591results about "Vessel stability improvement" patented technology

The invention provides a floating attitude adjustment and optimization system for a floating type offshore wind power equipment group, and relates to the technical field of offshore wind power equipment, and the system comprises a sensing monitoring module which collects an equipment operation attitude parameter set and a marine environment data set in real time; the information is transmitted to the central control unit through the data transmission module, and is analyzed and processed by the equipment attitude prediction module to generate equipment attitude prediction information; the adjustment strategy generation module obtains a target attitude adjustment strategy based on the equipment attitude prediction information and the construction information of the buoyancy attitude adjustment device; the adjustment parameter generation module obtains attitude dynamic adjustment parameters; and the attitude adjustment execution module performs multi-point attitude adjustment and dynamic feedback optimization on the equipment group. The technical problem that an existing floating type wind power equipment set lacks a flexible floating posture adjusting means and is difficult to cope with floating posture changes caused by a complex marine environment is solved, the operation stability of the equipment set is improved, and therefore the power generation efficiency is improved, and the service life of the equipment is prolonged.

The invention provides an underway ship draft detection method, system, medium and equipment. The method comprises the following steps: acquiring laser point cloud data and image data of an underway ship; extracting an instant feature surface of the underway ship, comparing the instant feature surface with typical feature surfaces of various typical ship types, and selecting similar typical ship types; marking the side board part of the underway ship according to the side board part on the typical characteristic surface, and separating a point cloud set of the side board part; calculating the head freeboard height, the middle freeboard height and the tail freeboard height of the side broadside of the underway ship to obtain the freeboard height of the underway ship, and calculating the confidence coefficient; on the basis of the image data, identifying a waterline of the on-board ship so as to calculate bow, midship and stern drafts and confidence coefficients, and obtaining an initial draft; acquiring static structure data of the underway ship; according to the method, the laser point cloud data and the image data are used, so that the final draft of the underway ship can be accurately calculated.

The invention discloses a semi-active wind-facing single-point mooring floating type fan, the semi-active wind-facing single-point mooring floating type fan comprises a floating type foundation, a fan body and an anti-flow rudder, the floating type foundation is used for floating in seawater, the floating type foundation comprises at least two stand columns, and the stand columns are connected with the fan body. Any two adjacent stand columns are connected through a connecting frame, the multiple stand columns comprise one first stand column and at least one second stand column, and a mooring rotor is installed at the bottom end of the first stand column. The number of the draught fan is at least one, and the draught fan is used for being installed at the top end of the second stand column. The number of the anti-flow rudders is at least one, the anti-flow rudders are used for being installed at the bottom end of the second stand column, and the anti-flow rudders are used for providing lifting force in the horizontal direction for the second stand column under the effect of ocean currents. According to the semi-active wind-facing single-point mooring floating type draught fan, the influence of the current load can be reduced, it is ensured that the draught fan is always aligned with the wind load, and the power production efficiency is improved.

The invention discloses a wave energy integration device based on multi-resonance motion control, and belongs to the technical field of offshore power generation, the wave energy integration device comprises a semi-submersible platform, the semi-submersible platform comprises a plurality of buoys and a central stand column, each buoy is divided into an upper buoy and a lower buoy, the bottom of each buoy is provided with a base, and the central stand column is arranged on the base. A floating fan is arranged on the central stand column, the buoys and the central stand column are connected through a truss, a water tank is arranged in the lower buoy, a water pump is arranged at the bottom of the water tank, a guide rail is vertically arranged in the water tank, and a heaving wave energy device is arranged on the guide rail through a transmission device. By the adoption of the structure, complementary power generation of wind energy and wave energy can be achieved. Triple resonance of the liquid in the water tank, the built-in heaving wave energy device and the balancing weight is achieved, the wave energy power generation efficiency can be improved through multi-resonance motion control, meanwhile, heaving motion of the platform is reduced, and therefore the power generation stability of a draught fan and the safety of an integrated system are improved.

Disclosed herein is a buoyant structure for offshore deployment. The buoyant structure comprises a first deck having a first channel through the first deck; a second deck having a second channel through the second deck, wherein the first deck and second deck are coupled to each other and arranged spaced apart from each other; and a plurality of floatable substructures coupled to and around at least one of the first deck and the second deck, the plurality of floatable substructures arranged spaced apart from one another, wherein the first channel and the second channel are aligned to receive at least a portion of a tower of a wind turbine.

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

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

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

The invention discloses a hybrid power generation device with built-in swing type wave energy in a floating fan platform, and belongs to the technical field of offshore wind power generation. Comprising a semi-submerged platform, the semi-submerged platform comprises a plurality of buoys, connecting rods and mounting rods, bases are arranged at the bottoms of the buoys, the buoys are divided into upper buoys and lower buoys, wave energy devices are arranged in the buoys, a wind driven generator is arranged on the top face of the semi-submerged platform, and the buoys are connected through the slope connecting rods; and the mounting rod is connected with the buoy through a middle connecting rod and an inclined supporting rod. By the adoption of the structure, the semi-submersible platform arranged on the sea surface unstably floats along with the sea surface, and by means of up-down displacement caused by unstable floating, the swing rod in the internal wave energy device drives the hydraulic cylinder to move up and down so as to generate electricity; the inertia device is arranged for power generation, the floating displacement amount of the semi-submersible platform can be absorbed, and then the problem that the offshore wind turbine is low in power generation stability and safety is solved.

The invention discloses an oscillating floating body wave energy device based on multiple asymmetric stabilization, and belongs to the technical field of offshore wind power generation. Comprising a semi-submerged platform, a floating fan is arranged in the center of the semi-submerged platform, a wave energy device is arranged in the semi-submerged platform, the wave energy device comprises a shell, a sliding rod in the vertical direction is arranged in the shell, and a balancing weight, a power generation mechanism, a limiting stopper and a sliding rail are sequentially arranged on the sliding rod from top to bottom. By the adoption of the structure, wind energy and wave energy can be complementarily utilized for power generation, meanwhile, the three movable oscillation floating body wave energy devices are utilized for absorbing the wave energy acting on the draught fan floating type platform, the positions of the oscillation floating body wave energy devices are adjusted, PTO systems with different masses and rigidities are installed, and different PTO dampers are adjusted; and the wave resistance and stabilization capability of the floating fan and the survival capability of the oscillation floating body wave energy device are effectively improved.

A mooring assembly (11; 11') for installation on a marine structure (4, 5, 6), above or below a water surface (7), comprises a main frame (101; 101') having a connecting portion (107) for connection to the marine structure. The assembly comprises a stopper device (112; 112'; 112") which is arranged in the main frame (101; 101'), and an elongate stopper member (104) which may be connected to a mooring chain or line. The stopper device (112; 112'; 112") is configured for interlocking with the elongate stopper member (104). The stopper device (112) comprises a housing (122) with a plurality of ratchet pawls (124) arranged in a circular chamber (138), wherein the pawls (124) are movably interconnected via a ring member (125) and biased towards each other by an elastic member (123), and each pawl comprises one or more ratchet teeth (133) for interaction with corresponding teeth (118) on the elongate stopper member (104).

The invention discloses a flexible storm-resistant floating photovoltaic system which comprises a photovoltaic platform framework, a photovoltaic power generation platform is arranged on the upper side of the photovoltaic platform framework, a central floater is coaxially arranged below the photovoltaic platform framework, and the central floater is fixedly connected with the photovoltaic platform framework through a floater support. A plurality of arc-shaped posture adjusting bodies are distributed on the periphery of the central floater in a circular array mode, the two ends, in the length direction, of each arc-shaped posture adjusting body are connected with rotating shafts which are coaxial, and the arc-shaped posture adjusting bodies can rotate around the axes of the rotating shafts at the two ends of the arc-shaped posture adjusting bodies. The light tracking function is achieved on the basis of wind wave resistance.

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

The invention provides a semi-submersible type anti-rolling floating platform and a wind turbine generator. The semi-submersible type anti-rolling floating platform comprises a plurality of stepped floating barrels, anti-rolling layers, equipment layers and heaving plates. The stepped buoy comprises a first part, a second part and a third part, the first part is in an inverted cone shape, the second part is an equal-diameter section, and the third part is in a positive cone shape. The diameter of the lower end of the first part and the diameter of the upper end of the third part are equal to the diameter of the second part, and the taper of the third part is equal to that of the first part. The anti-rolling layer is connected with the bottom of the first part, and the anti-rolling layer is of a floating plate structure. The equipment layer is connected with the top of the first part, and hydrogen production equipment is placed on the equipment layer. And the heaving plate is connected with the bottom of the stepped third part. According to the semi-submersible anti-rolling floating platform, the stability of the platform during small-amplitude inclination is improved through the design of the stepped floating barrels and the additional arrangement of the anti-rolling layer.

The invention provides a joint design method and system for water flow estimation and ship waterline monitoring, and belongs to the technical field of ship monitoring, and the method comprises the following steps: firstly, a shore-based center deploys an underwater robot and plans a motion path according to the needs of a monitoring task, and builds a water gauge data set for model training; when the underwater robot arrives at the nearby area of the ship, the underwater robot measures the water flow speed and direction by using a Doppler velocimeter, and predicts a future water flow velocity field in combination with the trajectory information of the underwater robot; meanwhile, the underwater robot collects a waterline image through an airborne camera, pre-processes the waterline image, and calculates the credibility of the waterline image; and further, the underwater robot corrects the attitude in real time according to water flow velocity field prediction and waterline image credibility, and joint estimation of the water flow and the ship waterline is realized. According to the invention, water flow estimation and ship waterline monitoring are combined, and stable and efficient omnibearing ship waterline monitoring is realized through the underwater robot.

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 a floating fan with a stabilization function and a control method of the floating fan. A wind turbine unit of the floating fan is installed at the top end of a tower, the bottom end of the tower is installed on a floating platform, a plurality of stabilization rudders are arranged on the outer side face of the floating platform, and the floating platform floats on the sea surface and is connected to a seabed through a plurality of mooring chains. The method comprises the steps that a control system controls all rudder wings of the floating fan in real time according to a tilt angle monitored by a sensor in real time and a preset expected tilt angle, different working states are switched to achieve continuous control over the wave energy device, and when the tilt angle of the floating fan does not exceed the expected tilt angle, the floating fan does not start a stabilization rudder, and an automatic stabilization mode is started; and when the inclination angle of the floating fan exceeds the expected inclination angle, stabilization is carried out by controlling the rudder wings. According to the invention, the purposes of stabilizing the floating fan and saving energy can be achieved, so as to cope with complex sea conditions and prolong the working time.

The invention discloses a water level detection device with an intelligent sensor and used for hydraulic engineering and a detection method, and relates to the technical field of hydraulic engineering, the water level detection device comprises a fixed support, an ultrasonic water level gauge, an electric box, a solar cell panel and the intelligent sensor arranged in the fixed support, and further comprises a flow blocking structure arranged on the fixed support, the fluctuation limiting module is used for limiting fluctuation generated during water surface detection; the flow choking structure comprises a connecting frame, the connecting frame is installed on the outer surface of the fixed support, the middle of the connecting frame is sleeved with a first movable frame, a gear is installed in the connecting frame, a circular ring piece is installed at the bottom end of the first movable frame, a flow choking pipe is installed in the middle of the circular ring piece, and the bottom of the flow choking pipe is sleeved with a sleeve. The flow speed of water entering the flow blocking pipe and the sleeve is limited through the sleeve, the water surface of the detection area can be kept in a horizontal state, and then the water level detection result is more accurate.

The utility model belongs to the field of testing devices, and particularly relates to a ship balance testing device, which comprises a device main body, the inner wall of the device main body is provided with a swing structure, the swing structure comprises a rotating shaft, the surface of the rotating shaft is arranged on the inner wall of the device main body, the surface of the rotating shaft is fixedly connected with the surface of a pointer rod, and the pointer rod is fixedly connected with the device main body. The surface of the pointer rod is provided with positioning teeth, and the inner wall of the pointer rod is fixedly connected with a fluorescent strip. According to the ship balance testing device, when a swing structure needs to be adjusted according to a ship body, if the ship body is small, a handle is pulled towards two ends, so that the handle pulls a fixed block to be separated towards two ends, a reed is compressed, and the balance weight pendulum is pushed upwards, thereby reducing a force arm of a pointer rod, and enabling the swing amplitude of the pointer rod to be small; if the ship body is large, the balance weight pendulum is pulled down, so that the force arm of the pointer rod is increased, the swing amplitude of the pointer rod is large, and the detection precision of the detection device is improved.

The present disclosure provides new and innovative systems and methods for calculating the draft of a vessel. In an example, a computer-implemented method includes obtaining image data of a vessel, detecting at least one object in the image data, the at least one object comprising at least one draft mark, identifying a waterline by analysing the image data, determining an intersection between the at least one draft mark and the waterline, and calculating a height of the vessel based on the at least one draft mark and the intersection.

The utility model discloses a mechanical heeling meter, which relates to the technical field of inclination angle measuring devices and comprises a meter shell, an observation port arranged at the front end of the meter shell and a transmission mechanism, and the transmission mechanism comprises a driving wheel and a driven wheel which are arranged in the meter shell; the driving wheel is in transmission connection with the driven wheel; the transmission ratio of the driving wheel to the driven wheel is not less than 1; the pendulum driving assembly comprises a connecting piece and a hammer body; the hammer body is positioned on one radial side of the driving wheel; the hammer body is in transmission connection with the driving wheel through a connecting piece and can drive the driving wheel to rotate relative to the meter shell through the gravity distance effect. An indication assembly; the indicating assembly comprises a dial and a pointer matched with the dial to indicate the inclination angle. The dial and the pointer are arranged at the front part of the meter shell and correspond to the observation opening; the pointer is coaxially and fixedly installed on the driven wheel. The inclination angle measuring device can improve inclination angle measuring precision and has the advantages of being compact and small in structure and convenient to install.

The invention discloses a ship water gauge identification method, system and equipment based on deep learning. The method comprises the following steps: acquiring a real-time image of a ship water gauge; preprocessing the real-time image of the ship water gauge; inputting the preprocessed real-time image of the ship water gauge into a pre-trained deep learning network model, and identifying the water line and the water gauge scale of the ship water gauge by using the deep learning network model to obtain the real-time draught state of the ship; and storing the identified water line and the water gauge scale of the ship water gauge in a database. According to the application, the deep learning network model is adopted, and the ship water gauge scale and the waterline can be accurately identified in a complex environment; through an image preprocessing technology, identification of the ship water gauge can adapt to various light conditions and complex sea conditions, stable identification in severe weather is guaranteed, and environmental adaptability is improved. In addition, historical data are stored through a cloud database, real-time query and data backtracking are supported, and traceability and accuracy are improved.

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.

The present invention is applicable to the technical field of offshore photovoltaic power generation equipment, and provides an offshore photovoltaic power generation platform, including: a plurality of photovoltaic panel groups, which include photovoltaic panels and a mounting frame for installing photovoltaic panels, the photovoltaic panels are laid on the top of the mounting frame, the mounting frame includes a plurality of staggered buoyancy tubes, and the intersection positions of the plurality of buoyancy tubes are connected by a cross connection assembly; a buffering movement is provided between the photovoltaic panels and the mounting frame for buffering the shaking force of the photovoltaic panels; a wave barrier is arranged outside the photovoltaic panel group, and the wave barrier includes a plurality of annular wave barrier members arranged outside the photovoltaic panel group, thereby, the present invention effectively buffers the waves by arranging a multi-layer wave barrier structure, reduces the impact of the waves on the photovoltaic panels and the photovoltaic panel brackets, and at the same time, a mounting frame for supporting the photovoltaic panels is provided, the photovoltaic panels are raised above the sea level by a certain distance, and the service life of the photovoltaic panels is increased, and at the same time, the mounting frame is an assembled structure, which is convenient for the installation and later maintenance of the photovoltaic panels.

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

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 draft measuring program according to the present application causes a computer to execute: an acquisition procedure for acquiring a hull image obtained by photographing a hull; a region detection procedure for detecting a water surface region in the hull image using a detector that takes the hull image as an input; a reading procedure for reading scale numerical values indicated by draft marks in the hull image using a recognizer that takes the hull image as an input; and a measurement procedure for measuring the draft of the hull on the basis of the detection result of the water surface region and the reading result of the scale numerical values.