6results about How to "Smooth sailing" patented technology

The invention relates to a shoreline identification and course keeping method, system and device based on vision. The method comprises the following steps: acquiring an image of a water area in front of a ship in real time through a shipborne camera; processing the image by using an improved Spatial CNN model to extract a left shoreline and a right shoreline, fitting the left shoreline and the right shoreline into straight lines, and calculating an intersection point of the two fitted straight lines; taking the intersection point as a far-end piloting target point, and calculating a heading adjustment value according to the field angle of the shipborne camera and the position relation of the ship relative to the piloting target point; and inputting the heading adjustment value into a PID controller for PID adjustment so as to generate a steering engine control instruction, and driving the ship to automatically adjust the heading according to the steering engine control instruction. The method is suitable for a complex river environment without map and support of positioning equipment, and autonomous navigation and course control of the ship are realized.

This invention discloses a frogman underwater propulsion vehicle and its assembly method, comprising a main body shell, an adjustment assembly, and a transport compartment. A fairing and a propeller hub are installed at the tail of the main body shell, with propeller blades evenly distributed circumferentially around the hub. The adjustment assembly includes a sliding guide rail, a limiting rod, a pulling rod, a sliding block, a connecting block, a rotating shaft, a suspension block, and a limiting hole. The sliding guide rail includes two sliding grooves at the top and bottom of the adjustment assembly. The transport compartment includes a water pump adjustment compartment, a ballast compartment, a cargo compartment, and a frame. This invention adjusts the center of gravity of the transport device through the adjustment assembly, increasing the stability of the underwater propulsion vehicle during navigation. By setting up the ballast compartment to ballast and de-ballast the transport device, the frogman underwater propulsion vehicle maintains neutral buoyancy at all times, thereby achieving higher propeller efficiency.

The invention discloses crawling phased array detection equipment in a tubular reactor, and the equipment is characterized in that the equipment comprises a rotating crawling device, the rotating crawling device comprises a rotating gear, a first rotating shaft, an elastic part, a connection part, a solenoid, a magnetic control contraction assembly, and a solenoid support, the rotating gear is fixed in a first housing, and the first rotating shaft is fixed in a second housing; one end of the first rotating shaft is fixedly connected with the rotating gear through the first through hole, a spiral groove is formed in the outer surface of the first rotating shaft, the other end of the rotating shaft is sleeved with the connecting part, a sliding block is arranged on the inner wall of the connecting part and slides in the groove, and one end of the connecting part is connected with one end of the magnetic control contraction component. The elastic component is respectively connected with the other end of the connecting part and one surface, close to the first shell, of the second shell, and the phased array ultrasonic detection device scans the inner wall of the tubular reactor in the rotating and crawling process of the crawling phased array detection equipment, so that nondestructive detection can be effectively performed on the inner wall of the tubular reactor.

The utility model relates to a dual-purpose electric tugboat for towing and eliminating, which belongs to the technical field of tugboats and comprises a boat body, a propelling mechanism, a deck house, a consumable liquid tank, a fire-fighting mechanism, a bow battery and a stern battery, and a fore peak, a vacant cabin, a bow battery cabin, a cabin, a stern battery cabin and a steering oar cabin are respectively arranged in the boat body; the propelling mechanism is fixed in the steering oar cabin; the deckhouse is fixed in the middle of a deck of the hull; the consumable liquid tank is arranged in the cabin; the fire-fighting mechanism comprises a fire-fighting pump and a fire-fighting monitor; the fire-fighting pump is fixed in the cabin and is communicated with the seawater tank; and the fire monitor is fixed on the deckhouse and is communicated with the fire pump. According to the utility model, the bow battery and the stern battery are distributed in the bow battery compartment and the stern battery compartment, so that the weight balance of the whole ship is ensured; meanwhile, a fire pump is arranged in a cabin in the middle of the ship body to realize dragging and eliminating dual purposes; in addition, the consumable liquid tank is arranged in the cabin in the middle of the ship body, so that the floating state of the ship body can be prevented from being greatly changed in the liquid consumption process.

The embodiment of the utility model provides a swing car which comprises a car body with a vertically-through through hole formed in the front end portion, a transmission pipe arranged in the through hole in a penetrating mode, a steering wheel arranged above the front end portion of the car body and fixedly connected with the top end of the transmission pipe, and a front foot assembly arranged below the front end portion of the car body and fixedly connected with the bottom end of the transmission pipe. The front foot assembly comprises a base, and a lower connecting rod fixedly connected with the bottom end of the transmission pipe extends out of the top face of the base in a protruding mode. The two front wheels are symmetrically assembled on the two opposite sides of the rear end of the base; the two universal wheels are symmetrically assembled on the two opposite sides of the front end of the base, the distance between the two universal wheels is larger than that between the two front wheels, and the lowest points of the outer wheel faces of the two universal wheels are higher than the lowest points of the outer wheel faces of the front wheels. According to the swing car provided by the embodiment of the utility model, the universal wheels on the corresponding sides can be used for providing an auxiliary supporting effect when the car is subjected to overlarge-amplitude side tipping, so that the car is well prevented from tipping, and the stability is high.

The invention discloses a variable light spot LED lens module adopting a cam push rod mechanism, and relates to the technical field of lighting equipment, the variable light spot LED lens module comprises a shell, a lighting mechanism is arranged on the rear side in the shell, and a light changing mechanism is arranged on the front side in the shell; the light changing mechanism comprises a movable plate slidably connected to the interior of the shell, a movable block slidably connected to the interior of the movable plate, a movable seat rotatably connected to the interior of the movable block, a first lens fixedly arranged above the movable seat, a fixed plate fixedly arranged in the shell, a guide groove formed in the fixed plate, and two channels obliquely extending towards the two sides in a symmetrical structure from the rear portion of the guide groove. The moving seat is in sliding fit with the interior of the guide groove; the front side of the bottom face of the inner side of the shell is rotationally connected with a rotating disc, a plurality of limiting rods which are annularly arranged at equal intervals are fixedly arranged on the rotating disc, and rod grooves in sliding fit with the limiting rods are formed in the two side walls of the front portion of the guide groove. According to the invention, the dark space range at the edge of the lighting equipment during fan-shaped scanning can be effectively reduced, and the lighting quality is greatly improved.