154results about How to "Smooth sailing" patented technology

The objective of the invention is to provide a float-type energy-generating system that is able to maintain the system's body stably, without listing, while sailing, even in a strong wind, while efficiently generating electricity. The system includes a hull (4) that allows the system to be suspended underwater or to float on seawater, one or more plates (6) that receive the sea wind so as to allow the hull to sail, and one or more power generators (3) that generate electricity by rotating one or more water turbines that use water as a working medium while the hull sails.

The invention discloses an USV (Unmanned Surface Vehicle) water surface dynamic autonomous recovery UUV (Unmanned Underwater Vehicle) method, and the method comprises the steps: an USV sails to an UUV in a fixed speed, and the UUV keeps to standby in site; the USV calculates an initial position point of a virtual USV which is needed to be tracked by the USV according to quadrant of a recovery circle accessed by the USV; movement calculation of the virtual USV is performed, and the USV tracks the virtual USV; the UUV keeps to standby in site; when the USV access an activation circle, the USV keeps to sail in current course and speed and transmits an activation instruction to the UUV through radio; the UUV receives the activation instruction, performs movement calculation of the virtual UUV and starts to track the virtual UUV; the UUV access a connection circle, a connection structure is released, and the USV is noticed to release the connection structure through the radio; the UUV is connected with the USV through the connection structure, and the recovery is completed. According to the invention, recovery maneuvering strategies are autonomously adopted according to in-site conditions, and the autonomous recovery of the UUV is realized.

The invention provides an unmanned ship based on wind energy driving. The unmanned ship comprises a ship body. A rudder is arranged on the tail portion of the ship body. The ship body is internally provided with a navigation control system. The unmanned ship further comprises a solar energy power supply system, environment sensing equipment and a positioning device. The solar energy power supply system comprises solar energy cell panels and an energy storage device. The output end of the energy storage device is connected with the environment sensing equipment, the positioning device and the navigation control system. The navigation control system comprises a shipborne processor and a PID controller, wherein the shipborne processor is used for planing a route according to the collected information of the environment sensing equipment, the real-time positioning information of the positioning device and a preset task key position, and the PID controller is used for controlling angles and rudder angles between a mainsail and the wind direction as well as between a fore sail and the wind direction according to the result of the shipborne processor. An ancient water vehicle, namely, the sailing ship is utilized, and the wind energy is utilized to serve as driving force, so that zero discharging of pollutants is achieved, and the long-time continuous voyage can be guaranteed. By adjusting the position and the angle of the wind sails, smooth navigating can be carried out even under the headwind situation.

The invention discloses a full-automatic turf harvester. The full-automatic turf harvester comprises a cutting mechanism arranged close to the ground and used for mowing, a conveying mechanism, a rolling mechanism, a stacking mechanism, a stacking region and a power mechanism. The conveying mechanism, the rolling mechanism and the stacking mechanism are sequentially arranged in the turf conveying direction. The rolling mechanism is composed of an upper conveying track and a lower conveying track which are in same-direction drive. The stacking mechanism comprises a spring pressing plate, a front baffle, a rear baffle, a lead screw and a lead screw motor. The front baffle and the rear baffle are correspondingly arranged on the two sides of the spring pressing plate, and the lead screw pushes the baffles to move. A first limiting switch for controlling the lead screw motor is arranged on the moving path of the spring pressing plate, and a second limiting switch for controlling reverse work of the lead screw motor is arranged on the moving path of the front baffle. The turf cutting, peeling, rolling and stacking integrated function can be achieved, operation is easy, multiple turfs can be harvested at the same time, the problem that time and labor are wasted during manual cutting and correcting is solved, a large amount of labor cost is reduced, and the production efficiency is effectively improved.

The invention discloses a ship detection method in a bridge collision avoidance system. The ship detection method includes the steps of carrying out camera calibration using the Zhang Zhengyou checkerboard calibration method; carrying out image acquisition and preprocessing; drawing a virtual channel; detecting a moving foreground by combining a Gaussian mixture model background method and a three-frame difference method; extracting the eigenvalue of a moving foreground target as sample data for training a deep neural network DNN; constructing, training and testing the DNN; identifying characteristics of a ship in a real-time video stream according to the trained DNN and marking the moving ship; and regularly monitoring the sailing condition of the ship according to calibration results. The ship detection method based on the GMM and the three-frame difference method designed by the invention overcomes the problems of a broken foreground contour and an incomplete target in a traditional method, and can accurately and intelligently identify the ship by training the DNN with foreground ship characteristics, thereby improving the accuracy, efficiency and real-time performance of the ship detection.

The invention relates to the technical field of ships, in particular to a ship wave power generation stabilizing unit and a wave power generation system. The ship wave power generation stabilizing unit comprises a ship wave power generation mechanism and a ship side wave-suffering force application mechanism used for providing power for the ship wave power generation mechanism. The ship wave power generation mechanism comprises a moving magnetic bar power generation device and/or a wind box duct power generation device. The ship side wave-suffering force application mechanism comprises an energy conversion moving wall which transmits wave energy to the ship wave power generation mechanism. The moving magnetic bar power generation device and/or the wind box duct power generation device are/is driven to generate power by mechanical motion generated by the energy conversion moving wall under a wave force effect, and wave energy is converted into electric energy; moreover, the direct action of wave force on a ship body is buffered so that ships sailing on the sea can achieve wave power generation and stabilization simultaneously.

The invention relates to an overall imaging technology of an underwater object and particularly relates to a detecting system and a detection method for the overall dimension of an underwater part of a ship. According to the detection system and the detection method, an image processing method for combining a laser technology with a shooting technology is applied; the underwater part of a ship body is scanned by adopting a laser beam to form a laser illumination line; the underwater shooting device is used for acquiring image scanning information; and image data are processed and three-dimensional outline information of the ship body is calculated by adopting an arithmetic algorithm. The detection system disclosed by the invention is low in construction difficulty; the process of the detection method is controlled by adopting full automation without being influenced by subjectivity of a measurer; during detection, the equipment is not needed to be carried on the ship or enter the water bottom; the measuring system is simple in structure and is convenient and quick in operation; and a measuring result is accurate and stable and important reference for smooth navigation and the safety of persons, the equipment, the ship and a channel is provided.

The invention belongs to the field of nonlinear dynamics and sensor detection, in particular relates to a judging device for determining the sudden change character of a ventilated supercavity balance point based on the theory of the nonlinear dynamics and a specified judging method of the sudden change character of the ventilated supercavity balance point. The judging device comprises an integral operation module, a perturbation analysis module, a sensor module, a data collection module, a data processing module and a comparison operation module. The judging device can judge the state of the ventilated supercavity more timely as per the navigation state of a navigation body during the navigation process of a ventilated supercavity navigation body, monitors the sensitive parameters which possibly cause sudden change and instability of ventilated supercavity in real time, and once the sensitive parameters of the ventilated supercavity are close to the sudden change critical parameter values, corresponding measures are taken, so that the sensitive parameters of the ventilated supercavity are far away from the sudden change critical parameter values, the stability of the ventilated supercavity is further ensured, and basic guarantee is provided for stable navigation of the ventilated supercavity navigation body.

The invention provides a low velocity autonomous underwater vehicle (AUV) sailing control method based on a contra-rotating propeller adding fin and a rudder. A contra-rotating propeller and a diving rudder vertical rudder are installed at the position of a stern of an AUV carrier. In each control period, measuring of a trim angle, a course angle, trim angle angular velocity, a course angular velocity, depth and height is conducted, a controlling value is calculated, the angle values of a needed diving rudder angle and a needed vertical rudder angle are determined, a diving rudder motor and a vertical rudder motor are controlled, and so that a diving rudder plate and a vertical rudder plate are rotated to a target angle. The rotating speed of the contra-rotating propeller is determined, the contra-rotating propeller is enabled to achieve target rotating speed, and so that an AUV can sail stably. The low velocity AUV sailing control method based on the contra-rotating propeller adding fin and the rudder is simple in logic, small in calculated amount, and convenient to operate.

The invention provides a full-drive ship trajectory tracking control method based on an instruction filtering neural network controller, which comprehensively considers unknown ship model parameters, external environment interference, input limitation and ship output transient state and steady state performance constraint, and effectively processes the problem of input limitation by utilizing an instruction filter. The method comprises steps that unknown parameters of the system are estimated by using the RBF neural network and the predictor, and approximation precision of the neural network is improved; recursive errors are designed for controller design, and non-vulnerability of the system is improved; the time-varying asymmetric obstacle Lyapunov function and the performance function are combined to effectively constrain the transient performance and the steady-state performance of the ship output trajectory, the application range is expanded, and the performance of the controller is better.

The invention discloses an automatic folding multi-rotor wing water-air amphibious robot which comprises a main body cabin, an empennage and an underwater propeller. A plurality of mechanical arm control units are arranged around the main body cabin; each mechanical arm control unit is provided with a base and a baffle plate that are coaxially and parallelly arranged, an axial sliding assembly isarranged between the base and the baffle plate, a mechanical arm bracket is hinged to a slide block of the sliding assembly, and the end, far away from the slide block, of the mechanical arm bracket is hinged to a mechanical arm; one end of the mechanical arm extends to the baffle plate and is movably hinged to the main body cabin while the other end of the mechanical arm is connected to a rotor wing unit through a motor seat; and a transverse rolling shaft control unit is further arranged on the periphery, close to the empennage, of the main body cabin. The robot can control sinking and floating without an extra water ballast space, so that the size and weight of the amphibious equipment are reduced obviously. The automatic folding multi-rotor wing water-air amphibious robot is small in underwater forward resistance and suitable for underwater navigation, can be retracted and released automatically, and reduces the carrying difficulty and releases preparation work obviously.

The invention relates to an anti-corrosion mobile floating island. The anti-corrosion mobile floating island comprises a working platform, a plurality of first buoys, a plurality of second buoys and a connecting component, wherein the connecting component is used for fixedly connecting the working platform, the plurality of the first buoys and the plurality of the second buoys; the connecting component comprises a plurality of first connecting units; and each first connecting unit comprises a first connecting column and a second connecting column, wherein two ends of the first connecting column are fixedly connected with the working platform and the side surface of one first buoy, respectively; the radial section of the first connecting column is elliptical; elliptical semi-major axis where the first connecting column is placed is vertical to the axial direction of the first buoy; two ends of the second connecting column are fixedly connected with the side surface of one first buoy and the side surface of one second buoy, respectively; the radial section of the second connecting column is elliptical; the elliptical semi-major axis where the second connecting column is placed is vertical to the axial direction of the first buoy; and the axial direction of the second connecting column of each first connecting unit is coincided with the axial direction of the first connecting column. The anti-corrosion mobile floating island provided by the invention has the advantage of good seakeeping capability.

The invention provides a cascaded control method of an underwater ultrahigh-speed navigation body. The cascaded control method comprises the steps of setting a model parameter by building an underwater ultrahigh-speed supercavity navigation body motion model module, building a longitudinal motion error model module, calculating an error between actual motion of the underwater ultrahigh-speed navigation body and a set motion track, building a cascaded sub-system model, eliminating an interference and a system error through a standard sliding-mode control method by a sub-system 1, eliminating the system error through a fuzzy sliding-mode control method by a sub-system 2, building a control effect simulation module, and adjusting a parameter of a controller according to a real-time simulationresult so that the optical control effect of the system can be achieved. The cascaded control method is complete in step, and engineering implementation is easy; and when the cascaded control methodis applied to control of the underwater ultrahigh-speed navigation body, the design process of the navigation body controller can be simplified, and a guarantee can be provided for stable navigation of the underwater ultrahigh-speed navigation body.

The invention relates to a non-capsizable ship with a triangle auxiliary floating body. The ship comprises a main hull and a triangle auxiliary floating body which is arranged on the periphery of the main hull in a nested manner, wherein the triangle auxiliary floating body comprises a triangle immobile balancing support and three small fusiform hermetic auxiliary hulls. The triangle immobile balancing support is a fusiform support body, the fusiform support body is formed by that three cambered member bars are arranged to form a uniform triangle along the longitudinal centerline of a fusiformis, and the three small fusiform hermetic auxiliary hulls are respectively arranged on the middle place of each cambered member bar; and the two ends of the triangle immobile balancing support are rotationally connected with the head and the tail ends of the corresponding place of a longitudinal axis of the main hull respectively. The ship aims to provide the non-capsizable ship with the triangle auxiliary floating body, which has high security coefficients and a strong wind and waves resisting ability. The ship has the advantages that the triangle auxiliary floating body capable of rotating around the longitudinal axis is arranged on the periphery of the main hull, and in adverse weather, the main hull is assisted by the triangle auxiliary floating body, so that capsizing a ship is not easy.

The invention discloses a continuous high-speed boxing machine of a block type material. The whole continuous high-speed boxing machine comprises a formed block conveying device, a paper box forming device, a block boxing device and a paper box conveying device, wherein the block conveying device and the paper box conveying device are arranged side by side. The continuous high-speed boxing machine is characterized in that the paper box forming device comprises a paper box absorbing device, wherein the paper box absorbing device comprises a rotating disk, wherein a plurality of sucker rods with suction nozzles are arranged on the rotating disk and are arranged at equal intervals along the circumference direction of the rotating disk, a paper box frame is arranged near the rotating disk, a frame is provided with a frame paper outlet, the suction nozzles on the rotating disk are turned to the paper outlet, a paper box is absorbed; and when the suction nozzles are turned to a conveying rail, the paper box is loosened. According to the invention, due to the adoption of a brand new structure with a chain row type continuous action, the product performance and the production efficiency are improved. The continuous high-speed boxing machine comprises a paper folding machine, a paper box packaging machine and the like, wherein four boxes can be opened by rotating an equipment box opening head for one circle, and the highest speed can reach 200 boxes per minute.

The invention provides an entrance guiding cone used for a vertical oil-gas mixing transmission pump, the guiding cone is arranged at the center of the cavity of the vertical oil-gas mixing transmission pump uniform blender and positioned at the entrance of the mixing transmission pump; the guiding cone is at least constructed by a guiding cone body, a round diversion pad and a guiding cone base tightly connected with each other in sequence from top to bottom; the lateral periphery of the guiding cone is distributed with diversion vanes used for diverging the direction of the multi-phase fluid; the lateral periphery of the guiding cone base and the diversion pad are consecutive streamline surface; and the lower part of the guiding cone base is connected with the shell of the mixing transmission pump uniform blender. The guiding cone uses the diversion vanes to commutate oil-gas multi-phase fluid to be fit for entering the mixing transmission pump pressurizing unit to guarantee the normal work of the pressurizing unit, thus ensuring that the oil-gas mixing transmission pump operates stably and safely, and the work performance of the vertical oil-gas mixing transmission pump can be optimal.

The invention discloses a pipeline detection robot control system. The pipeline detection robot control system comprises a lithium ion battery pack, a protection cover, buffering rubber, heat emissionholes, rolling wheels and a caterpillar band. The protection cover is arranged outside the lithium ion battery pack. The buffering rubber is attached to the interior of the protection cover. The heatemission holes are formed in the interior of the protection cover. The caterpillar band is arranged outside the rolling wheels in a sleeving mode. The structure is scientific and reasonable, and application is safe and convenient. Through arrangement of the protection cover, damage caused by shaking of the lithium ion battery pack due to shaking during machine detecting process is effectively prevented. Through arrangement of the buffering rubber, collision between the lithium ion battery pack and the protection cover is effectively prevented. Through arrangement of the heat emission holes, heat emission can be carried out to the lithium ion battery pack, and the service life of the lithium ion battery pack can be effectively prolonged. Through arrangement of the caterpillar band, a robotcan move in the pipeline more smoothly, and shaking during movement of a robot body is effectively reduced.

The invention belongs to the technical field of submarine navigation control, and particularly relates to an intelligent fuzzy control method for an X rudder of a submarine under complex conditions. The method comprises the steps of constructing an X rudder submarine motion model, specifically, constructing a moving coordinate system by taking the gravity center G of the submarine as an origin O of the moving coordinate system, and decomposing the spatial motion of the submarine in a fluid into translation and rotation in three directions of the moving coordinate system of a submarine body toobtain a six-degree-of-freedom spatial motion equation; constructing a fuzzy control domain and a membership function; and establishing a fuzzy control rule. The intelligent fuzzy control method for the X rudder of the submarine under the complex conditions has relatively good practicability and innovativeness for the design of a rudder card retrieval control decision and a control method; faultsof a rudder card can be effectively monitored; retrieval control is automatically carried out; the full rudder state of an X stern rudder double-rudder card is retrieved; and the depth and the trim angle are accurately retrieved, and particularly, the method has originality for the retrieval measure of adopting a rotary mode for the double-rudder card.

The invention discloses a cable pipe checking and cleaning robot, relates to a robot, and solves the problem that a traditional cable pipe robot cannot integrate checking and cleaning functions as a whole. The cable pipe checking and cleaning robot comprises a car body, a walking driving device, a control circuit board, a cleaning component and camera detecting component; the cleaning component includes a small shovel, a cleaning arm and a cleaning brush; the camera detecting component includes a holder, a camera and an illuminating lamp; the walking driving device includes multiple sets of walking wheels and a walking wheel driving motor; the walking wheels are independently driven by the walking wheel driving motor to realize steering; the control circuit board is connected with the cleaning mechanism, the camera detecting component and the walking driving device to respectively control actions of the cleaning mechanism, the camera detecting component and the walking driving device; and the small shovel is not narrower than the car body. The cable pipe checking and cleaning robot can perform all-directional monitoring for internals of pipes, is prominent in obstacle crossing capacity, and achieves the checking and cleaning integration.

The invention discloses an underwater fixed-height dragging device of a metal detector in the technical field of underwater fixed-height dragging devices of metal detectors, and the other end of a fixed-height adjusting rod is fixedly assembled with a heavy dragging rod arranged on a seabed through a dragging rod drag hook. The other end of the dragging body pull rope is fixedly provided with a dragging body by fixing a dragging body pull hook, the dragging body is fixedly provided with a second floating body material, the dragging body frame structure is fixedly provided with a third floating body material, the dragging device comprises a water surface tugboat arranged on the sea surface, and the water surface tugboat is fixedly provided with a dragging cable pulley. A trailing cable on the finalizing device is wound and assembled on a trailing cable pulley, and an ultra-short baseline sonar is fixedly assembled at the bottom of the water surface tugboat, so the security threat of obstacles such as an underwater fishing net to an underwater towing carrier platform is reduced, the detection cost is reduced, the detection efficiency is improved, and the problem of a fixed-height towing method of a near-underwater towing body is effectively solved.

The invention relates to a liquefied oxygen transport ship, which comprises a ship body. One or more liquefied oxygen storage tanks are installed at the middle-front part of the ship body. The liquefied oxygen storage tanks are installed on the ship body through saddle supports. A wash bulkhead is installed in each liquefied oxygen storage tank. The liquefied oxygen transport ship has the advantages that the large-capacity long-distance transport of oxygen is realized, the transport efficiency is improved and the transport cost is reduced; the large-capacity transport of the oxygen along a sea or a river can be realized, and industrial and mining enterprises such as ship building and repair enterprises which are established along the sea or the river do not use a great number of transport vehicles or steel cylinders to load the oxygen; liquefied oxygen is directly unloaded into storage tanks of the industrial and mining enterprises and is intensively supplied by using pipelines and liquefied oxygen pumps, and steel cylinders can be flexibly selected and used to contain the liquefied oxygen for use in practical use.

The invention relates to the technical field of boats, in particular to a boat swaying buffering device applicable to a large-scale boat. The boat swaying buffering device is characterized in that one or a plurality of buffer energy absorbing mechanisms are respectively arranged at the two sides of a boat body, the buffer energy absorbing mechanisms can effectively buffer, absorb and convert the lateral acting force of waves on one side of the boat body, the transverse swaying of the boat can be reduced, the stable navigation of the boat is maintained, in addition, the deadweight tonnage of the boat can be favorably improved, and the safety of the boat can be improved.

The present invention relates to the technical field of marine traffic, and in particular discloses a method for intelligent collision avoidance at sea, which includes the following contents: collecting the latitude and longitude information of surrounding ships by using navigation mark devices distributed on the sea; According to the course information in the system, judge the preset course trend among multiple ships; obtain the time and position information of each ship gathering at one point according to the analysis and statistics; The ship's information receiving center sends prompt information, which can effectively prevent ships from colliding at sea and ensure the smooth navigation of ships at sea.

The invention relates to an intelligent deformation amphibious electric three-dimensional car boat (three-dimensional car boat for short). The three-dimensional car boat is characterized in that the three-dimensional car boat is driven by electricity and is amphibious; the car boat body can basically maintain horizontalness without the parallelism between a low chassis plane of the car boat and the movement plane of the car boat through waterproof tire electronic driven wheels and a height-adjustable wheel supporting structure. During surface navigation, the car boat is propelled by electric twin screws; the three-dimensional car boat can run in a larger slope; the car boat can maintain horizontalness, and the load range and the desired angle for the landing or water entry of the car boat in the larger slope can be adjusted through adjusting the height of the wheel support. Part of a box body near the chassis on the front lower part of the three-dimensional car boat can move so as to reduce a drag force and concurrently have the functions of wave resistance, braking in water and navigation stabilization. In addition, the three-dimensional car boat can meet the land traffic rules. The three-dimensional car boat can overcome the impact of gravity during the uphill/downhill movement through the frontward/rearward movement of the center of the car boat so as to climb up to a large slope with low power.

The invention discloses a lunar surface environment flying dust simulation measurement test bed device which comprises a lunar surface environment simulation mechanism, a measurement system, wheels and a wheel movement mechanism. The lunar surface environment simulation mechanism comprises a rack, a vacuum cover, simulated lunar soil, a soil tank and a vacuum pump. The soil tank is fixed in the vacuum cover, the simulated lunar soil is uniformly laid in the soil tank, the rack is fixed above the soil tank, and the vacuum pump is communicated with the interior of the vacuum cover through a pipeline. The measuring system is installed in the vacuum cover and used for measuring flying dust particle parameters and wheel parameters. The wheel movement mechanism comprises a horizontal sliding mechanism, a lifting mechanism and a wheel transmission mechanism. The horizontal sliding mechanism is installed on the rack and can horizontally slide above the soil tank, the lifting mechanism is vertically connected to the lower portion of the horizontal sliding mechanism, and the transmission mechanism is installed at the bottom of the lifting mechanism, connected with the wheels and used for driving the wheels to rotate on the surface of simulated lunar soil. The test bed is suitable for flying dust measurement of wheels under different loads and different specifications.