged in the second protection pipe and the sealing connection assembly. The first protection pipe can be effectively prevented from being blocked by impurities and / or silt in the cabin, so that the piezoelectric liquid level sensor can accurately and efficiently monitor the liquid level in the cabin.

The invention provides an active yawing single-point mooring floating type fan platform based on the Magnus effect, and belongs to the technical field of offshore wind power. The problem that invalid energy consumption exists when an existing platform is prevented from deviating through a flow guide rudder structure under the condition that ocean current is inconsistent with the wind direction is solved. The wind turbine generator system comprises a wind turbine generator set, a supporting tower, a platform foundation and a single-point mooring device. The top end of the supporting tower is connected with a wind turbine generator set, the bottom end of the supporting tower is connected with the platform foundation, the platform foundation comprises a mooring stand column, a plurality of yaw adjusting stand columns and a plurality of connecting structures, the lower portions of the mooring stand columns are connected with a single-point mooring device, yaw adjusting devices are arranged on the yaw adjusting stand columns, and each yaw adjusting device comprises a rotating body. The rotating speed and the rotating direction of the rotating body can be adjusted, and the rotating body and ocean current act to generate the Magnus effect to generate acting force to drive the platform foundation to rotate around the single-point mooring device. The device is mainly used for improving the power generation efficiency of the fan platform.

Disclosed in the present invention is a hull form of a shallow-draft anti-rolling transport vessel. The hull form comprises a stern section, a cargo hold section and a bow section which are connected in sequence, wherein the length of the stern section does not exceed 30% of the overall length of a vessel; the length of the bow section does not exceed 25% of the overall length of the vessel; the stern section uses a multi-hull structure; the cargo hold section uses a monohull structure; the bottom of the cargo hold section is of a double-bottom structure; the bow section uses a catamaran structure; side flare structures are arranged at both sides of the stern section and the bow section; the stern section, the cargo hold section and the bow section share a main deck; and the main deck is a flat grillage. In the present invention, by means of reducing the draft, a wetted surface area and a wave height during high-speed navigation are reduced, thereby greatly reducing wave-making resistance; and the stability and seakeeping performance of the vessel under severe sea conditions are also taken into account.

This invention relates to the field of marine renewable energy development technology, and discloses an anti-rolling wave fusion device and control method. The anti-rolling wave fusion device includes a wave energy platform, a floating wind turbine, a linkage mechanism, and a single-point mooring mechanism. One end of the wave energy platform is connected to a wave-absorbing float for capturing wave energy and attenuating the vibration force of the waves behind it. The floating wind turbine is located on the side of the wave-absorbing float away from the waves. The linkage mechanism is located between the wave energy platform and the floating wind turbine, and includes two parallel supporting trusses. The two ends of the supporting trusses are respectively hinged to the wave energy platform and the floating wind turbine through a rotating shaft, so that the floating wind turbine and the wave energy platform can move synchronously in the vertical plane. One end of the single-point mooring mechanism is located on the side of the wave energy platform away from the floating wind turbine, and the other end is used to connect to the seabed and form a mooring point. The wave energy platform rotates circumferentially around the mooring point through the single-point mooring mechanism, thereby improving the stability of the floating wind turbine.

The floating type wind power platform comprises a wind power assembly, a semi-submersible floating type platform body and a wave energy power generation assembly. The semi-submersible floating type platform comprises a center stand column, a side stand column set and a stand column frame. The center stand column is fixedly connected with the side stand column set through the stand column frame. The wind power assembly is fixedly connected with one end of the center stand column. The wave energy power generation assembly is in transmission connection with the side stand column set, and the spiral fin sleeve is arranged on the periphery of the wave energy power generation assembly in a sleeving mode and can drive the wave energy power generation assembly to rotate around the side stand column set under pushing of waves. During comprehensive development of ocean resources, when the floating type wind power platform is subjected to the action of waves in different directions, the spiral fin sleeve can stably drive the wave energy power generation assembly to rotate, wave energy is converted into electric energy, and the energy conversion efficiency is improved. Meanwhile, the spiral fin sleeve can effectively enhance the damping effect of the platform on waves and ocean currents, the platform motion response caused by the waves and the ocean currents is restrained, and the platform motion performance is effectively improved.

The invention discloses an unmanned aerial vehicle ship water gauge intelligent recognition system based on image recognition, which is based on a miniature unmanned aerial vehicle platform, integrates monocular and binocular camera combination, measures the distance between an unmanned aerial vehicle and a ship body in real time through a stereoscopic vision technology, and provides key data support for path planning and obstacle avoidance. A double-Bluetooth beacon base station is deployed on a shore base, a real-time navigation network is constructed, and a take-off point and state switching node positioning service is provided for the unmanned aerial vehicle; the system has a path memory function, can completely record full-voyage trajectory information, and automatically executes original path return voyage after a task is finished; through cooperative application of multi-sensor fusion perception, intelligent path planning, a dynamic obstacle avoidance technology, deep learning and a computer vision technology, a complete ship water gauge intelligent identification system is constructed, the port ship draught detection efficiency is remarkably improved, the labor cost is reduced, and key technical support is provided for intelligent operation and maintenance of ships.

To provide a comfortable environment for drift fishing.SOLUTION: A pair of right and left resistance plate units 90L and 90R which can be individually driven are arranged at the stem. The magnitude of the resistance that the resistance plates 93 of the resistance plate units 90L and 90R receive from the water is a first magnitude at the first position (90°) and is a second magnitude smaller than the first magnitude at the second position (0°). The resistance plate 93 is controlled based on the wind speed WS and the absolute tidal current speed TV1.SELECTED DRAWING: Figure 4