519 results about "Ballast" patented technology

The invention discloses an intelligent assembly loading control system of a geotextile laying ship, and belongs to the technical field of ship intelligent control. According to the invention, through the intelligent stowage planning module, based on standardized scheme matching and an adaptive optimization algorithm, objectives of balanced material distribution, shortest conveying path and ship stress rationalization are realized, stowage precision is improved, and sailing stability is optimized; the operation scheduling and arranging module dynamically generates an efficient operation time sequence graph through real-time cabin state recognition, process decomposition, operation time sequence optimization and remote cooperative control, precise scheduling is achieved, manual intervention is reduced, the automatic operation execution module is combined with real-time monitoring, abnormal early warning and intelligent feedback, the safety and adaptability of the operation process are ensured, and the working efficiency is improved. According to the method, loading deviation overrun and ballast abnormity are avoided, the decision-making capacity of the system is continuously optimized, manual operation errors are effectively reduced, the safety and economical efficiency of ship operation are improved, and green, energy-saving and efficient operation is helped to be achieved.

A control system for a towed object (1, 6; 20; 30; 50) in or on a body of water comprise one or more towing members (3) extending between the object (1) and a towing vessel (2). One or more ballast members (4) are movably connected to a respective one of said one or more towing members (3) and controllably movable at least a distance along its respective towing member. The towed object (1) may be controlled by moving one or more ballast members (4) on a towing member (3) in order to control the catenary (c) of a towing member (3). Individual ballast members (4) may be manipulated individually in order to correct, preserve or otherwise change the geometry of a trawl.

The invention discloses a buoy structure and a foundation structure suitable for a floating type wind turbine generator foundation, and the buoy structure comprises a distributed steel pipe frame which comprises a central steel pipe and peripheral steel pipes arranged around the central steel pipe; the end deck comprises an upper end deck and a lower end deck which are connected with the two ends of the distributed steel pipe frame respectively; the buoyancy module is made of glass fiber reinforced plastics and is formed by connecting a plurality of buoyancy units with a central steel pipe and a peripheral steel pipe in a layered manner, and each buoyancy unit is of a hollow watertight box body structure and is filled with a water pressure load or a solid pressure load; each buoyancy unit comprises a connecting pin connected with the central steel pipe, a through hole allowing the peripheral steel pipe to penetrate through and a skirt plate used for being connected with the adjacent buoyancy unit or the end deck, the connecting pins are arranged on the inner sides of the buoyancy units, the skirt plates are arranged on the outer sides of the buoyancy units, and connecting holes are formed in the skirt plates. The manufacturing and maintenance cost is effectively reduced, meanwhile, modular construction can be achieved, and the construction period is greatly shortened.

The invention belongs to the technical field of ocean engineering and water electrolysis hydrogen production. In order to solve the problem that a traditional model is difficult to deal with dynamic sea conditions, a platform-environment coupling digital twin model is constructed, multi-source monitoring data is fused, and platform motion response is predicted through deep reinforcement learning. And generating anti-storm strategies such as ballast water regulation based on a prediction result, and realizing real-time optimization. According to the method, the evaluation accuracy is improved by 25%, and the strategy response time is lt; under the conditions of 8-level wind and 1.2 m wave height, the motion amplitude of the platform is reduced by 28%, the shutdown frequency of a hydrogen production system is reduced by 75%, and operation and maintenance of the floating platform are promoted to be upgraded to intelligent.

The invention discloses a ship ballast water pressure loading and unloading control system based on a large model. The ship ballast water pressure loading and unloading control system is used for improving intelligence and efficiency of ship ballast water operation. According to the system, firstly, data such as ship navigation states, ballast water tank water levels and ship body postures are collected in real time through a multi-source sensor; analyzing and reasoning the collected data in the trained large neural network model; the large model outputs an optimal control strategy for ballast water loading and unloading, and the decision control module generates a specific execution instruction to drive a valve or a pump or other devices to complete ballast unloading actions. The system is also provided with a man-machine cooperation interface and a feedback mechanism, and the model can be finely adjusted and optimized according to a sailor instruction or real-time feedback information. Compared with a traditional control method, the method has the advantages that ship stability, energy efficiency and environmental protection requirements are fused through a large model, a ballast scheme can be automatically adjusted, rapid and efficient ballast replacement is achieved, and ship navigation safety and economical efficiency are remarkably improved.

According to the ship ballast water dynamic adjustment method, device and equipment and the storage medium, the water level data set, the attitude data set and the water pressure data set are obtained through the sensor, then whether the ship is in the balance state or not is determined according to the water level data set and the attitude data set, and when the ship is in the non-balance state, the ship ballast water dynamic adjustment is performed. If yes, determining a water volume adjustment scheme through a ballast water allocation optimization model; and then, according to the water volume adjustment scheme, a water pump operation instruction and a valve opening and closing instruction are generated, so that the ship recovers the balance state. According to the invention, the response time of ballast water regulation can be obviously shortened, and the flexibility and operation efficiency of the system are improved; the intelligent central control unit can be utilized to realize automatic operation, human intervention is reduced, and the operation precision is improved; and a ballast water allocation scheme can be flexibly adjusted to cope with the change of the ship state in real time.

Described herein are features for a high altitude lighter-than-air (LTA) system and associated methods. A zero-pressure balloon (ZPB) is attached in tandem with one or more air super-pressure balloons (SPB). The ZPB provides lift for the system while the SPB may provide a variable amount of ballast air by pumping in or expelling out ambient air. Various advanced performance targets relating to ascent rate, descent rate, range and maximum altitude are achievable with various scaled versions of the basic design of the LTA system. Advanced navigation and control techniques, such as more efficient high altitude station-keeping approaches, made possible with the LTA system are also described.

The invention discloses a deep sea mineral lifting unmanned transportation system. According to the system, an unmanned carrier-intelligent execution-elastic scheduling framework is constructed, and the system comprises four modules including unmanned carrying equipment, a communication network system, a scheduling control center and a support safeguard system. The unmanned carrying equipment realizes mineral transportation based on buoyancy driving; the communication network adopts a layered redundant architecture of underwater sound OFDM and a laser emergency link, and high-reliability communication and centimeter-level positioning are guaranteed; the scheduling control center improves the operation efficiency through intelligent task allocation and trajectory planning; the support and guarantee system integrates energy management, digital twin monitoring and emergency response mechanisms. The operation process adopts a mode of mainly unmanned autonomous and assisted by remote monitoring, and the links of ballast diving, acousto-optic docking, buoyancy regulation and control, mother ship dynamic unloading and the like are covered. The deep-sea mineral lifting efficiency, maneuverability and reliability are remarkably improved, and core technical support is provided for deep-sea resource development.

The invention discloses a suspended ballast floating type offshore wind power foundation suitable for water depth and a using method, and belongs to the technical field of floating type offshore wind power generation. The wind power foundation comprises a three-stand-column semi-submersible foundation, a mooring system and a control system, and the three-stand-column semi-submersible foundation comprises three vertical stand columns, a supporting rod and a ballast caisson; the ballast caisson is connected with a sliding rail arranged on the side wall of the vertical stand column through a sliding rope, so that the ballast caisson moves up and down relative to the vertical stand column, the position of the ballast caisson is adjusted through a control system, and then the gravity center position and the draft depth of the foundation are adjusted so as to adapt to different environmental conditions, and the stability and the anti-overturning capacity are ensured. The use method comprises the steps of monitoring environmental conditions, calculating overturning moment, calculating anti-overturning moment, adjusting the depth of the ballast caisson and recording and analyzing data, the required moving depth of the ballast caisson is reversely deduced by calculating the overturning moment to ensure that the gravity center and the buoyancy center of the foundation are kept at proper positions, and the risk of overturning of the foundation is reduced.

The invention relates to the technical field of HDPE pipeline shipping, in particular to an HDPE pipeline shipping track construction method which comprises the following steps: S1, acquiring calculation parameters of HDPE pipe joints and ballast blocks; s2, calculating the total weight and H draft of the HDPE pipe section; s3, constructing a pipeline model; s4, the pipeline model constructed in the step S3 is used for simulating the working condition that the front end of the HDPE pipe section enters water and the working condition that the tail end of the HDPE pipe section leaves the slope and is subjected to back pressure when the HDPE pipe section runs on rails with different slope ratios under the condition of different tidal water levels; the maximum counter-force N1 of the trolley in the water entering process of the HDPE pipe section and the tail end counter-force N2 of the trolley in the slope leaving process of the HDPE pipe section are obtained; s5, N1 and N2 are compared with the working load N0 of the trolley, if N1 is smaller than or equal to N0 and N2 is smaller than or equal to N0, the slope ratio design of the section of rail passes checking calculation, and the next step is carried out; otherwise, adjusting the slope ratio of the section of track, and repeating the step S4 until the section of track meets the conditions that N1 is smaller than or equal to N0 and N2 is smaller than or equal to N0; and S6, repeating the steps S4-S5 until all the track slope ratios pass the checking calculation. According to the method, reasonable distribution of the track slope ratio is achieved by refining the slope ratio adjustment strategy.

The invention relates to the technical field of water treatment, and discloses ship oil-containing ballast water and tank washing water waste residue separation equipment and a separation process thereof.The ship oil-containing ballast water and tank washing water waste residue separation equipment comprises a separation pipe, the separation pipe can rotate around the axis of the separation pipe, and an arc-shaped partition plate is arranged in the separation pipe and divides an inner cavity of the separation pipe into a demulsification cavity and a gravity separation cavity; the demulsification cavity is located above the gravity separation cavity, and the separation pipe is arranged in the longitudinal direction of the ship. According to the ship oil-containing ballast water and tank washing water waste residue separation equipment and the separation process thereof, the separation bin with the circular-arc-shaped section is used, the floating speed of oil drops and the sinking speed of waste residues are increased, the treatment efficiency is improved, meanwhile, the gravity center position of the separation pipe is kept unchanged due to the circular-arc-shaped shape, the separation pipe tends to be kept at the same position, and the separation efficiency is improved. The influence of ship rolling is small, the impact generated by transverse movement of water flow can also be reduced through the arc-shaped cross section, and the influence of ship shaking on the gravity separation efficiency is further reduced.

The invention relates to a universal auxiliary frame for a water elasticity ship model pool test and a use method. The universal auxiliary frame comprises a frame, the movable horizontal cross beam is connected with the frame supporting end face through a bolt in a horizontally adjustable manner; the vertical supporting rod is used for supporting the ship model and ensuring the stability of the ship model; the transverse gradienter and the longitudinal gradienter are respectively arranged at different positions of the frame and are used for ensuring the horizontal state of the frame. The frame is compact and reasonable in structure and convenient to operate, the frame is specially customized for the sectional type ship model, the structural safety and stability of the ship model in the hanging, transporting, equipment installing and testing processes are effectively improved through a firm and accurate supporting structure, and meanwhile in the testing process, the test efficiency is improved. The precision measurement system arranged in the frame can accurately monitor the swing period and the horizontal state of the ship model, and ensures the accuracy of the ballast position and the accurate correspondence between the ship model and the real ship mass distribution and the swing period.

The invention relates to the technical field of ocean engineering operation motion modeling and control, and particularly discloses a method and a system for calculating influence of dynamic response of a separation supporting device and a buffer coupling device on a ship pose in a floating support installation process. The method comprises the following steps: acquiring initial position information of a separation support device and a buffer coupling device at a previous moment; acquiring vertical position and attitude information of the dynamic positioning ship and the upper module; calculating the supporting force of the separation supporting device and the buffer coupling device at the current moment; calculating the vertical position and attitude information of the upper module and the dynamic positioning ship at the current moment based on the supporting force and the external ballast water load; outputting relevant parameters and judging whether the installation is completed or not. According to the method, a multi-degree-of-freedom coupling dynamic model is constructed, high-precision real-time simulation of device dynamic response and ship motion attitude in the continuous unsteady-state load transfer process is realized, key parameter monitoring and risk early warning are provided for floating mounting operation, and the operation safety and efficiency are improved.

The invention provides a ship ballast water system fault diagnosis model establishment method, belongs to the technical field of ship ballast water systems, and adopts a random noise data enhancement and maximum and minimum value standardization preprocessing method to improve data quality. Designing a CNN-I nformer hybrid architecture, fusing a probability sparse self-attention mechanism and distillation operation to extract time sequence features, and establishing a double-layer game optimization framework including an adaptive spiral flight sparrow search algorithm to perform joint optimization on model hyper-parameters; a softmax classifier is adopted to realize accurate identification of five states of sea chest filter filth blockage, ballast water pump bearing wear, valve blockage, pipeline leakage and system normal operation, and generalization ability and practicability of the model are ensured through an early stop strategy and multi-index performance evaluation. The technical problems that the ship ballast water system fault diagnosis precision is insufficient and the calculation complexity is too high are solved.

A gravity-based structure for hydrotechnical facilities and for setting up production, transport, transshipment and warehouse complexes with applications near-shore and offshore. The GBS has rectangular top and base slabs, external walls and internal vertical walls to separate the compartments, a central part forming a rectangular prism with the top slab, and a protruding part stretching along the central part sides around its perimeter and having vertical external walls. The protruding and central parts share the base slab, with the protruding part being shorter than the central part. Central part internal vertical longitudinal and transverse walls form compartments. Protruding part internal vertical walls perpendicular to external walls form compartments from the short ends and ballast compartments on the sides. Vertical longitudinal and transverse walls form additional compartments between the intermediate horizontal and base slabs. The design is suitable for shallow waters transportation and adjusted to Arctic conditions and ice impact.

The invention provides an underwater high-pressure dry type welding cabin test verification method, and relates to the technical field of sunken ship salvage, and the method comprises the following steps: testing the sealing performance and effectiveness of a magnetic adsorption mechanism and a rubber seal on a welding cabin under the 300-meter environmental water pressure under the action of the designed magnetic adsorption force and the 5-meter internal and external pressure difference; testing the sealing performance of the watertight door on the welding cabin under the environment water pressure of 300 meters, including testing the effectiveness of opening and closing of the sealing door and the effectiveness of sealing of the sealing door; according to the invention, subsystem process tests such as a high-pressure adsorption sealing test, a watertight door high-pressure functional test, an air pressure control system high-pressure test, a propulsion ballast system shallow water test, a robot high-pressure action test, a welding process laboratory inspection and the like, a pool test of an integrated system, a shallow water functional test and a final sea test are carried out; a scientific, rigorous and complete test verification system is formed, and the feasibility of the underwater high-pressure dry-type welding cabin is fully proved.

The invention discloses a ship intelligent control system and method and a ship, and belongs to the technical field of ships. The intelligent ship control system comprises an energy efficiency management subsystem, a video management subsystem and a comprehensive management center. Wherein the comprehensive management center comprises a navigation equipment management module, a ballast calculation module, an alarm monitoring module and a network and monitoring module, and is used for receiving navigation data information, ballast water quantity control information, monitoring information of a ship main engine, a generator, a power supply, gas and fuel oil, network transmission information and video monitoring information during navigation of a ship; the information is analyzed and stored, and a control instruction is generated to intelligently control the ship; and the comprehensive management center carries out information distribution so as to carry out ship energy efficiency control and video monitoring control. According to the technical scheme, respective control and coordinated control of multiple functions of the ship can be realized, the control is more intelligent, the control reasonability is improved, and the navigation safety of the ship is improved.

The invention discloses an immersed tube butt joint installation method and system based on laser ranging and visual recognition, and belongs to the technical field of ocean engineering. The method comprises the steps that a laser target set is installed on the butt joint end face of an installed pipe joint, and a laser positioning set and a laser projector are installed on the butt joint end face of a to-be-installed pipe joint; after the to-be-installed pipe joint sinks, the laser positioning group is started to measure the distance to the target group in real time, meanwhile, parallel light beams are emitted to the other end face of the to-be-installed pipe joint through the laser projector, and the position of a light spot is collected through visual recognition to obtain posture deviation; the distance and deviation data are fused, the optimal pose of the pipe joint to be installed is calculated through an optimization algorithm, and then the offset of the end face center and the axis deflection angle are obtained; and according to the parameters, a regulation and control instruction is generated, and the ballast water system and the winch system are controlled to adjust the posture of the to-be-installed pipe joint till accurate butt joint is achieved. According to the invention, full-underwater, high-precision and automatic immersed tube butt joint is realized, and the dependence on an overwater measuring tower and a GPS (Global Positioning System) is eliminated.

The present invention is a method for controlling the ballast posture of a curved section sunk pipe, comprising: obtaining the planar position of the centroid of the pipe section by theoretically calculating the shape of the pipe section; leveling the pipe section so that the center of gravity and the centroid of the pipe section are in the same straight line; then calculating the planar position of the centroid of each water tank based on the shape and position of each water tank, and calculating the loading ratio of each water tank; performing ballasting according to the loading ratio in the leveled state to see whether balance is maintained; performing ballasting according to the accurate loading ratio of each water tank so that the center of gravity position of the pipe section is always kept in the same straight line with the centroid position of the pipe section, thereby ensuring the stability of the pipe section posture. The present invention calculates the shape and position of the ballast water tank of the curved section pipe section to obtain the theoretical ratio of the outer side of the arc to the inner side of the arc when the curved section pipe section is ballasted, verifies the ballast amount of the water tank during the sinking drill, and determines the loading during formal installation; ensures that the curved section pipe section maintains its posture when ballasted during formal installation through theoretical calculation and experimental verification.

Ballast weight (12) for coupling to an attachment means (11), in particular to a hook, attached to the lower end of a rope (10) of a crane (9) wherein the ballast weight (12) is formed by or comprises a main body (17), wherein the main body (17) encompasses a receiving space (18), wherein the receiving space (18) is designed to receive at least a section of the attachment means (11) in an operational state (78) of the ballast weight (12), wherein the receiving space (18) is delimited by an inner surface (21) of the main body (17) and extends along a central axis (19) of the ballast weight (12), wherein the size (74, 75) of the receiving space (18) in at least one direction orthogonal to the central axis (19) is larger at a first position (76) along the central axis (19) than at a second position (77) along the central axis (19) that is arranged above the first position (76), such that the inner surface (21) forms a contact surface (41) arranged at an angle (80) to the central axis (19), that is designed to be supported by a support surface (42) of the attachment means (11), wherein the main body (17) comprises a slit (20) to allow for a movement of the rope (10) into the receiving space (18), wherein the ballast weight (12) comprises a bumper (23) which is fixed to the main body (17) and extends at least partially around the central axis (19) along the circumference of the ballast weight (12).

The double-shell oil tank cabin wall structure comprises a cargo hold body and an isolation layer, the isolation layer comprises two plane bulkhead plates, a top plate, reinforcing toggle plates, a bottom plate, a ballast header pipe and a cargo oil header pipe, the two plane bulkhead plates are welded to the cargo hold body, and the top plate and the bottom plate are integrally welded to the plane bulkhead plates. The reinforcing bracket is located between the top plate and the bottom plate, the reinforcing bracket is welded to the two plane bulkhead plates, the ballast header pipe and the cargo oil header pipe are located between the bottom plate and the bottom face of an inner cavity of the cargo hold body, the double-shell oil tank cabin wall structure is mainly composed of the two plane bulkhead plates, and the two bulkheads are kept horizontal and serve as a ballast area; the two bulkheads are structurally reinforced through the reinforcing ribs, meanwhile, the reinforcing toggle plates are arranged between the bulkheads to increase the structural strength and resist deformation, the cargo oil header pipe, the ballast header pipe and the like are intensively arranged in the area to facilitate maintenance, the space in the cabin is saved, and maintenance and cabin flushing are facilitated.

The invention discloses a construction period TY pier unbalance loading control method and system, and the method comprises the steps: S100, preparing a balance weight in advance, transporting the balance weight to a TY pier of a to-be-erected beam, installing the balance weight on one side of the rear erected beam of the TY pier, and setting the force of the balance weight on the TY pier; s200, a box girder is slowly erected on the side, where the girder is firstly erected, of the TY pier, the force of a balance weight on the TY pier is continuously increased while the girder is dropped, and the stress at the two ends of the TY pier is kept within a safety difference value; s300, a box girder is slowly erected on the side, where the girder is erected, of the rear portion of the TY pier, the force of the balance weight on the TY pier is continuously reduced while the girder is dropped, and the stress of the two ends of the TY pier is kept within the safety difference value; and S400, after all the box girders on the two sides of the TY pier are erected, all the counterweights are removed. Ballast is additionally applied to one side of a rear frame beam of a TY pier, the weight is continuously increased when a beam is erected on one side of a first frame beam, and the weight is continuously reduced when a beam is erected on one side of the rear frame beam, so that the difference between loads at the two ends of the TY pier fluctuates within a normal range in the beam erecting process, and permanent damage to the TY pier caused by overlarge unbalance loading is avoided.

The utility model discloses a live ballast trolley rope retreating sensor capable of being used underwater for a long time, and relates to the technical field of live ballast robots. The ballast raking device comprises a ballast raking rake body, a basic installation frame is installed on the surface of the ballast raking rake body through fixing bolts, a non-contact sensor is installed on one side wall of the basic installation frame, and a rope withdrawing sensor is fixedly installed on the other side wall of the basic installation frame. When the trigger rod is stressed to rotate to the trigger position of the non-contact sensor, the non-contact sensor collects signals and commands the raking rake body to be lifted upwards, a Hall sensor is adopted as the non-contact sensor, a certain detection distance is achieved, and water leakage caused by action of a contact piece of a conventional sensor can be avoided; after the surface of the non-contact sensor is sealed by glue, the non-contact sensor can be soaked in water, and in addition, the non-contact sensor is laterally mounted, so that the problems of signal false triggering and the like caused by an uncertain detection distance can be avoided.

The invention relates to the technical field of ship automatic control, and particularly discloses a self-adaptive adjusting system and method for a ship ballast water tank, and the system comprises a plurality of water level sensors, an attitude sensing module, a central controller and an execution mechanism which are installed in a distributed manner. And the central controller receives and fuses the multi-source sensing data by executing a stored computer program so as to solve real-time attitude parameters of the ship, compares the real-time attitude parameters with preset target attitude parameters, and generates a control instruction through an optimal distribution algorithm based on deviation. And the executing mechanism adjusts the water volume of each ballast water tank according to the instruction, so that the accurate control on the ship attitude is realized. By means of multi-source data fusion and intelligent optimization decision making, the problems that a traditional ballast water system is lagged in response and inaccurate in regulation and control are solved, and the safety and stability of a ship in the loading and unloading operation process are remarkably improved.

The invention relates to the technical field of ship stability control, discloses a ship stability control method and system, and introduces a real-time monitoring and adaptive adjustment mechanism for electrical parameters of a ballast pump driving motor. By acquiring the electrical parameter reference information of the ballast pump driving motor in the reference pipeline state, a dynamic performance evaluation reference is established. In the ballast water dispatching process, the system synchronously monitors the real-time electrical operation parameters of the ballast pump driving motor and compares the real-time electrical operation parameters with the reference information, and therefore whether the actual conveying efficiency of the ballast water system is lower than the expectation or not can be accurately judged in real time. The real-time judgment mechanism does not exist in the prior art, and the system can find and quantify the performance deviation in time.

The invention discloses a ship lock hydraulic structure crest elevation scheme recommendation method and device and electronic equipment, and relates to the field of ship lock building designing.The method comprises the steps that feature scales of different lockage ship types are obtained, the feature scales comprise freeboard heights of ships under the full-load condition or the ballast condition or the no-load condition, and based on a freight volume demand analysis result, the feature scales are calculated according to the freeboard heights of the ships under the full-load condition or the ballast condition or the no-load condition; determining the ship type proportion of each lockage ship type, calculating the crest elevation of the ship lock hydraulic structure under different working conditions by adopting a proportionality coefficient algorithm according to the ship type proportion and the freeboard height to obtain a plurality of planned recommendation schemes, and measuring and calculating the investment cost of the ship lock hydraulic structure in each planned recommendation scheme. And selecting the scheme with the lowest investment cost as a target crest elevation recommendation scheme. The technical problems that crest elevation of a ship lock hydraulic structure is determined in a fixed mode in the prior art, freeboard changes of a ship under different working conditions such as full load and ballast are not involved, sailors are inconvenient to go ashore, and the utilization rate is affected are solved.

The invention belongs to the technical field of ocean robots, and discloses a deformable ocean robot capable of cooperatively capturing wind energy and wave energy and a control method. The robot comprises a ship body, a sail module and an energy conversion module, wherein a main power supply and an auxiliary power supply are arranged in the ship body. The sail module is installed above the ship body through a hinge seat and can be unfolded to capture wind energy or folded to be stored. The energy conversion module comprises a deformable keel and a ballast, telescopic movement is achieved through a shear fork arm assembly, and wave energy is used for driving a power generator to generate power. The control method comprises an overwater state and an underwater state. In the overwater state, the sail and the keel module are unfolded to cooperatively capture wind energy and wave energy. The modules are folded in an underwater state to reduce resistance. A deformable structure and dual-energy capture are combined, the robot has the advantages of being high in energy utilization efficiency, high in environmental adaptability, long in endurance time and the like, the problems that a traditional ocean robot is limited in energy supply, insufficient in maneuverability and the like are solved, and the robot is suitable for long-term operation tasks such as ocean monitoring and resource exploration.

The invention discloses an icebreaker longitudinal attitude adjusting system and a control method, and belongs to the technical field of icebreakers. Comprising a first ballast pipeline connected between a bow cabin and a first sea chest; the first load discharging pipeline is connected between the ship bow cabin and the first sea chest; the second ballast pipeline is connected between the stern tank and the second sea chest; the second load discharging pipeline is connected between the stern cabin and the second sea chest; in the first state, the first load discharging pipeline discharges water from the ship bow cabin to the first sea chest, and the second load discharging pipeline sucks water from the second sea chest to the ship stern cabin. And in the second state, the first ballast pipeline sucks water from the first sea chest to the ship bow cabin, and the second load discharging pipeline discharges water from the ship stern cabin to the second sea chest. The device has the beneficial effects that in the ballasting stage, the ballasting pipeline controllably absorbs water from the sea chest to the water tank; and in the load discharging stage, the load discharging pipeline controllably discharges water from the water tank to the sea chest, so that the icebreaker has the autonomous adjusting capacity, and the flexibility of longitudinal posture adjustment is high.

The utility model discloses an offshore wind power multifunctional observation buoy which comprises a truss, an observation platform arranged at the top of the truss and a ballast block arranged at the bottom of the truss, the ballast block is used for lowering the gravity center of the buoy, and the truss is used for providing buoyancy. And the ballast block is fixed on a seabed through a mooring cable. The buoy is long and thin in overall structure, and compared with a traditional buoy, the height difference between the gravity center and the buoyancy center of the buoy is greatly increased, so that the stability of the structure can be greatly improved, a platform can be provided for various ocean observation devices, and high-quality observation of ocean wind resources and ocean hydrology is achieved; the buoy is composed of the slender trusses and the ballast blocks, namely, the whole structure of the buoy extends to the deep position of water, and the wave load borne by the structure can be greatly reduced.

The utility model relates to ship transfer technology field, and the utility model discloses a ship ballast water receiving port and discharge port outboard quick docking structure, semicircular electric permanent magnetism sucking disc is fixedly arranged at the end of support, and with the steel flange fixedly covered on the outside wall of transfer joint of transfer pipe is set up magnetically, underwater camera is several, and all are fixedly arranged on semicircular electric permanent magnetism sucking disc, inflatable seal ring is fixedly covered on the outside wall of transfer joint of transfer pipe, and the outside wall of inflatable seal ring and the inboard wall of ballast water discharge pipe's port are set up and move and resist the contact, positioning locking hydraulic cylinder assembly sets up on the transfer joint of transfer pipe, guarantee the transfer head of transfer pipe and the discharge port of ballast water discharge pipe's docking precision and fast, and can fix transfer pipe in the ballast water discharge pipe outside the outboard, ensure that the outward propelling force that discharges ballast water in cabin can not move transfer pipe, guarantee that ballast water is safely transferred to the shore.