A small boat anchoring positioning device

Abstract

The application provides a small ship anchoring positioning device, comprising a jet device, the jet device comprises at least three nozzle assemblies, the nozzle assembly comprises a motor, a motor shaft, a flow guide cover arranged on the motor for guiding water flow, a nozzle opening arranged at the end of the flow guide cover, a plurality of openings arranged on the flow guide cover, a flow guide core arranged on the motor shaft and a propeller; when the propeller rotates forward, water flows into the nozzle opening from the plurality of openings and is sprayed out in the form of a water column to form a reverse thrust vector; when the propeller reverses, water is sucked into the nozzle opening and sprayed out from the plurality of openings to form a pulling force vector, and the resultant force vector formed by the reverse thrust vector and the pulling force vector is used for controlling the ship; the jet device is fixedly connected with the ship and does not have relative rotation. The application uses the resultant force vector of the thrust or pulling force of the jet water column to control the anchoring and positioning of the ship, and the speed of responding to and executing instructions and obtaining results is fast.

Description

Technical Field

[0001] This invention relates to the field of ship anchoring and positioning technology, specifically to a device that uses the resultant force vector of the pushing or pulling force of a jet of water to control ship anchoring and positioning. Background Technology

[0002] Propeller-driven small recreational boats, characterized by their maneuverability and adaptability, cover diverse scenarios including lake and near-shore cruising, professional fishing, and family-friendly activities, making them a mainstream choice for recreational water sports in recent years. Users can safely enjoy various water activities by considering the water area, intended use, and compliance requirements when selecting a boat. Existing technologies such as... Figure 1a , 1b As shown in Figure 1c, a platform 1 is fixed to the bow 90a. At the front of platform 1 is a steering mechanism 2, consisting of a steering box 2a and a rotating drum 2b. The propulsion motor 5 has a propeller 5a at its front end, and a vertical rod 3 passing vertically upwards through the rotating drum 2b in the steering box 2a above the middle section of the motor. A control box 4 is located at the top of the vertical rod. The rotating drum 2b is fixedly connected to the vertical rod 3. During installation, the vertical rod 3 is perpendicular to the still water surface. The rotating drum 2b rotates left and right according to the instructions of the control box 4, thus causing the propulsion motor 5 to rotate left and right around the axis of the vertical rod 3 relative to the bow 90a. When the propeller 5a rotates, it generates thrust 6, and its counter-thrust 7 pushes the bow along the still water surface (also known as the horizontal plane) in the direction 8. The rotation angle of the rotating drum 2b controls the direction 8 of the bow's movement parallel to the still water surface, and the rotation speed of the propeller 5a controls the speed of the bow's movement in the direction 8. The existing technology has the following shortcomings: the mechanism's response to instructions is relatively slow; for example, when viewed vertically downwards from above the still water surface... Figure 1b , Figure 1c At this moment, the axis of the mast is displayed as a point 3a. Taking this as the origin, assuming the forward-rotating propeller 5a is due east, the bow 90a will be pushed by the counter-thrust 7 to move due west 8. If the control box 4 issues a command to stop the bow moving west and immediately move due south, the rotating drum 2b will have to swing in the direction of rotation 9 with the minimum rotation angle, almost rotating 90 degrees to rotate the propeller 5a to the due north position. Figure 1c Only then is it possible for the ship's bow 90a to be pushed by the counter-thrust 7 in the due south direction 8. A 90-degree rotation of the rotating cylinder 2b often takes hundreds of milliseconds, meaning that a command often requires hundreds of milliseconds to elicit a response or result after execution.

[0003] To address this issue, there is room for improvement in existing ship anchoring and positioning technologies. Summary of the Invention

[0004] To address the aforementioned shortcomings, the main objective of this invention is to provide a device that uses the resultant force vector of the pushing or pulling force of a jet of water to control the anchoring and positioning of a vessel, thereby eliminating the rotation of the propulsion motor around its axis, i.e., the motor and the vessel are fixedly installed relative to each other, thus solving the problems of the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A small vessel anchoring and positioning device is provided. The vessel is equipped with at least one anchoring and positioning device. The anchoring and positioning device includes a jetting device for anchoring and positioning and a bracket assembly for fixing the vessel and the jetting device. The jetting device includes at least three nozzle assemblies for controlling the movement of the vessel and a motor drive plate for driving the at least three nozzle assemblies. Each nozzle assembly includes a motor connected to the motor drive plate, a motor shaft of the motor, a guide shroud disposed on the motor for guiding water flow, a nozzle opening at the end of the guide shroud, and a nozzle on the guide shroud. The system includes multiple openings facing the motor, a guide core mounted on the motor shaft for changing the direction of water flow, and a propeller mounted on the motor shaft that can rotate forward and backward. When the propeller rotates forward, water flows in from the multiple openings and is ejected from the nozzle in the form of a water jet to form a thrust vector. When the propeller rotates backward, water is drawn in from the nozzle and ejected outward from the multiple openings to form a pull vector. The resultant force vector formed by the thrust vector and the pull vector generated by the at least three nozzle assemblies is used to control the vessel. The jetting device is fixedly connected to the hull and does not rotate around its column axis.

[0006] According to the small boat anchoring and positioning device described in the embodiments of this application, the spraying device further includes a column for fixing and connecting the support assembly, a central control unit for collecting information and issuing commands to the nozzle assembly, and an upper and lower outer shell disposed at the end of the column for covering. The upper and lower outer shells, at least three nozzle assemblies, a motor drive board, and the central control unit form a spray head. After assembly, the nozzle opening and the opening communicate with the outside of the upper and lower outer shell assembly. The center lines of the upper and lower outer shells are collinear with the column axis of the column.

[0007] According to the embodiments of this application, the small boat anchoring and positioning device further includes an antenna box with a Global Positioning System (GPS) and a power cable for connecting to a battery for power supply, and the central control unit receives the GPS signal transmitted by the antenna box.

[0008] According to the embodiments of this application, the small vessel anchoring and positioning device includes a support base for fixedly connecting the vessel, a support rocker arm connected to the support base via a rotating shaft, and a sleeve disposed at one end of the support rocker arm for fixedly connecting the column.

[0009] According to the small vessel anchoring and positioning device described in the embodiments of this application, the axes of the at least three nozzle assemblies are perpendicular to and intersect the axis of the column, and their projections on the plane perpendicular to the axis of the column are evenly distributed with the axis of the column as the rotational symmetry center line; the axis of the column is collinear with the center line.

[0010] According to the embodiments of this application, the plane formed by the axes of the at least three nozzle assemblies is parallel to the still water surface; the at least three nozzle assemblies include at least one large-size nozzle assembly.

[0011] According to the embodiments of this application, the small vessel anchoring and positioning device includes a central control unit comprising a multi-axis accelerometer, a gyroscope, a magnetic pole sensor, and a microprocessor.

[0012] On the other hand, this application provides a small vessel anchoring and positioning device. The vessel is equipped with at least one anchoring and positioning device. The anchoring and positioning device includes a disc-type jetting device for anchoring and positioning and a bracket assembly for fixing the vessel and the disc-type jetting device. The disc-type jetting device includes at least three disc-type nozzle assemblies for controlling the movement of the vessel, a disc-type motor drive plate for driving the at least three disc-type nozzle assemblies, and a disc-type upper outer shell and a disc-type lower outer shell for covering. The disc-type nozzle assembly includes a disc-type shell rotating motor connected to the disc-type motor drive plate and having a rotating shell, blades, and disc-type nozzle openings. The disc-type upper outer shell has an upper opening corresponding to the position of the blades. The disc-type lower outer shell has a lower opening corresponding to the position of the blades. When the blades rotate clockwise, water flows in from the upper and lower openings and is ejected from the nozzle openings in the form of a water jet to generate thrust.

[0013] On the other hand, this application provides a small vessel anchoring and positioning device. The vessel is equipped with at least one anchoring and positioning device. The anchoring and positioning device includes a jetting device for anchoring and positioning and a support assembly for fixing the vessel and the jetting device. The jetting device includes at least three nozzle assemblies for controlling the movement of the vessel and a motor drive plate for driving the at least three nozzle assemblies. The nozzle assembly includes a motor connected to the motor drive plate, a motor shaft of the motor, and a propeller mounted on the motor shaft that can rotate forward and backward. The resultant force vector formed by the thrust vector and the pull vector generated by the at least three nozzle assemblies is used to control the vessel, while the jetting device, which is fixedly connected to the hull, does not rotate around its column axis.

[0014] On the other hand, this application provides a small vessel anchoring and positioning device, which includes two linear jet heads, each consisting of a nozzle assembly, stacked on top of each other, a spindle-type column for connecting the lower linear jet head, a sleeve-type column for connecting the upper linear jet head, an antenna box for connecting the upper end of the spindle-type column, and a handle for connecting the upper end of the sleeve-type column. The spindle-type column is located in the middle of the sleeve-type column, and when the handle is rotated, it causes the upper linear jet head to rotate around the axis of the spindle-type column.

[0015] The design concept of this application is to design a device that uses the resultant force vector of the push or pull force of a jet of water to control the anchoring and positioning of a ship without using a steering mechanism. The jet of water is generated by a propeller driven by an electric motor or a disc-shell motor driven by a blade. Once a command is received, the motor can start immediately and quickly generate the jet of water and simultaneously form a resultant force vector. The speed of responding to and executing commands and obtaining the required results is relatively fast. The motor goes from standstill to full speed to form a resultant force vector almost instantly, and there is no need to wait hundreds of milliseconds to obtain the result required by the command.

[0016] Due to the adoption of the above technical features, the present invention has the following advantages and positive effects compared with the prior art: First, this application uses the resultant force vector of the thrust or pull of the jet water column to control the anchoring and positioning of the ship, which can respond to and execute commands and obtain the desired results quickly; Second, this application has the function of not only anchoring ships, but also propelling ships.

[0017] Of course, implementing any specific embodiment of the present invention does not necessarily have all of the above technical effects at the same time. Attached Figure Description

[0018] Figure 1a This is a schematic diagram of a small, propeller-driven recreational boat using existing technology. Figure 1b This is a schematic diagram of propeller thrust in existing technology; Figure 1c This is a schematic diagram of propeller thrust from another existing technology; Figure 2 This is a schematic diagram of the vessel and anchoring positioning device used in this application; Figure 3a This is a schematic diagram of the spraying device of this application; Figure 3b yes Figure 3a Partial diagram of the explosion; Figure 3c It is another Figure 3a Partial diagram of the explosion; Figure 4aThis is a schematic diagram of the nozzle assembly of this application; Figure 4b yes Figure 4a An explosion diagram; Figure 5a This is a schematic diagram of the force analysis of the vessel in this application; Figure 5b This is a schematic diagram of the vector used by the unit of this application to determine the direction of motor rotation; Figure 5c This is an enlarged force analysis diagram of point A1 used to determine the motor speed, as per this application. Figure 6a This is a schematic diagram of the spray device with a flat nozzle orifice guide shield according to this application; Figure 6b yes Figure 6a Partial diagram of the explosion; Figure 6c It is another Figure 6a Partial diagram of the explosion; Figure 7a This is a schematic diagram of the three-head double-layer spray device of this application; Figure 7b yes Figure 7a Another angle diagram; Figure 7c yes Figure 7a Another angle diagram; Figure 8a This is a schematic diagram of the anchoring operation of the dual-head double-layer spraying device in this application; Figure 8b This is a schematic diagram of the navigation operation of the dual-head, dual-layer jet device of this application; Figure 9a This is a schematic diagram of the nozzle assembly of this application; Figure 9b This is a schematic diagram of the installation of the large and small nozzle assemblies of this application on a ship; Figure 10a This is a schematic diagram of the disc-type spray device of this application; Figure 10b yes Figure 10a Partial diagram of the explosion; Figure 10c It is another Figure 10a Partial diagram of the explosion; Figure 11 This is a schematic diagram of the exposed propeller type in this application; Figure 12a This is a three-dimensional anchoring diagram of this application; Figure 12b This is a schematic diagram of the three-dimensional anchoring analysis of this application; Figure 13 This is a schematic diagram of the three-anchor fixing scheme of this application; Figure 14 This is a schematic diagram of the single anchor point scheme in this application. Detailed Implementation

[0019] The following describes several preferred embodiments of the present invention in detail with reference to the accompanying drawings, but the present invention is not limited to these embodiments. The present invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the present invention. To provide the public with a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments, but those skilled in the art will fully understand the present invention without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of the present invention, well-known methods, processes, procedures, elements, etc., are not described in detail.

[0020] Please refer to Figure 2 One application scenario of the anchoring and positioning device of this application is that the anchoring and positioning device does not use a steering mechanism but uses a combination of thrust or pull of a jet of water to control the movement of the vessel 90 along the still water surface 90g. The jet of water is generated by a propeller driven by a motor. Once a command is received, the motor can start immediately and quickly generate the jet of water while forming a resultant force vector. The speed of responding to or executing the command and obtaining the required result is relatively fast. The motor goes from standstill to full speed and forms a resultant force vector almost instantly, and there is no need to wait hundreds of milliseconds to obtain the result required by the command. The central control unit combines the collected information to control the direction and magnitude of the jet of water, i.e., the thrust or pull vector, and simultaneously forms a resultant force vector to complete the anchoring and positioning function.

[0021] like Figure 2 As shown, the vessel 90 is equipped with at least one anchoring and positioning device. The anchoring and positioning device includes a jetting device 10 for anchoring and positioning, and a support assembly 80 for fixing the vessel 90 and the jetting device 10. The jetting device 10 includes at least three nozzle assemblies 12 for controlling the movement of the vessel 90, and motor drive plates 18 for driving the at least three nozzle assemblies 12. The number of motor drive plates 18 can be an integrated system corresponding to all the nozzle assemblies 12, or, in this embodiment, one motor drive plate 18 can be configured for each nozzle assembly 12. Figure 2 In one embodiment, the present application installs one set of the anchoring and positioning device at the bow 90a and the stern 90b to simultaneously control the movement of the bow 90a and the stern 90b, with the aim of maintaining the anchored position and attitude of the vessel 90 on the water surface.

[0022] The nozzle assembly 12 includes a motor 12a connected to the motor drive plate 18, a motor shaft 12b of the motor 12a, a guide shroud 12c mounted on the motor 12a for guiding water flow, a nozzle opening 12d at the end of the guide shroud 12c, multiple openings 12e on the guide shroud 12c facing the motor 12a, a guide core 12f mounted on the motor shaft 12b for smoothly changing the direction of water flow, and a propeller 12g mounted on the motor shaft 12b that can rotate forward and reverse. When the propeller 12g rotates, water flows from the plurality of openings 12e into the guide shroud 12c and is ejected outward in the form of a water column from the nozzle opening 12d, forming a reverse thrust vector 12h. When the propeller 12g rotates in reverse, it forces water to be drawn into the guide shroud 12c from the nozzle opening 12d and ejected outward from the plurality of openings 12e, forming a pull vector 12j. The resultant force vector formed by the reverse thrust vector 12h and the pull vector 12j generated by the at least three nozzle assemblies 12 is used to control the vessel 90. The jetting device is fixedly connected to the hull and does not rotate relative to the vessel 90 around its column axis.

[0023] Referring to Figure 3C, the spraying device 10 further includes a column 16 for fixing and connecting the support assembly 80, a central control unit 19 for collecting information and issuing commands to the nozzle assembly 12, and an upper outer shell 11a and a lower outer shell 11b disposed at the end of the column 16 for covering. In this embodiment, the at least three nozzle assemblies 12, the motor drive board 18, and the central control unit 19 are covered between the upper outer shell 11a and the lower outer shell 11b. The upper outer shell 11a, the lower outer shell 11b, the at least three nozzle assemblies 12, the motor drive board 18, and the central control unit 19 form the spray head 1. 1. After assembly, the nozzle orifice 12d and opening 12e are connected to the outside of the combination of the upper outer shell 11a and the lower outer shell 11b; the center line 11c of the upper outer shell 11a and the lower outer shell 11b is collinear with the column axis 16a of the column 16, and the spray head 11 is rotated symmetric about the center line 11c; that is, the axes 12n of the at least three nozzle assemblies 12 in the spray head are perpendicular to and intersect the column axis 16a, and their projections on the plane perpendicular to the column axis 16a are evenly distributed about the column axis as the rotational symmetry center line.

[0024] Figure 2In this embodiment, the support assembly 80 includes a support base 81 for fixedly connecting the vessel 90, a support rocker arm 82 connected to the support base 81 via a pivot 83, and a sleeve 82a disposed at one end of the support rocker arm 82 for fixedly connecting the column 16. During anchoring, the spray head 11 at the bottom of the spray device 10 is submerged below the water surface. In this embodiment, the spray head 11 is disc-shaped, but this cannot be used to limit this application. Other shapes, such as polygons, as long as they meet the requirements, should be within the scope of protection of this application. Multiple nozzles 12d extend radially outward from the edge of the spray head 11, and a column 16 extends upward from the top center of the spray head 11 vertically from the disc. The support assembly 80 is fixed to the vessel 90 via the support base 81, and the support rocker arm 82 is connected to the support base 81 via a pivot 83. The front end of the support rocker arm 82 is the sleeve 82a. The spraying device 10 can move up and down within the sleeve 82a via the column 16, but cannot rotate, thereby adjusting the depth of the spray head 11 submerged in the water. The goal is to ensure that the spray heads 11 installed at the bow 90a and stern 90b are submerged at the same depth. Once the submersion depth is determined, the sleeve 82a and column 16 are locked relative to each other, and the support rocker arm 82 and support base 81 are also locked relative to each other, thus preventing relative movement between the spraying device 10 and the vessel 90. When the spray head 11 sprays water, it can propel the bow 90a or stern 90b to move in a plane along the still water surface 90g. When not anchored, the support rocker arm 82 is unlocked and swung upwards around the pivot 83, causing the spray head 11 to rise and leave the water surface before locking the support rocker arm 82 again. This reduces the resistance when the vessel 90 moves freely, making the force required to drive it, such as rowing, less strenuous.

[0025] Figure 3a The injection device 10 further includes an antenna box 17 with a Global Positioning System (GPS) and a power cable 17a for connecting to a battery for power supply. The power cable 17a electrically connects to components in the injection device 10 that require power, such as the antenna box 17, motor drive board 18, central control unit 19, and motor 12a. The central control unit 19 receives GPS signals transmitted by the antenna box 17 and comprises a multi-axis accelerometer, gyroscope, magnetic pole sensor, and microprocessor. Figure 3aIn this embodiment, the jet head 11 is located at the lower part of the anchoring and positioning device, and is disc-shaped with three nozzles 12d extending radially outward from its edge. The column 16 extends upward from the top center of the jet head 11 vertically from the disc, on which is a GPS antenna box 17 and a power cable 17a connected to the battery. The jet head 11 contains three nozzle assemblies 12, each equipped with a motor drive board 18, and a central control unit 19 is installed in the middle. The central control unit 19 collects real-time position data of the vessel 90 from the GPS antenna and various sensors, performs calculations by a microprocessor, and issues corresponding action commands to each execution unit, such as each nozzle assembly 12, thereby controlling the vessel 90 to move in a plane at the required direction and speed within the still water surface 90g.

[0026] Please refer to Figure 4b The nozzle assembly 12 is radially mounted inside the housing of the spray head 11. A flow guide shroud 12c is fitted at the front end of the motor 12a, with its front portion slightly constricted to form the nozzle opening 12d and multiple openings 12e on its rear side. The flow guide core 12f is mounted on the motor shaft 12b, which allows the water flowing through the openings 12e to change direction more smoothly. The propeller 12g is also mounted on the motor shaft 12b. When the propeller 12g rotates clockwise, it forces the water to flow from the openings 12e into the flow guide shroud 12c and then spray it outward in the form of a water column from the nozzle opening 12d. This sprayed water column exerts thrust outward. According to Newton's third law, the nozzle assembly 12 will experience a counter-thrust force of the same magnitude but opposite direction to the thrust of the water column, which can be represented by the counter-thrust vector 12h. Note that the nozzle assembly 12 is fixedly connected to the jet head 11, meaning that the aforementioned counter-thrust force can then push the bow 90a or stern 90b to move along the direction of the counter-thrust vector 12h. The counter-thrust vector 12h is collinear with the axis 12n of the nozzle assembly 12 (i.e., the motor 12a), so its direction is also along the radial direction of the jet head 11. The counter-thrust vectors 12h of all nozzle assemblies 12 lie on the same plane and converge at the centerline 11c of the jet head 11. All counter-thrust vectors 12h are on the same plane, and this plane is perpendicular to the centerline 11c of the jet head 11 and parallel to the still water surface 90g. Figure 3a In this embodiment, the number of nozzle assemblies 12 is three, and the plane formed by the axes 12n of the three nozzle assemblies 12 is parallel to the still water surface 90g; the at least three nozzle assemblies 12 include at least one large-size nozzle assembly. Figure 9a In one embodiment, the number of nozzle assemblies 12 is three, including one large-size nozzle assembly.

[0027] Similarly, as described above, when the propeller 12g reverses, it forces water to be drawn into the guide shroud 12c from the nozzle orifice 12d and ejected outwards from the opening 12e. This forced water flow into the nozzle orifice 12d exerts a suction force. According to Newton's third law, the nozzle assembly 12 will experience a pulling force of the same magnitude but opposite direction to this suction force, which can be represented by the pulling force vector 12j. The pulling force vector 12j is collinear with the axis 12n of the nozzle assembly 12, i.e., the motor 12a, so its direction is also along the radial direction of the jet head 11. The pulling force vectors 12j of all the nozzle assemblies 12 are in the same plane and converge at the centerline 11c of the jet head 11; all the pulling force vectors 12j lie in the same plane, which is perpendicular to the centerline 11c of the jet head 11 and parallel to the still water surface 90g.

[0028] like Figure 4a As shown, the thrust vector 12h or pull vector 12j can essentially be considered as vectors in different directions along the axis 12n of the nozzle assembly 12. We can combine them into a thrust vector 12k, whose direction changes with the rotation of the motor 12a. When the motor 12a rotates forward, its direction is inward along the radial direction of the nozzle head 11, pointing towards the center line 11c. When the motor 12a rotates in reverse, the direction of the thrust vector 12k will be outward along the radial direction of the nozzle head 11, away from the center line 11c. The magnitude of the thrust vector 12k depends on the rotational speed of the motor 12a. Obviously, when the motor 12a stops, the thrust vector 12k... The greater the forward rotation speed of the motor 12a, the greater the thrust vector 12k exerts on the nozzle 11; similarly, the greater the reverse rotation speed of the motor 12a, the greater the pulling force exerted on the nozzle 11 by the thrust vector 12k. All the nozzle assemblies 12 are installed radially along the nozzle 11. If the nozzle assemblies 12 are evenly distributed around the nozzle 11 in the circumference, that is, symmetrically installed about the center line 11c, it is obvious that if the direction and speed of all the motors 12a are the same, the effects of each thrust vector 12k will cancel each other out, and the total force exerted by each thrust vector 12k on the nozzle 11 will be zero.

[0029] The following describes various embodiments of the various combinations of the injection head 11: Embodiment 1:

[0030] Please refer to Figure 2 , Figure 3a , Figure 3b , Figure 4a , Figure 4b , Figure 5a , Figure 5b and Figure 5cThe jetting device 10 consists of two sets, which are respectively installed on the bow 90a and stern 90b of the vessel 90 via the bracket assembly 80. During installation, the centerline 11c must be perpendicular to the still water surface 90g. The jetting device 10 includes a jet head 11, a column 16, and an antenna box 17. The jet head 11 is essentially disc-shaped and rotates symmetrically with the centerline 11c as its centerline. The jet head 11 contains an upper outer shell 11a and a lower outer shell 11b. Three sets of nozzle assemblies 12 are evenly arranged circumferentially along its radial direction. The axes 12n of all nozzle assemblies 12 are in a plane parallel to the still water surface 90g, and the angle between the three axes 12n in the plane is 120 degrees. During operation, the jetting... The device 10, the support assembly 80, and the boat 90 are fixedly connected. When the nozzle 12d sprays or draws in water, it generates a reaction force to push or pull the jet head 11, and then the boat 90 moves in a corresponding planar direction parallel to the still water surface 90g. Here we only consider the planar movement of the boat 90 parallel to the still water surface 90g, or the horizontal plane. Therefore, we can make an imaginary plane 90d, which passes through the center of gravity 90e of the boat 90 and is parallel to the still water surface 90g. In the following analysis, we will project all forces onto this plane for analysis, which is more convenient.

[0031] Pressing the anchor button at a certain moment instructs the vessel 90 to maintain its current position and attitude on the water from that moment until the anchor is released. Please refer to [reference needed]. Figure 5a , Figure 5b and Figure 5cFor ease of analysis, the projection point A0 of the centerline 11c onto plane 90d can represent the bow 90a and point B0 can represent the stern 90b. At this time, the central control unit 19 can determine the current coordinates of points A0 and B0 via GPS and record them as the anchoring origin. Clearly, determining the coordinates of points A0 and B0 means determining the coordinates of the vessel 90 on the water surface. Points A0 and B0 represent the original anchoring position and attitude of the anchored vessel 90. After a short period of time, due to external interference, the vessel 90 will drift away from its original anchoring position. Taking point A0 as an example, it drifts from the anchoring point A0 to point A1. The central control unit 19 can then provide the current coordinates of point A1 using data from a multi-axis accelerometer, gyroscope, magnetic pole sensor, and GPS. Since points A0 and A1 are known, the data for a line 12r connecting points A1 and A0 is also known. Unit 19 can derive three sets of instructions and send them to three different nozzle assemblies 12. Each set of instructions controls the direction and speed of the motor 12a of the corresponding nozzle assembly 12, thereby forming a thrust vector 12k with appropriate direction and magnitude. These three coplanar thrust vectors 12k can be combined into a total resultant force vector 12m. This resultant force vector 12m is collinear with the connecting line 12r and its direction is always from point A1 to point A0. The force represented by this resultant force vector 12m can push the bow 90a from the drifting point A1 back to point A0, which is the original anchoring point. Similarly, point B1 can also be pushed back to point B0 in this way. Thus, the ship 90 is pushed back from the new drifting position to the original anchoring position. This process is repeated continuously, and from a macroscopic perspective, the ship 90 appears to be anchored. Please note that during this process, the jetting device 10 is relatively fixed to the vessel 90, and does not rotate relative to it as in the prior art. Instead, the resultant force vector 12m continuously and rapidly changes direction and magnitude, which is the fundamental reason why this application can produce results from commands almost instantly.

[0032] The following combination Figure 5a , Figure 5b and Figure 5c The process of the vessel 90 returning to its anchored position will be further explained. Figure 5aThe diagram illustrates the position of the vessel 90 at the initial moment of anchoring. AP in the diagram represents the initial anchored attitude of the vessel, which can be determined by the coordinates of points A0 and B0. Here, we only discuss the planar motion of the vessel 90 parallel to the still water surface 90g. From this moment on, if the wind and waves are calm and there is no external disturbance, the vessel 90 will maintain this attitude at the anchoring position. At this time, the jet device 10 is on standby, and it can have two standby operating modes: one is to command all motors 12a to stop and standby, in which case all thrust vectors 12k are... Zero; this standby mode is more suitable for seasons with light winds and gentle currents. Alternatively, a second standby mode could be for all motors 12a to be dynamically on standby at the same direction and speed, such as a certain idle speed. In this case, all thrust vectors 12k would cancel each other out, causing no interference to the vessel 90. This standby mode is more suitable for seasons with strong winds and rapid currents, allowing for a faster response to disturbances. In reality, calm seas are rare, and disturbances are always present. That is, once the vessel 90 has determined its initial anchoring position, it may immediately drift away. Please refer to [link / reference]. Figure 5a , Figure 5b , Figure 5c ,in Figure 5c This is an analysis of the force at point A1 magnified; after a period of time, even a very short period, the ship 90 drifts to a new position, such as MP, which can be represented by points A1 and B1. At this time, each sensor is triggered, and the central control unit 19 can immediately determine the new position coordinates of points A1 and B1 using the information emitted by the aforementioned sensors. Thus, the parameters of the line 12r connecting points A1 and A0, and the line 12rr connecting points B1 and B0, can also be determined. Taking point A1 as an example, four unit vectors are emitted from point A1. Three of them are collinear with the axes 12n of the three nozzle assemblies and are labeled as vectors AV1, AV2, and AV3, respectively. The fourth unit vector is collinear with the line 12r and is labeled as vector AV4. Since the connection 12r and the connection 90c have been determined and the nozzle 11 and the vessel 90 are fixedly installed together, the angular relationship between the axis 12n of each nozzle assembly 12 and the connection 90c and the connection 12r can be determined. Consequently, the above four unit vectors can also be determined. With these known parameters, the central control unit 19 can start the calculation.

[0033] First, the direction of rotation of each motor 12a must be confirmed. Taking point A1 as an example: vector AV4 has three angles with vectors AV1, AV2, and AV3, θ1, θ2, and θ3 respectively. Compare the size of these three angles and then issue a direction command to each motor 12a. For any angle greater than or equal to 0 degrees and less than 90 degrees, the corresponding motor 12a is given a reverse rotation command to generate a pulling force to pull point A1 back to point A0. For any angle greater than 90 degrees and less than or equal to 180 degrees, the corresponding motor 12a is given a forward rotation command to generate a pushing force to push point A1 back to point A0. For any angle equal to 90 degrees, a stop command is given. In the above analysis, the selection of point A1 is random. Obviously, according to the principles of geometry, the above rules apply no matter where point A1 falls near point A0.

[0034] Next, we need to confirm the rotational speed of each motor 12a, that is, the magnitude or length of the thrust vector 12k; let's take point A1 as an example again. Figure 5c This is an analysis of the force at point A1. There are three identical nozzle assemblies 12, with their thrust vectors 12k corresponding to a unit vector. 12k1 corresponds to vector AV1, 12k2 to vector AV2, 12k3 to vector AV3, and vector 12m to vector AV4. Vector AV4 has three angles with vectors AV1, AV2, and AV3, θ1, θ2, and θ3, respectively. Alternatively, vector 12m has three angles with vectors 12k1, 12k2, and 12k3, θ1, θ2, and θ3, respectively. The magnitudes of these three angles are compared, and then the speed commands for each motor 12a are given.

[0035] First, consider a few special angles: if any vector has an angle of 0 or 180 degrees, then all three vectors corresponding to motor 12a are given the same maximum speed command; or if any vector has an angle of 90 degrees, then the motor 12a corresponding to that vector is given a stop command, while the other two vectors corresponding to motor 12a are given the same maximum speed command. In this embodiment, the three thrust vectors 12k are evenly distributed on the same plane or have an angle of 120 degrees between them, which makes the calculations for non-special angles much easier. Find the motors 12a corresponding to the two vectors with the largest and smallest angles and give them the maximum speed command. At this time, the thrust vector 12k of the corresponding two nozzle assemblies 12 reaches its maximum value, which, as shown in the figure, is vector 12k1 and vector 12k2. Now we only need to determine the remaining vectors, which in this embodiment is the third vector 12k3, which has not yet been determined. The magnitude of this vector is the corresponding motor speed. The solution is as follows: Draw a straight line 12p through point A1 and perpendicular to line 12r. Calculate the vector components of vectors 12k1, 12k2, and 12k3 along line 12r and line 12p, respectively, and label them as 12k1r, 12k1p; 12k2r, 12k2p; 12k3r, 12k3p. Clearly, the vector components along line 12r are useful, while the vector components along line 12p are useless for pushing point A1 back to point A0. Therefore, they must cancel each other out; that is, 12k1p + 12k2p + 12k3p = 0. Given that vector value 12k1 = 12k2, and that vectors 12k1, 12k2, and 12k3 form a 120-degree angle between each other, it is easy to derive the value of vector 12k3: 12k3 = 12k1 [cos(30°]]. Given the vectors 12k1, 12k2, and 12k3, we have: 12k1p = 12k1sin(θ1), 12k2p = 12k2cos(30° +θ1), 12k3p = 12k3cos(30° -θ1). We also have: 12k1r = 12k1cos(θ1), 12k2r = 12k2sin(30° +θ1), 12k3r = 12k3sin(30° -θ1). 12m = 12k1r + 12k2r + 12k3r. This is a simple method, but obviously not the only one. This calculates the direction and speed of all motors 12a at point A1 at that moment. Thus, a resultant force vector 12m, directed along the line 12r from point A1 to point A0, can be formed. This resultant force pushes the bow 90a from point A1 back to point A0. In the above analysis, the selection of point A1 is random. Obviously, according to geometric principles, the above rules apply regardless of where point A1 falls near point A0.Similarly, point B1 can be pushed back to point B0 in this way. Thus, vessel 90 is pushed back from its new position due to drifting to its original anchored position. This process is repeated continuously. From a macroscopic perspective, vessel 90 appears to be anchored at points A0 and B0. Here, we only consider the planar motion of vessel 90 along the still water surface 90g. Since vessel 90 is anchored at two points, its attitude in the water flow is also anchored.

[0036] Implement Column 2: The nozzle of the flow guide can be irregularly shaped, such as flat. Figure 6b A fairing with a flat nozzle was demonstrated.

[0037] Implement column 3: A jet head has at least three nozzle assemblies. For jet heads containing more nozzle assemblies, the above mechanical analysis is also applicable as long as they are assembled according to the following rules: the axis of the nozzle assembly is perpendicular to and intersects the center line of the jet head, that is, it is installed along the radial direction of the jet head, and the projection of the axis of the nozzle assembly on a plane perpendicular to the center line of the jet head is rotationally symmetrical about the center line of the jet head, that is, it is evenly distributed along the circumference of the jet head, and the plane perpendicular to the center line of the jet head is parallel to the still water surface. Figure 6a , Figure 6b , Figure 6c A spray head was showcased. Figure 6a In this embodiment, a thin-shaped jet head scheme with 5 nozzle assemblies is adopted; the outer edges of the upper and lower outer shells almost cover the nozzle opening of the guide shroud, which can reduce the resistance of the water flow. The upper opening of the upper outer shell and the lower opening of the lower outer shell correspond to the openings on the nozzle assembly, so that the water flow can pass through.

[0038] Implement Column 4: The jet head described in the above embodiments can be multi-layered, and the above mechanical analysis is also applicable to a plane parallel to the still water surface at 90g. Figure 7a , Figure 7b , Figure 7c A jet head consisting of two 3-nozzle assemblies was demonstrated. The projections of the axes of the two nozzle assemblies on the still water surface (90g) are offset by 60 degrees from each other. Their actual overall effect is equivalent to a jet head with 6 nozzle assemblies on a plane. The central control unit can treat it as a jet head with 6 nozzle assemblies.

[0039] Implementation List 5: The jetting device not only anchors the vessel but also propels it forward. Imagine the origin is always at a point far ahead of the bow. Through the central control unit, appropriate commands can be manually given to the corresponding motors to make the vessel move forward, backward, turn left or right, etc. Therefore, a jetting device can be considered to have two working states: anchoring and sailing. In fact, the jetting device can be modified to better adapt to different working states. In this design, the anchoring and positioning device includes two linear jetting heads 311, each composed of two nozzle assemblies, positioned vertically and horizontally. The system comprises a multi-layered jet head 311A, a spindle-type column 316a for connecting the lower linear jet head 311, a sleeve-type column 316b for connecting the upper linear jet head 311, an antenna box 17 for connecting the upper end of the spindle-type column 316a, and a handle 312s for connecting the upper end of the sleeve-type column 316b. The spindle-type column 316a is located in the middle of the sleeve-type column 316b. When the handle 312s rotates, it causes the upper linear jet head 311 to rotate around the axis of the spindle-type column 316a. Figure 8a In this embodiment, a multi-layered nozzle 311A ​​is constructed by stacking two linear nozzle assemblies 311 on top of each other. It should be noted that the nozzle assembly in this embodiment can be any type of nozzle assembly used in this application. Furthermore, the lower spindle-type column 316a houses the antenna box 17, and the upper sleeve-type column 316b houses the handle 312s. The two are nested together. When the handle 312s is turned, the upper linear nozzle 311 can rotate relative to the lower linear nozzle 311. When in an anchored state... Figure 8a The projections of the axes of the nozzle assemblies in the upper and lower layers onto the still water surface 90g are offset by 90 degrees from each other. Their actual total effect is equivalent to that of a jet head with 4 nozzle assemblies on a plane. This is consistent with the fact that at least three jet heads can form a resultant force vector of 12m. Figure 8b The multi-layer jet head 311A ​​is shown in the navigation state. At this time, the axis of the lower layer is parallel to the line 90c connecting the ship. The upper layer linear jet head 311 is rotated about 90 degrees, so that the axes of all the nozzle assemblies are almost parallel to the line 90c connecting the ship 90, so that the thrust of the ship 90 in the navigation direction can reach the maximum efficiency. At this time, swinging the handle 312s will also swing the axis of the upper layer, so that the ship 90 can turn left and right.

[0040] Implement Column 6: The nozzle assemblies contained in a spray head do not necessarily have to be of the same size. Figure 9aThis demonstration showcases a jet head with five nozzle assemblies. One of these, a larger 412A nozzle assembly, is slightly larger than the other four. During installation, its axis is parallel to the line 90c connecting the vessel's 90 and coplanar with the axes of the other four nozzle assemblies. When the vessel 90 is underway, this larger 412A nozzle assembly provides the primary thrust, while the other four nozzle assemblies serve as auxiliary thrusters. Figure 9b The installation of the injection device on the vessel 90 is demonstrated. When the injection head is in an anchored state, the central control unit calculates the direction and speed of the motors of each nozzle assembly. In reality, all five nozzle assemblies can be treated as the same specification. However, when giving the speed command to the large-specification nozzle assembly 412A, a coefficient y greater than 0 and less than 1 is multiplied before the speed value. This is equivalent to reducing the thrust performance of the large-specification nozzle assembly 412A by reducing the speed, so that it is the same as or similar to the thrust performance of other nozzle assemblies. Since the large motor of the large-specification nozzle assembly 412A and the small motors of other nozzle assemblies are pre-selected, the coefficient y can be determined in advance through experiments. At this time, the coefficient y is a known number. This modeling algorithm is relatively simple and convenient. Of course, other different algorithms are also possible.

[0041] Example 7: Please refer to Figure 10a , Figure 10b , Figure 10c The nozzle assembly can also be a disc-type shell rotating motor. The vessel 90 is equipped with at least one anchoring positioning device. The anchoring positioning device includes a disc-type spray device 510 for anchoring positioning and a bracket assembly 80 for fixing the vessel 90 and the disc-type spray device 510. The disc-type spray device 510 includes at least three disc-type nozzle assemblies 512 for controlling the movement of the vessel 90, a disc-type motor drive plate 518a for driving the at least three disc-type nozzle assemblies 512, a disc-type upper shell 511a for covering, and a disc-type lower shell 511b. The nozzle assembly 512 includes a disc-shaped rotating motor connected to the disc motor drive plate 518a and having a rotating housing 512e, blades 512g, and a disc nozzle orifice 512d. The upper disc housing 511a has an upper disc opening 511d corresponding to the position of the blades 512g; the lower disc housing 511b has a lower disc opening 511e corresponding to the position of the blades 512g. When the blades 512g rotate clockwise, water flows in from the upper disc opening 511d and the lower disc opening 511e and is ejected outwards from the disc nozzle orifice 512d in the form of a water column, generating thrust. Figure 10a In this embodiment, the disc nozzle assembly 512 acts like a radial flow pump. During installation, the water outlet direction 512n is aligned with the radial direction of the spray head and evenly distributed along its circumference. Figure 10cThe image shows a jet head with three disc nozzle assemblies 512 and a disc-shell rotating motor. Each disc-shell rotating motor has a disc motor drive plate 518a. When the disc-shell rotating motor rotates forward, the blades 512g, which are integral with the rotating shell 512e, draw water in from the upper disc opening 511d and the lower disc opening 511e, and then eject it from the disc nozzle opening 512d, generating thrust. The three water outlet directions 512n are evenly distributed along the radial direction of the jet head and along its outer circumference, i.e., symmetrically distributed about the disc centerline 511c. Obviously, the greater the rotational speed of the disc-shell rotating motor, the greater the thrust. Due to the unidirectional nature of the radial flow pump, the disc central control unit 5... The reverse command given to the disc nozzle assembly 512 by 19a can now be changed to a stop command. At this time, no water will be sprayed out from the disc nozzle port 512d. The upper disc housing 511a and the lower disc housing 511b each have three upper disc openings 511d and three lower disc openings 511e corresponding to the disc nozzle assembly 512, allowing water to enter. The spray head of this disc nozzle assembly 512 can be made into a relatively thin design, which is convenient for multiple layers to be stacked in a common centerline manner, as shown in Example 4. This makes it easier to form different products of various thrust series by combining layers.

[0042] Example 8: In this embodiment, the nozzle assembly included in the jet head does not necessarily have to include a flow guide. The vessel is equipped with at least one anchoring and positioning device, which includes a jetting device for anchoring and positioning and a support assembly for fixing the vessel and the jetting device. The jetting device includes at least three nozzle assemblies for controlling the movement of the vessel and a motor drive plate for driving the at least three nozzle assemblies. Each nozzle assembly includes a motor 12a connected to the motor drive plate, a motor shaft of the motor, and a propeller 12g mounted on the motor shaft that can rotate forward and backward. The resultant force vector formed by the thrust vector and the thrust vector generated by the at least three nozzle assemblies 12 is used to control the vessel 90, while the jetting device, fixedly connected to the hull, does not rotate around its column axis. Figure 11 In this embodiment, the nozzle assembly does not include a flow deflector, and its propeller 12g is exposed. Figure 11 A jet head with five propellers 12g is shown. The propellers 12g are directly mounted on the motor shaft 12b of the nozzle assembly 12. When it is working, the thrust vector is also along the axis 12n. The working and control method of the jet head is similar to the jet head with a guide vane mentioned above.

[0043] Implementing Column 9: The above discussion is only within a two-dimensional plane parallel to the still water surface 90g. All force analyses are two-dimensional. In reality, the ship 90 will swing around the center of gravity 90e, including both longitudinal and lateral swings. If the angle of this swing is not large, it will not have a significant impact on the operation of the jet device. In fact, this jet device can also be used to suppress the ship's swing. Figure 12a , Figure 12b An anchoring scheme using at least three sets of jetting devices is demonstrated. The difference lies in the third set of jetting devices, which primarily suppresses the swaying of the vessel 90 around its center of gravity 90e, including longitudinal or lateral swaying. This not only anchors the vessel 90's two-dimensional position on the still water surface 90g but also further anchors its third-dimensional attitude. If the sway angle of the vessel 90 is small, such as less than 15 degrees, then the center of gravity 90e can be considered definite and only related to the physical structure of the vessel 90; that is, the center of gravity 90e is a known quantity. On plane 90d, the center of gravity 90e will fall on the line 90c connecting points A1 and B1 and is known. For ease of calculation, the line 90c connecting points A1 and B1 is used... The midpoint C1 is used to replace the center of gravity 90e. In reality, these two points C1 are very close to the center of gravity 90e. A perpendicular line 90f is drawn through point C1 and perpendicular to the still water surface 90g. Points A1, B1 and C1 are known, so the perpendicular line 90f is determined. When the ship 90 is in a positive floating state, the jet device is inserted into the water from the middle of the ship and the axis of the column 16 is aligned with point C1 and perpendicular to the still water surface 90g. The column 16 can be appropriately long so that the lever arm 710a is long enough. After installation and debugging, the jet device can be fixedly connected to the ship 90. When the ship 90 is no longer in a positive floating state, the jet device will swing with the ship 90. Figure 12b Taking the yaw of vessel 90 as an example: when the axis of column 16 is collinear with the vertical line 90f, point E1 represents the center of the nozzle. When vessel 90 yaws at a small angle, point E2 represents the center of the nozzle. The movement of point E1 to point E2 is the displacement of point E1 caused by the yaw at this moment. When the displacement is sufficient to trigger each sensor, the central control unit will start to calculate and give appropriate instructions to the corresponding nozzle assemblies in the spraying device to generate a resultant force vector 12m to push E2 back to the position of E1. Note that the vertical line 90f passes through point C1 and is always perpendicular to the still water surface 90g. Obviously, the operation of the spraying device mainly plays a role in suppressing the yaw of vessel 90 and does not play a major role in pushing points A1 and B1 back to the anchoring origin A0 and B0.

[0044] Multi-anchor point implementation Figure 13 An anchoring scheme employing more jets is demonstrated, allowing the vessel 90 to be anchored more securely, with adjustments made to ensure all jets are at the same underwater depth.

[0045] Single anchor point embodiment Figure 14 An anchoring method using only one set of jetting devices is demonstrated, which is suitable for situations where the anchoring attitude of the vessel at 90° is not very strict; generally, only the bow 90a is anchored, while the stern 90b is allowed to swing downstream with the wind or current.

[0046] It should be noted that in the description of the embodiments of this application, the terms "front," "rear," "left," "right," "up," "down," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0047] Due to the adoption of the above technical features, the present invention has the following advantages and positive effects compared with the prior art: First, this application uses the resultant force vector of the thrust or pull of the jet water column to control the anchoring and positioning of the ship, which can respond to and execute commands and obtain the desired results quickly; Second, this application has the function of not only anchoring ships, but also propelling ships.

[0048] The preferred embodiments of the invention are merely illustrative of the invention. They do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. These embodiments have been selected and specifically described in this specification to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to make good use of the invention. The invention is limited only by the claims and their full scope and equivalents. The above disclosures are merely preferred embodiments of the invention, but are not intended to limit it. Any equivalent changes and modifications made by those skilled in the art without departing from the spirit and essence of the invention should fall within the protection scope of the invention.

Claims

1. A small vessel anchoring and positioning device, characterized in that, The vessel (90) is equipped with at least one anchoring positioning device, which includes a jetting device (10) for anchoring positioning and a bracket assembly (80) for fixing the vessel (90) and the jetting device (10). The jetting device (10) includes at least three nozzle assemblies (12) for controlling the movement of the vessel (90) and a motor drive plate (18) for driving the at least three nozzle assemblies (12). The nozzle assembly (12) includes a motor (12a) connected to the motor drive plate (18), a motor shaft (12b) of the motor (12a), a flow guide (12c) disposed on the motor (12a) for guiding water flow, a nozzle opening (12d) opened at the end of the flow guide (12c), a plurality of openings (12e) opened on the flow guide (12c) facing the motor (12a), a flow guide core (12f) disposed on the motor shaft (12b) for changing the direction of water flow, and a flow guide core (12f) disposed on the motor shaft (12b). A propeller (12g) capable of rotating in both forward and reverse directions; when the propeller (12g) rotates in the forward direction, water flows in from the plurality of openings (12e) and is ejected from the nozzle opening (12d) in the form of a water jet to form a reverse thrust vector (12h); when the propeller (12g) rotates in the reverse direction, water is drawn in from the nozzle opening (12d) and ejected outward from the plurality of openings (12e) to form a thrust vector (12j), the resultant force vector formed by the reverse thrust vector (12h) and the thrust vector (12j) generated by the at least three nozzle assemblies (12) is used to control the vessel (90).

2. The small vessel anchoring and positioning device as described in claim 1, characterized in that, The spraying device (10) also includes a column (16) for fixing the support assembly (80), a central control unit (19) for collecting information and issuing commands to the nozzle assembly (12), and an upper housing (11a) and a lower housing (11b) disposed at the end of the column (16) for covering. The upper housing (11a), the lower housing (11b), at least three nozzle assemblies (12), the motor drive board (18), and the central control unit (19) form a spray head (11). After assembly, the nozzle port (12d) and the opening (12e) are connected to the outside of the combination of the upper housing (11a) and the lower housing (11b). The center line (11c) of the upper housing (11a) and the lower housing (11b) is collinear with the column axis (16a) of the column (16).

3. The small vessel anchoring and positioning device as described in claim 2, characterized in that, The jetting device (10) also includes an antenna box (17) with a global positioning system (GPS) and a power cable (17a) for connecting to a battery to provide power. The central control unit (19) receives the GPS signal transmitted by the antenna box (17).

4. The small vessel anchoring and positioning device as described in claim 2, characterized in that, The bracket assembly (80) includes a bracket base (81) for fixedly connecting the vessel (90), a bracket rocker arm (82) connected to the bracket base (81) via a pivot (83), and a sleeve (82a) disposed at one end of the bracket rocker arm (82) for fixedly connecting the column (16).

5. The small vessel anchoring and positioning device as described in claim 2, characterized in that, The projections of the axes (12n) of the at least three nozzle assemblies (12) onto the plane perpendicular to the center line (11c) all converge at the center line (11c) and are uniformly distributed with the center line (11c) as the rotational symmetry center line; the center line (11c) is collinear with the column axis (16a).

6. The small vessel anchoring and positioning device as described in claim 1, characterized in that, The plane formed by the axes (12n) of the at least three nozzle assemblies (12) is parallel to the still water surface (90g); the at least three nozzle assemblies (12) include at least one large nozzle assembly (412A).

7. The small vessel anchoring and positioning device as described in claim 2, characterized in that, The central control unit (19) includes a multi-axis accelerometer, a gyroscope, a magnetic pole sensor, and a microprocessor.

8. A small vessel anchoring and positioning device, characterized in that, The vessel (90) is equipped with at least one anchoring positioning device, which includes a disc-type jetting device (510) for anchoring positioning and a bracket assembly (80) for fixing the vessel (90) and the disc-type jetting device (510). The disc-type jetting device (510) includes at least three disc-type nozzle assemblies (512) for controlling the movement of the vessel (90), a disc-type motor drive plate (518a) for driving the at least three disc-type nozzle assemblies (512), a disc-type upper outer shell (511a) for covering, and a disc-type lower outer shell (511b). The disc nozzle assembly (512) includes a disc housing motor connected to the disc motor drive plate (518a) and having a rotating housing (512e), blades (512g) and a disc nozzle orifice (512d); The upper disc-shaped outer shell (511a) has an upper disc-shaped opening (511d) at the position corresponding to the blade (512g); the lower disc-shaped outer shell (511b) has a lower disc-shaped opening (511e) at the position corresponding to the blade (512g). When the blade (512g) rotates forward, water flows in from the upper disc opening (511d) and the lower disc opening (511e) and is ejected as a water column from the disc nozzle (512d) to generate thrust.

9. A small vessel anchoring and positioning device, characterized in that, The vessel (90) is equipped with at least one anchoring positioning device, which includes a jetting device (10) for anchoring positioning and a bracket assembly (80) for fixing the vessel (90) and the jetting device (10). The jetting device (10) includes at least three nozzle assemblies (12) for controlling the movement of the vessel (90) and a motor drive plate (18) for driving the at least three nozzle assemblies (12). The nozzle assembly (12) includes a motor (12a) connected to the motor drive plate (18), a motor shaft (12b) of the motor (12a), and a propeller (12g) mounted on the motor shaft (12b) that can rotate forward and backward; the resultant force vector formed by the thrust vector and the thrust vector generated by the at least three nozzle assemblies (12) is used to control the vessel (90).

10. A small vessel anchoring and positioning device, characterized in that, The anchoring and positioning device includes a multi-layered nozzle (311A) consisting of two linear nozzle assemblies (311) stacked on top of each other, a spindle-type column (316a) for connecting the lower linear nozzle (311), a sleeve-type column (316b) for connecting the upper linear nozzle (311), an antenna box (17) for connecting the upper end of the spindle-type column (316a), and a handle (312s) for connecting the upper end of the sleeve-type column (316b). The spindle-type column (316a) is located in the middle of the sleeve-type column (316b). When the handle (312s) is rotated, it causes the upper linear nozzle (311) to rotate around the axis of the spindle-type column (316a).

Images