8371results about "Waterborne vessels" patented technology

The invention relates to the technical field of ships, in particular to a fault monitoring system and method for a ship power system, and the system comprises a multi-source data collection module which carries out the real-time collection of the operation parameters, environment parameters and equipment state parameters of the ship power system through a collection device. The fault early warning module is used for predicting the development trend of the fault after the fault diagnosis is completed; the early warning decision module generates early warning information of different levels according to the state evaluation result, the fault diagnosis result and the RUL prediction result, gives targeted operation and maintenance decision suggestions, and pushes the suggestions to a ship cockpit, a shore-based operation and maintenance center and an operation and maintenance personnel mobile terminal; 24-hour uninterrupted multi-parameter acquisition of the ship power system is realized through the multi-source sensor network, three types of parameters of operation, environment and state are covered, acquisition delay is reduced, and the problems of poor timeliness and incomplete parameter coverage of traditional manual inspection are solved.

The invention discloses a ship control auxiliary method based on machine learning, and relates to the technical field of ship intelligent control, and the method comprises the steps of ship data collection, fuel oil energy consumption prediction, dynamic navigational speed planning and energy-saving feedback control. According to the method, the fuel energy consumption is predicted by adopting a prediction method combining multi-mode and disturbance self-adaption, modeling multi-dimensional data is unified, perception of environmental disturbance is enhanced, accurate prediction of the fuel energy consumption under complex navigation conditions is realized, and the reliability of subsequent dynamic navigational speed planning is effectively improved; dynamic speed planning is carried out by adopting a speed planning method combining multiple targets and segmented constraints, three core factors of fuel energy consumption, navigation time and safety risks are comprehensively considered, a multi-target cost function is constructed, segmented constraints are introduced, the physical feasibility and risk control of speed adjustment are guaranteed, the speed is optimized through a reinforcement learning mechanism, and the speed planning efficiency is improved. Intelligent self-adaptive navigational speed adjustment is achieved, and the energy-saving capacity, the navigation efficiency and the operation safety of the ship under the complex navigation condition are improved.

A drifting buoy trajectory prediction method based on a hybrid neural network prediction model, includes: S1, obtaining marine environmental data and historical trajectory data of a drifting buoy; S2, performing preprocessing on the marine environmental data and the historical trajectory data to obtain input data configured to predict northward and an eastward velocities of the drifting buoy; S3, inputting the input data into the hybrid neural network prediction model to obtain predicted values of the northward and eastward velocities; S4, calculating latitude and longitude coordinates of a trajectory point of the drifting buoy based on the predicted values of the eastward and northward velocities; and S5, predicting, by repeating the step S1-S4, latitude and longitude coordinates of trajectory points of the drifting buoy at multiple time points to obtain a sequence of trajectory point coordinates to thereby achieve trajectory prediction of the drifting buoy over a target future period.

The invention discloses a marine geological sediment sampling device and method, and belongs to the technical field of sampling equipment. The marine geological sediment sampling device comprises a bottom frame, wherein one side of the bottom frame is a containing box, and the other side of the bottom frame is an inserting rod; the power box is arranged in the containing box through a sliding sealing structure, and a power element is installed in the power box. A sampling pipe in transmission connection with the power element, a floating assembly installed on the power box and an air pipe in the power box are installed among the multiple insertion rods, when the pressure in the cavity reaches a set value of a pressure valve, the valve is opened, compressed air is sprayed to stress blades through the air pipe to drive a first sliding ring to rotate, a floating plate rotates synchronously, and auxiliary propulsive force is generated; the propelling direction is consistent with the sinking direction of the device, the function of accelerating sinking is achieved, seawater resistance is effectively resisted, meanwhile, in a shallow sea area or a deep sea area, the overall buoyancy of the device is changed by dynamically adjusting the inflation volume in the floating plate, and the device can be prevented from violently shaking or inclining due to too fast sinking.

The invention relates to the technical field of topographic survey, in particular to an overwater and underwater topographic survey method based on cooperation of an unmanned ship and an unmanned aerial vehicle. The method comprises the following steps: acquiring platform parameter data of an unmanned ship and an unmanned aerial vehicle; according to the platform parameter data, isomerization grouping based on the residual electric quantity, the communication signal strength, the cruising ability and the measurement precision is carried out, a collaborative formation scheme is determined according to a preset water area measurement task sequence, and collaborative parameter data is obtained; acquiring environment data of a measurement area; and performing regional division modeling based on water area topographic features and environmental complexity according to the environmental data of the measurement region, and applying the collaborative parameter data to a regional model to obtain a topological model of the measurement region. The unmanned ship is used as a mobile charging platform, real-time electric quantity monitoring and docking charging mechanisms are combined, the endurance guarantee of the unmanned aerial vehicle is realized through energy supply strategy optimization, and the continuity and stability of tasks are ensured.

The invention relates to a marine fishery breeding work ship deep water taking device and method, the marine fishery breeding work ship deep water taking device comprises a water taking cantilever, a submersible pump, a guide roller, a rolling part and a lifting device, the water taking cantilever is connected with a ship body through a rotation pair, and the water taking cantilever can stably descend underwater and keep the accurate water taking depth; the water taking method comprises the steps that the position and angle of a water taking cantilever are adjusted through a winding and unwinding winch, a temperature sensor at the water taking cantilever end monitors the seawater temperature in real time, and when the temperature reaches a preset value, a submersible pump is started to extract deep seawater; compared with a traditional method, the device has the characteristics of compact structure, simple operation, high efficiency and reliability; the problems that underwater butt joint is difficult, a hose is prone to damage and the like are solved, and operation efficiency and safety are remarkably improved; through the connection of the flexible short pipe, the flexibility and the stability in the water taking process are ensured, and meanwhile, the labor intensity of operators is reduced; the technology can be widely applied to marine fishery breeding, especially extraction of deep cold water resources, and has remarkable energy-saving, environment-friendly and economic benefits.

A water sensor buoy for use in a water environment including a main buoy assembly and a sensor package. The assembly includes a buoy hull, a data processing and control unit, a data transmission unit, and a power source. The sensor package is in removable engagement with the assembly. The sensor package includes a sensor housing in removable engagement with the buoy hull, and a water sensor in removable electronic communication with the data processing and control unit and the power source, and configured to sense an attribute of the water environment. The buoy has a watertight seal between the buoy hull and sensor housing, and an electrical conduit. The conduit is engageable with the data processing and control unit and the power source with the sensor housing being engaged with the buoy hull, and disengageable upon the sensor housing being disengaged from the buoy hull.

The invention discloses a large-scale ocean data buoy safety monitoring system and method based on multi-source fusion, and relates to the technical field of buoy monitoring. Buoy equipment operation parameters, ocean environment data and surrounding ship dynamic information are synchronously acquired through a buoy body sensor group, an environment monitoring unit and a ship identification module; time-frequency domain feature extraction and anomaly detection are carried out on the collected data, and a collision risk dynamic evaluation model is constructed in combination with ship trajectory prediction; establishing an equipment health, environment interference and ship threat fusion evaluation system, and performing risk grade division in combination with real-time monitoring data and a historical database; and generating early warning information based on the risk level, and automatically triggering an equipment maintenance instruction and a ship collision avoidance alarm. The method adapts to ship variable-speed steering scenes, threshold values are dynamically adjusted, and adaptability and analysis accuracy of the system are improved.

The invention relates to the technical field of environment monitoring, and discloses a radio-based environment monitoring method and system, and the method comprises the steps: deploying an ocean buoy integrated with a plurality of parameter sensors, and detecting the water temperature, salinity, dissolved oxygen, pH value and illumination intensity in real time; transmitting the data detected in real time to a shore-based receiving station by using a radio communication module; performing drift correction and noise filtering on data transmission detected in real time; performing data fusion analysis according to the mutual relation among different data, and generating a marine environment assessment report; and abnormal early warning information is generated according to the marine environment assessment report and is fed back to a monitoring center in real time through radio. According to the invention, through integration of various parameter sensors, comprehensive monitoring of multiple parameters of the marine environment is realized, and the accuracy and reliability of monitoring are improved.

The invention relates to the technical field of ship working condition recognition, in particular to a multi-working-condition recognition method, system and device for an all-electric ship and a medium, and the method comprises the steps: obtaining the historical operation data of the all-electric ship, carrying out the feature extraction and noise reduction, and obtaining a noise reduction data set of each sample; preliminarily clustering the noise-reduced propulsion load and the first-order derivative of the propulsion load into a plurality of basic working conditions, and adding a unique basic working condition label for the noise-reduced data set; judging whether the absolute value of the first-order derivative of the propulsion load of each sample after noise reduction is higher than a preset threshold value or not, summarizing noise reduction data groups corresponding to all samples with positive results into a high-fluctuation data set, and summarizing the propulsion load, the first-order derivative of the propulsion load and the basic working condition labels corresponding to other samples into a general data set; and using a kernel principal component analysis algorithm to extract main features of data in the high-fluctuation data set and the general data set, inputting the main features into the pre-trained working condition subdivision model, and outputting a specific working condition category. The working condition identification precision and real-time performance of the all-electric ship can be improved.

The invention relates to the technical field of ship mooring bollards, and discloses a multifunctional ship mooring bollard which comprises a mounting plate, two mooring bollard bodies are arranged on the upper side of the mounting plate, a supporting block is fixedly arranged at one end of the mounting plate, and a processing assembly is arranged at the upper end of the supporting block; the treatment assembly comprises a cylinder, a movable ring is movably arranged in the cylinder, a plurality of ejector rods are slidably arranged on the inner wall of the movable ring in the radial direction, and a movable part is fixedly arranged at one end of each ejector rod; the surface of the cable can be brushed through rotation of the brush blocks, so that stubborn attachments such as oil stains and algae on the surface of the cable can be brushed and removed. And the second cleaning part and the first cleaning part rotate to clean the surface of the cable, and the second cleaning part is in an inclined state, so that attachments on the surface of the cable can be cleaned layer by layer, and the cable surface treatment effect is improved.

The invention discloses a semi-submersible wave energy-wind energy integrated power generation platform and a damping regulation and control method of a damping regulation and control system of the semi-submersible wave energy-wind energy integrated power generation platform. The platform comprises a semi-submersible wind driven generator platform, a wind driven generator set, a wave energy power generation device, an energy storage system, a sea area detection system and the damping regulation and control system. The wave energy power generation devices are divided into two groups on the inner side and the outer side of the platform, each wave energy power generation device comprises a platform inner side wave energy power generation device and a platform outer side wave energy power generation device, and each wave energy power generation device comprises a swing arm floater, a universal hinge, a connecting arm and a damping adjusting module. The semi-submersible wind power generation device and the wave power generation device are combined, and offshore renewable resources are comprehensively utilized; the six-buoy design is adopted, buoyancy is dispersed, stability and safety are improved, and meanwhile space is provided for a wave power generation device; the floaters are symmetrically arranged in a hexagonal shape and carry a damping regulation and control system, and the whole structure is more easily stabilized by adjusting the damping of the floaters in all directions.

The present invention relates to a wave energy power generation buoy with a variable length and angle damping plate and its control method, belonging to the technical field of wave energy power generation buoys. It includes a main floating body, an air turbine and a damping plate. The main floating body is a hollow rear-bent pipe structure. The air turbine is installed at the air outlet at the top of the rear end of the main floating body. The damping plate is installed at the rear end of the main floating body. The damping plate includes an L-shaped fixed plate, a horizontal telescopic plate, a vertical telescopic plate and an inclined movable plate. The L-shaped fixed plate is fixedly connected to the main floating body. The horizontal telescopic plate is horizontally slidably connected to the horizontal side plate of the L-shaped fixed plate. The vertical telescopic plate is vertically slidably connected to the vertical side plate of the L-shaped fixed plate. The upper and lower ends of the inclined movable plate are respectively movably connected to the vertical telescopic plate and the horizontal telescopic plate. The L-shaped fixed plate is provided with a first telescopic driving mechanism for driving the horizontal telescopic plate to move back and forth and a second telescopic driving mechanism for driving the vertical telescopic plate to move up and down. The present invention can improve the wave energy conversion efficiency.

The invention provides a water surface target grabbing system and a control method thereof, and relates to the technical field of marine operation equipment. The system comprises an unmanned ship and a cooperative mechanical arm, the unmanned ship and the cooperative mechanical arm share a processor; the unmanned ship supplies power to the cooperative mechanical arm; the unmanned ship is positioned through an inertial navigation system on the unmanned ship and a scene camera and a depth camera on the cooperative mechanical arm; a scene camera, a depth camera and an integrated sensor on the cooperative mechanical arm transmit data to a processor on the unmanned ship through a local area network, the processor calculates and analyzes the data transmitted by the scene camera and the depth camera, and an action instruction is sent to the cooperative mechanical arm through a CAN bus. According to the water surface target grabbing system, automatic grabbing is achieved, and the grabbing precision, stability and adaptability of the system in the dynamic marine environment are improved.

The invention relates to a buoyancy tank wharf real-time assembly quality control method, and belongs to the technical field of port engineering automatic construction. According to the method, aiming at the problems of large geometric positioning deviation, uneven contact surface stress and difficulty in real-time control of attitude instability in buoyancy tank assembly, laser range finders are mounted at four corners of a buoyancy tank through a geometric positioning layer to monitor horizontal deviation, and pressure sensors are arranged on a butt joint surface through a mechanical sensing layer to generate a pre-tightening force curve; the attitude monitoring layer adopts a bottom inclination angle sensor to detect inclination; according to the horizontal deviation, the curve similarity deviation and the inclination angle deviation, the real-time management and control platform triggers a hydraulic adjusting mechanism, a torque wrench and a balance weight drive to conduct adjustment; meanwhile, data are stored through a buoyancy tank number, a timestamp and a sensor type three-dimensional index, and a rechecking instruction is generated based on the difference between the current adjusting quantity and the first three mean values. According to the invention, real-time control and dynamic adjustment of the assembly process are realized, and the modular assembly precision and safety of the floating wharf are improved.

The invention provides a combined fleet fault early warning method and system based on intelligent monitoring, and relates to the technical field of data processing, and the method comprises the steps: collecting the power data of a main propulsion ship, and the course data, navigation data and connection device data of a fleet, obtaining a fleet data set, and analyzing the fleet data set to obtain a fault early warning result; propulsive power parameters, course change parameters, navigation synchronization parameters and connection stress parameters are obtained, the state relation between ships is determined, a fleet operation state evaluation matrix is obtained, and anomaly detection is carried out on the propulsive power parameters, the course change parameters, the navigation synchronization parameters and the connection stress parameters according to the evaluation matrix; determining whether abnormal parameters exceeding the preset parameter group exist or not, obtaining abnormal parameter data, analyzing the influence degree of the abnormal parameters on the fleet according to the abnormal parameter data, obtaining a fault influence range, setting an early warning level for the fault according to the fault influence range, and generating early warning information. According to the invention, fleet faults are identified through intelligent monitoring and early warning is carried out.

The invention relates to a ship repair platform and a using method thereof, and belongs to the technical field of ship repair platforms, the ship repair platform comprises a movable base, an operation mechanical arm, an image recognition system and an intelligent control system, the movable base is provided with a magnetic attraction crawler belt and a hydraulic cylinder, and a vacuum suction cup is installed at the driving end of the hydraulic cylinder; a safety rope ring and a bearing base are fixedly installed on the movable base, the bearing base is rotationally connected with a loading platform, the three operation mechanical arms are evenly installed on the top of the loading platform, the three operation mechanical arms are provided with a high-pressure water gun, a laser rust removal head and a paint spraying nozzle correspondingly, and a device support is fixedly installed on the movable base. The device support is provided with an electric holder. According to the method, the damaged area of the outer wall of the ship body can be automatically recognized, cleaning, dirt removal and paint make-up operation can be accurately executed, the manual intervention requirement is reduced, and the maintenance efficiency is improved.

A system and method for collecting hydrological information in deepwater lakes, deepwater reservoirs, and oceans. The system comprises a cable (2) which is vertically lowered into the water of a deepwater lake, deepwater reservoir, or ocean, and a hydrological probe (4) connected to the lower end of the cable (2). The cable (2) connects a number of submersible floating tanks (3) distributed at varying depth positions, the cable (2) comprising a number of segments, and a cable (2) segment being connected between two vertically adjacent submersible floating tanks (3). The method comprises: fixing the hydrological probe (4) to the endmost cable (2) end, and fixing the other end of the cable (2) on a power ship (1); lowering the hydrological probe (4) into the water until all cable (2) segments are taut, the hydrological probe (4) reaches probing depth, and each glass floating tank (7) also reaches its respective sampling depth; water enters the glass floating tanks (7) and fills buoyancy chambers; and starting a suction pump, and after the hydrological probe (4) finishes working and sampling by the glass floating tanks (7) is complete, pulling the cable (2) up to the ship. The hydrological probe (4) is lowered to a collection depth and simultaneous collection of water samples at various depths is implemented, thus reducing sampling time.

The present invention relates to a wave energy power generation buoy with a variable floating drum diameter and a control method thereof, belonging to the technical field of wave energy power generation buoys, and comprising an air turbine, a rigid floating drum, a flexible floating drum and a heaving plate. The rigid floating drum is a cylinder with a fixed annular cavity, an oscillating water column channel is arranged at the center of the rigid floating drum, a ventilation port communicated with the oscillating water column channel is arranged at the top center of the rigid floating drum, the air turbine is fixedly installed at the ventilation port, a plurality of uniformly distributed vertical rods are fixedly connected to the bottom of the rigid floating drum, and the lower ends of the vertical rods are fixedly connected to the heaving plate. The flexible floating drum is a cylinder with a radially variable annular cavity, the flexible floating drum is fixedly sleeved on the outer peripheral side of the rigid floating drum, and an air inflation and extraction device for inflating or extracting air from the flexible floating drum to change its radial dimension is fixedly installed in the fixed annular cavity. The present invention improves the wave energy conversion efficiency.

The invention discloses a ship state monitoring system and method based on multi-source data, and relates to the technical field of ship engineering, the system comprises a bionic flexible sensing module, a multi-source data acquisition module, an anti-interference communication module, a multi-source data fusion module, an edge calculation processing module, an intelligent fault diagnosis module and a man-machine interaction and decision support module; wherein the bionic flexible sensing module acquires broadband vibration signals, the multi-source data acquisition module accesses multi-source data, the anti-interference communication module realizes data transmission based on a metamaterial antenna and the like, the multi-source data fusion module generates a standardized data set, and the edge calculation processing module completes feature extraction and abnormity pre-screening. The intelligent fault diagnosis module locates a fault and generates a report, and the man-machine interaction and decision support module visualizes data; the bottleneck of curved surface detection is broken through, data transmission is guaranteed, and accurate diagnosis is realized.

This invention relates to a modular sensing, communication, and analytics platform. The platform includes a modular device network having a communication module, a main module, and at least one modular device, where the communication module, the main module, and the at least one modular device use acoustic signals, visual signals, light signals, and / or radio frequency to establish a communication link between the communication module, the main module, and the at least one modular device.

The invention relates to the technical field of ship construction, and discloses a ship annular block assembly method, which comprises the following steps of: drawing a corresponding ship body center line, a ship body longitudinal section line, a ship body rib detection line and a ship body waterline in an overall design drawing of a ship body according to the actual segmentation condition of the ship body; marking is correspondingly drawn on the built bottom section, the built broadside section and the built transverse bulkhead section in sequence as the basis; a bottom center line, a bottom rib detection line, a broadside longitudinal section line, a broadside rib detection line, a transverse bulkhead center line and a transverse bulkhead rib detection line are used for alignment and adjustment to replace data measurement of closure openings in the prior art so as to achieve alignment and butt joint of the closure openings. The problem that the alignment precision is poor due to the fact that a closing opening data measuring instrument cannot be arranged due to the narrow total assembly site is solved, the total assembly precision is guaranteed, and then the structural strength, water tightness and overall precision of a ship body are guaranteed.

The present invention relates to a heaving plate wave energy power generation buoy with a variable cross-sectional area of a water column and a method thereof, belonging to the technical field of wave energy power generation buoys. It includes a buoy body, an air turbine is installed in the air outlet hole at the top of the buoy body, a central pipe located directly below the air outlet hole is arranged at the center of the bottom of the buoy body, a water column cavity communicating with the air outlet hole is formed between the outer side wall of the central pipe and the inner side wall of the buoy body, a heaving plate is fixedly connected to the bottom end of the central pipe, a plurality of uniformly distributed horizontal guide rails are fixedly connected between the upper outer side wall of the central pipe and the middle inner side wall of the buoy body, a telescopic partition plate assembly that divides the water column cavity into an outer water column cavity and an inner water column cavity is slidably installed on the plurality of horizontal guide rails, and a synchronous telescopic driving mechanism for driving the telescopic partition plate assembly to move along the horizontal guide rails is fixed at one end of the horizontal guide rail. The present invention can change the cross-sectional area ratio of the outer water column cavity and the inner water column cavity according to sea conditions, and obtain the optimal wave energy conversion efficiency.

A management system for use in relation to a marine ecosystem includes data collection devices and an agent, such as an autonomous water upwelling or downwelling device, capable of causing implementation of a computer-determined change in the ecosystem, wherein a computer is programmed to operate an intelligent feedback loop and iteratively receive and process gathered data; determining from reinforcement learning whether to implement a change to the ecosystem designed for its improvement, communicate instructions to the agent for implementing the change, observing effects of the change and determining whether a further change would benefit the ecosystem; wherein the change includes causing artificial introduction or removal of water from a depth in the ecosystem by upwelling or downwelling and the rate thereof. Also included is a method of acquiring knowledge of, and managing an ocean ecosystem using the above system.

The present disclosure relates to an offshore floater and a related offshore floater plant where the offshore floater is configured for positioning a deck above sea-level and the offshore solar floater comprising a floating structure for providing buoyancy to the offshore floater and a deck for mounting the plurality of solar panels, the deck being supported by the floating structure, where the floating structure comprises a plurality of vertical buoyancy columns positioned at corners of the floating structure and a plurality of structural braces connecting the plurality of vertical buoyancy columns for providing structural stability of the floating structure.

A watercraft for retrieving an object on a body of water, comprising (i) a containment structure having an interior defining an internal cargo area of the watercraft, an open front side, and a partially or fully submerged lower containment element through which water can freely pass while obstructing the object from exiting the internal cargo area; and (ii) one or more floatation members coupled to an exterior of, or defining at least a portion of, the containment structure. A modular watercraft comprising first and second floatation members configured to be deployed on an exterior, and stowed in an interior, of the containment structure. A system comprising a watercraft having one or more rotating capture assemblies onboard, configured to actively pull or push the object into an internal cargo area through the open front side of the containment structure.

The invention provides a ship micro-grid energy management method based on hierarchical coordination of model predictive control and a chaos evolution optimization algorithm, and the method comprises the steps: constructing a hierarchical coordination control architecture which comprises an upper rolling optimization scheduling layer and a lower real-time stability control layer; the upper layer adopts a model prediction control framework, a chaos evolutionary optimization algorithm is built in to serve as a solver on the basis of load and new energy output prediction of a future time domain, and an optimal power reference instruction in the future short time domain is solved in a rolling manner by taking operation cost, energy storage aging cost and power grid stability penalty as a comprehensive target; and the lower layer executes power scheduling according to the reference instruction issued by the upper layer, absorbs and compensates high-frequency power fluctuation in real time by using a droop control quick response mechanism of the energy storage system, and maintains the stability of the power grid. According to the method, decoupling cooperation of global economic optimization and local dynamic stability of the ship microgrid can be realized, the fuel consumption is remarkably reduced, and the safety and reliability of the system under complex working conditions are improved.

The invention discloses a deep and far sea wind power foundation platform and load integrated system under extreme environment conditions, and belongs to the technical field of offshore wind power platforms. The system comprises a basic platform body, a multi-dimensional monitoring subsystem, an environment-load coupling analysis subsystem, an intelligent regulation and control execution subsystem, a safety early warning decision subsystem and a shore-based collaborative management subsystem. Through synchronous acquisition of extreme marine environment, basic platform structure load and operation state data, distributed multi-type sensor layout and high-frequency sampling, data acquisition comprehensiveness and timeliness are realized, monitoring data are fused, a coupling model is constructed, 24-hour load change is predicted, and the real-time performance of the system is improved. According to the method, the attitude of the platform is dynamically adjusted, bearing configuration is optimized, emergency protection is started, the limitation of traditional separation analysis and fixed regulation and control is broken through, and the risk disposal and operation and maintenance efficiency is improved through risk quantification and grading early warning, remote monitoring and intelligent scheduling of a shore-based collaborative management subsystem and four-level early warning accurate matching coping strategies.

The invention provides a water surface target automatic grabbing device and a control method thereof, and relates to the technical field of marine operation equipment. The device comprises a computing platform, a mechanical arm, a hook, a telescopic rod, a binocular camera, a depth camera, an inertial sensor and a self-stabilizing holder, the computing platform is fixedly mounted on the unmanned ship; the self-stabilizing holder is fixed on a deck of the unmanned ship; the mechanical arm is mounted above the self-stabilizing holder; the hook is mounted at a specified position on the unmanned ship; the telescopic rod is mounted at the tail end of the mechanical arm; the binocular camera and the depth camera are installed at preset positions of the tail end of the mechanical arm and connected with the computing platform through high-speed data transmission lines. The inertial sensor is installed in the mechanical arm and connected with the computing platform. According to the automatic grabbing device, the grabbing precision, stability and adaptability of the system in the dynamic marine environment are improved.