22results about How to "Smooth sailing" patented technology

The invention relates to the field of intelligent propulsion for ship main propulsion manipulators, in particular to an intelligent propulsion system for a ship main propulsion manipulator, which comprises a safety login module, a power supply module, a data acquisition module, an intelligent propulsion analysis module, an intelligent control module and a remote monitoring module, the intelligent propulsion analysis module carries out analysis according to received ship cargo weight parameter and wind speed parameter information, the power supply module dynamically adjusts power distribution according to load changes and propulsion requirements of connected ships, and the intelligent control module adjusts and controls engine output power of the ships according to received signals. The invention aims to improve the energy efficiency, enhance the ship performance and improve the safety through accurate control and dynamic adjustment, and remarkable efficiency is brought to ship operation.

The invention provides a hydrofoil ship longitudinal motion attitude control method, system and device and a storage medium, and belongs to the field of ship control strategies, and the method comprises the following steps: designing an improved fractional order fast terminal sliding mode controller according to a fractional order theory and a sliding mode control theory; designing a fractional-order nonlinear interference observer by considering external sea wave interference; a nonlinear saturation compensator is designed by considering the saturation condition of an actuating mechanism of the hydrofoil ship; estimating external interference factors and uncertainty factors by using a fractional-order nonlinear interference observer, inputting estimated values of the external interference factors and the uncertainty factors into the controller, designing a sliding mode surface with interference estimation, and compensating saturation of an execution mechanism by using a nonlinear saturation compensator to obtain an optimized fractional-order fast terminal sliding mode controller; according to the method, the optimized fractional order fast terminal sliding mode controller is used for controlling the longitudinal motion attitude of the hydrofoil ship with interference and saturation of the executing mechanism, and the control precision can be improved.

The invention discloses an unmanned ship path tracking control method based on an improved LOS guidance law and a backstepping method, and relates to the technical field of unmanned ship control methods, and the method comprises the steps: building an unmanned ship kinematics model, building a dynamics model, and simplifying a control system to obtain a simplified model; and an LOS guidance law is designed, and controller parameters are optimized by adopting a backstepping method, so that the unmanned ship obtains better dynamic characteristics in the actual movement process. According to the method, the improved LOS guidance law and the backstepping method are combined, and the course and the position of the unmanned ship can be more accurately controlled in the path tracking process. By accurately calculating the expected heading angle and optimizing the controller parameters, the unmanned ship can more accurately track the expected path, the transverse following error and the course angle deviation are effectively reduced, and the path tracking precision is improved.

The invention relates to the field of ship manufacturing, in particular to an anti-collision bulkhead and a ship. A step structure is arranged on the upstream face of the anti-collision bulkhead and comprises at least one step. The transverse surface of at least one layer of step is a wave-shaped surface; in the direction parallel to the vertical face of the step, the outline of the wavy face is in a periodic waveform shape. According to the anti-collision bulkhead, the step structure is arranged on the anti-collision bulkhead, the transverse face of the step is arranged to be the wavy face, the principle of the Bragg resonance phenomenon in fluid mechanics is utilized, the wavy transverse face can interact with ocean waves to generate reflected waves, wave energy generated when the bulkhead is broken is effectively reduced, and therefore the anti-collision bulkhead can be used for preventing collision. Therefore, the impact force of ocean waves on the anti-collision bulkhead is weakened and relieved, and the ship can be better kept to continuously and stably sail.

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.

The invention relates to a towing test device for a high-speed ship in an open water area, and belongs to the technical field of ship model tests. A specific frame connecting structure is adopted, and the double-channel boat high-speed towing test ship meeting the test requirement of an open water area is constructed; by arranging the double-channel boat provided with the anti-swing fin and the anti-swing water tank, stable counter torque of the test device is established, and it is ensured that sailing of the high-speed boat in the towing test is stable; and meanwhile, the wave absorbing knife-shaped plate device is arranged in a targeted manner, so that the problem that the test data and result of the model are influenced by waves generated by the channel boat is solved.

The utility model provides a seat cushion formula hollow fishing boat, this seat cushion formula hollow fishing boat includes pneumatic boat hull, the pneumatic boat hull includes the ship side buoy, the ship side buoy is O type, be provided with the ship bottom plate in the ship side buoy, the length of ship bottom plate is less than the length of ship side buoy thereby forms hollow bottom in the ship side buoy. The utility model provides a seat cushion formula hollow fishing boat, greatly promotes the stability of ship body, reduces the risk of rollover, enhances the ability of ship body anti -rollover. When the ship body has the tendency of lateral tilting, the underwater foot can receive the " resistance counter -thrust" of water body, offsets part lateral tilting moment, avoids the excessive inclination of ship body even rollover. And the draught of ship body is far lower than the fully enclosed ship body, is not easy because of the ship bottom touches the bottom or the water flow impact ship side causes to sway, simultaneously, the foot is in water and can directly perceive the water bottom topography, indirectly supplementary adjustment ship body position, further promotes the stability.

The utility model relates to a remote control device for ship valves, which belongs to the technical field of remote control devices for ship valves and comprises a plurality of valves, a plurality of valve controllers, a communication module and a hardware controller. The multiple valve controllers are correspondingly connected with the multiple valves through lines respectively, the multiple valve controllers are used for controlling the multiple valves to be opened or closed at the same time, the number of the communication module is one, the communication module is connected with the multiple valve controllers and the hardware controller through lines, and the hardware controller is used for controlling the multiple valve controllers to work at the same time; the valve controller has the advantages that the hardware controller controls the valve controllers to be opened or closed at the same time, the valve controllers control the valves corresponding to the valve controllers to be opened or closed at the same time, and the valves are opened or closed at the same time, so that a ship can run or sail stably.

The present invention discloses a method for predicting and warning ship encounters in an inland river hub section, comprising: extracting, filtering and fusion processing of historical route data: mining historical tracks: using the data after fusion processing in step 1 to obtain a historical route set; track matching: acquiring real-time dynamic data of ships and waterway operation-related data, and finding a route track that best matches the current real-time ship track from the historical route set; calculating the ship's navigation track for a period of time in the future; track prediction optimization: caching the predicted navigation track, and using an iterative algorithm to continuously optimize the estimated arrival time of subsequent waypoints; encounter recognition: performing spatial segmentation based on the predicted track, and when the segmented area encounters the predicted track of other ships, estimating the area, ship and corresponding time of encounter, and performing encounter and warning prompts; combining video monitoring with multi-source data, the early warning of key areas is more reliable, and the navigation safety of inland river hub ships and the navigation efficiency of waterways are improved.

The present invention proposes a closed-loop automatic control system and method for ship speed. Feedback information is obtained by detecting a feedback module, and a final effective main engine speed command is generated through an outer-loop control module, so as to realize the conversion of outer-loop ship speed control into middle-loop main engine speed control. The main engine speed command is compared with the main engine speed n to obtain the speed deviation through the middle-loop control module, and a final effective main engine throttle command is generated, so as to realize the conversion of middle-loop main engine speed control into inner-loop throttle control. The throttle deviation between the main engine throttle command and the throttle feedback signal L is generated into an optimized throttle opening S through the inner-loop control module. The throttle closed-loop adjustment is completed, so as to realize the closed-loop automatic control of ship speed, so that the ship's navigation is gradually stable, the operation is safe, and the navigation efficiency is improved, so as to meet the requirements of stable, efficient, safe and reliable navigation of the ship.

The invention discloses a multifunctional rudderless deck transport ship and a working method thereof.The transport ship comprises a ship body, a power device, a positioning device, a detachable fence and an exhaust system, the power device, the positioning device, the detachable fence and the exhaust system are installed on the ship body, the power device is arranged at the stern of the ship body and comprises a main pushing structure and a plurality of diesel generators, and the positioning device comprises a power positioning device and a mooring device; the dynamic positioning device comprises a full-rotation structure and a bow thruster structure, the full-rotation structure is installed on the stern of the ship body, the bow thruster structure is arranged on the side of the ship body, the mooring device comprises a mooring line structure and an anchoring positioning structure, and the mooring device comprises a plurality of mooring line guide holes and a plurality of mooring line winches which are arranged on the periphery of the ship body respectively. The anchoring positioning structures are arranged on the bow and the stern of the ship body, and the main thrust structure, the full-rotation structure and the bow side thrust structure are connected with the diesel generator. Two modes of DP dynamic positioning and anchoring positioning are adopted, the positioning precision requirements of different working conditions are met, and the purpose of saving the positioning cost is achieved.

A ship autopilot control method based on PID parameter real-time adjustment comprises the following steps that 1, a ship body coordinate system and a navigation coordinate system are established, the original point of the ship body coordinate system is set as the bow position, a long axis, a transverse axis and a vertical axis are determined respectively, and the original point of the navigation coordinate system is set as the navigation starting point of an unmanned ship; step 2, establishing an unmanned ship plane motion mathematical model: substituting advancing, lateral movement and yawing of the ship body into the unmanned ship plane motion mathematical model, and establishing the unmanned ship plane motion mathematical model; step 3, adding sea wind, sea wave and ocean current interference into the unmanned ship plane motion mathematical model; and step 4, establishing an unmanned ship PID control model according to the unmanned ship planar motion model. The system can detect and respond to changes of external interference factors such as sea wind, sea waves and ocean currents in real time, rapidly adapts to different sea conditions through real-time adjustment of PID parameters, and ensures stable navigation of a ship.

The present invention discloses a high-speed, high-sea-state submersible multi-body unmanned vehicle and a control method thereof, the multi-body unmanned vehicle comprising: a main hull, a plurality of propulsion sub-hulls, a plurality of side wings, a plurality of horizontal rudders, a tail fin and a communication sub-hull; the side wings are arranged on both sides of the main hull, one end of the side wings is connected to the main hull, the other end of the side wings is connected to one side of the propulsion sub-hull, the other side of the propulsion sub-hull is connected to the horizontal rudder, one end of the tail fin is connected to the main hull, the other end of the tail fin is connected to the communication sub-hull, and the communication sub-hull is connected to the main hull in communication; the propulsion sub-hull and the communication sub-hull are both connected to a propeller; a ballast water tank is also arranged inside the main hull, and the ballast water tank is used to adjust the water intake and drainage in the hull. The present invention can realize the functions of water navigation, semi-submersible navigation and full submersible navigation, adapt to the water and underwater operation requirements under high sea conditions, and maintain stability to the maximum extent.

The invention discloses an unmanned ship attitude control system and control method, and belongs to the technical field of unmanned ship attitude control, the unmanned ship attitude control system comprises an INV2 integrated navigation positioning module, a remote control module, a data transmission module and a regulation and control module, the INV2 integrated navigation positioning module is used for obtaining the course, attitude and track data of an unmanned ship, and the remote control module is used for controlling the unmanned ship attitude. The data transmission module is used for uploading monitoring data of the INV2 integrated navigation positioning module to the remote control module, the remote control module is used for sending a control signal to the regulation and control module according to the uploaded monitoring data, and the regulation and control module is in electric signal connection with a control mechanism of the unmanned ship; according to the control method, abnormal values in the course, attitude and track data of the unmanned ship obtained by the INV2 integrated navigation positioning module can be eliminated, different prediction control algorithms are adopted for the course, the track and the attitude of the small-sized operation unmanned ship, prediction data with optimal precision are output by each algorithm, and the prediction precision of the state of the whole unmanned ship is further improved.

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 present invention discloses a hand-cranked oar movement mechanism, which relates to the technical field of hand-cranked boats, comprising a buoyancy platform main body frame, on which a power transmission mechanism bracket is fixedly connected; the power transmission mechanism bracket is fixedly connected to a motor, and the motor output shaft drives a large gear to be rotatably connected to the side wall of the power transmission mechanism bracket through a gear, so that an upper rod can be moved to adjust the height position, and then the height of the oar connection bracket can be adjusted according to the aforementioned method, and the universal shaft can be driven to adjust the height to match the outer edge fixed inner arc bearing. The combined effect enables the oar to be adjusted to different ranges, heights and movement speeds, thereby enhancing the high universality of the mechanical structure to different oars and different water depths, and greatly increasing the application scope and scenarios of the structure.

The present invention provides an adaptive wave interference control method for unmanned ships based on digital twins. Wave information is acquired in real time through sensors, the main frequencies are extracted by frequency domain analysis, and the LSTM model is used to predict the future wave state by combining the filtered signal and physical characteristics. The speed and heading of the unmanned ship are adjusted in real time through the ROS node to dynamically respond to changes in wave height, speed and direction to ensure stable navigation. A high-dimensional Kalman filter is used to realize virtual-real synchronous feedback and correct the control strategy. The system includes wave information acquisition, data processing and prediction, control decision-making, and feedback and optimization modules to ensure the stable navigation of the unmanned ship in a wave mutation environment.

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 provides a robot along-wall path planning method and system, and the method comprises the steps: planning a preliminary along-wall path based on the shape of a wall body; dividing the preliminary path along the wall into a plurality of sub-paths, and detecting whether an inner angular point exists on the preliminary path along the wall or not based on the deflection direction between two adjacent sub-paths; when the inner corner point exists, temporarily giving up a preliminary wall-following path after the inner corner point, and determining a backspace point and a connection point based on the inner corner point; after reaching the inner corner point, sequentially connecting the inner corner point, the back-off point and the connecting point, and planning a remanufacturing path; and replacing the initial wall-along path between the inner corner point and the connection point with a reproduced path, and connecting the reproduced path with the initial wall-along path to form a final wall-along path. According to the method and system for planning the path along the wall of the robot, through planning of the path along the wall, the good cleaning effect aiming at the wall body and the wall corner environment can be achieved, obstruction of the path wall body can be effectively avoided, and the robot can smoothly advance along the path conveniently.

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.