679 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.

The invention relates to the technical field of ballast water, in particular to a ship ballast water comprehensive treatment system which comprises a ballast water dynamic adjustment module, a ballast water risk management module, a ballast water safety optimization module and a ballast water ecological monitoring module. According to the invention, by monitoring the key sea condition data and the ship state in real time, the ballast water configuration can be adjusted in real time, and the balance and operation flexibility of the ship can be optimized, so that the ship can be kept stable in a changeable marine environment, the extra fuel consumption caused by improper configuration of the ballast water is obviously reduced, and the service life of the ship is prolonged. Potential risks in ballast water are intelligently assessed through the Bayesian network, the system can early warn the risks in advance and formulate coping strategies, so that the safety of the ship is improved, ecological threats are recognized in time through careful monitoring and analysis of biological and chemical components of the ballast water, the cross-regional spreading risk of pests and pathogens is reduced, and the risk of risk prevention and treatment is reduced. The ecological safety and the biological diversity of the destination water area are effectively protected.

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 belongs to but is not limited to the technical field of seabed monitoring, and particularly relates to a strain test method and system for subsurface buoy shell strength, and the method comprises the steps: S1, selecting points on the surface of a shell, and pasting strain gauges; s2, putting into a sealed kettle, and injecting water and pressurizing; s3, testing the strain condition of the shell by using a strain tester; and S4, the pressure tolerance degree of the shell is analyzed through calculation. The buoyancy provided by the floating body shell and the overall weight of the subsurface buoy are calculated in detail, and the needed ballast balance weight is accurately measured and calculated. Buoyancy and gravity balance is verified through dynamic simulation, it is ensured that the subsurface buoy can stably suspend or settle in water, and the design feasibility and the actual application effect are improved.

The invention discloses a design and construction method of an in-sea suspension data center, and belongs to the field of seabed data center construction. The suspension data center is designed and built through five parts including a pipe gallery square cabin cluster, a cooling system, an anchoring system, a tension key system and a ballast floating control system; the method has the advantages that the data center of the method can suspend at different depths in seawater and is not limited to the seabed any more; by adjusting the height of the suspension center, the heat dissipation efficiency of the data center can be greatly improved; compared with a seabed data center, heat is dispersed into seawater of different depths, heat diffusion is accelerated, and the system is more environmentally friendly.

The present invention relates to semi-submersible vehicle useful in bad weather operation comprising: 1- Two buoyant tubes (2) with equipment for balancing ballast water and moving the vessel, including electronic equipment; 2 - Two solid ballast tubes (3), which are the heavy keel of the vehicle attached to each one of the hull (2), 3 - Horizontal and vertical interconnecting struts (5); 4 - Two payload capsules (1) which are detachable; 5 - Upper deck (6) including (A) navigation lights, (B) sensors, (C) floaters, (D) tanks vent heads and (E) engine intake and exhaust ports; and 6 - Small water plane area upper structure (4), linking the deck (6), buoyant tubes (2), transfer intake, exhaust (4A), and vent lines, as well as power and data lines.

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.

The invention discloses a pressure and load arrangement device of a four-column truss type tension leg floating type fan foundation platform, the pressure and load arrangement device of the four-column truss type tension leg floating type fan foundation platform comprises a ship body assembly, a pressure loading assembly and a load arrangement assembly are arranged in the ship body assembly, and a stretching assembly is arranged on the ship body assembly. The end, away from the ship body assembly, of the stretching assembly is connected with the tension tendon, the end, away from the stretching assembly, of the tension tendon is connected with the seabed, the ballast assembly loads seawater into the ship body assembly, the stretching assembly lifts the tension tendon so that the ship body assembly can dive to the preset draft level, and the load discharging assembly discharges the seawater in the ship body assembly. The hull assembly floats upward to tension the tension tendon. According to the pressing, arranging and loading device of the four-stand-column truss type tension leg floating type draught fan foundation platform, modular design is adopted for all the assemblies, cost is reduced, the structure is simple, the maintenance difficulty is small, and the mooring installation requirement of the tension leg floating type draught fan foundation platform is met.

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 an automatic releasing device and releasing method for a gravity penetration anchor, and belongs to the technical field of gravity penetration anchor releasing. The release connecting rod comprises a bearing part, L-shaped connecting parts and L-shaped supporting parts which are connected in sequence, the two L-shaped connecting parts are arranged in a back-to-back mode and rotationally connected with the supporting shaft, and the two L-shaped supporting parts are arranged in a face-to-face mode; the pressure spring is mounted between the bearing part and the ship body and can drive the two L-shaped supporting parts to be far away from each other; the two ballasts are placed on the bearing part and can drive the two L-shaped supporting parts to get close to each other; the attitude sensing module is mounted in the gravity penetration anchor; and the terminal control module is in electric signal connection with the posture sensing module and the jacking mechanism. According to the automatic throwing device for the gravity penetration anchor, an automatic throwing mode is adopted, unmanned throwing operation of the gravity penetration anchor is achieved, the throwing stability and reliability of the gravity penetration anchor are improved, and then the throwing precision of the gravity penetration anchor is improved.

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 relates to the field of ship body load measurement, and particularly discloses an intelligent weight identification method and system for a ship. The camera and the high-power variable-focus unmanned aerial vehicle are used for shooting the water gauge measurement picture, the safety of outer side water gauge measurement is improved, screenshot is carried out in the shot picture at any time for water gauge draft scale detection, and a user and a supervisor observe the water gauge reading change at any time through the shot picture; the water gauge reading is intelligently judged through a draught recognition algorithm built in the rear end, the water gauge reading is transmitted back to the flat plate end, unidentified data and data with large recognition deviation are automatically filtered out, variance calculation is conducted on effective data, a stable reading is obtained, and then a displacement meter and a ballast meter of a ship are input into the system. The system calculates the average draft of the ship and the load of the ship according to the water gauge reading, the displacement meter data, the ballast water meter data and other related storage data, and the unloading weight or the loading cargo weight of the ship is obtained by measuring the load of the ship twice and calculating the difference value.

A ballast device includes guide rails (21, 22) arranged inside a floating platform (1) and along the circumferential direction of the floating platform; ballast blocks (31,32) moving along the guide raisl to adjust the position of gravity center of the floating platform. By arranging guide rails in the floating platform and ballast blocks moving along the guide rails, the distribution of the gravity center of the floating platform is changed, and the shaking of the platform is reduced, thus improving the stability of the fan, reducing the flutter of blades, prolonging the service life of the fan and increasing the power generation. A floating wind turbine and a control method for the ballast device is also provided.

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 utility model discloses a portable water quality detection structure for environmental monitoring, which belongs to the technical field of water quality detection and is characterized by comprising an air bag, a support is fixedly connected to the outer side of the air bag, a tying rope is arranged at the bottom of the support, a detection component is arranged on the outer side of the tying rope, and the detection component is connected with the air bag. The detection assembly is used for detecting the water quality, during detection, the pressure difference inside and outside the ballast chamber can be adjusted by adjusting the position of the piston piece in the ballast chamber, water in the detection environment is extracted from the circulating groove, when the water amount in the ballast chamber is increased, the overall weight is increased, and therefore buoyancy is reduced, and at the moment, sinking occurs; therefore, water quality conditions at different depths can be monitored through an electrochemical sensor, water can be discharged out of a ballast chamber when a piston piece is pushed downwards along the ballast chamber so as to reduce the weight and improve the buoyancy to enable the whole detection assembly to move upwards, and the structure is limited through a limiting assembly in the moving process.

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 new vibration-damping ballast bed structure, comprising a foundation (4), wherein the upper portion of the foundation (4) is of a convex arc shape, and drainage ditches (6) are provided at the junctions of two sides of the foundation (4) and the convex-arc-shaped portion, the bottoms of the drainage ditches (6) being lower than two side edges of the convex-arc-shaped portion of the foundation (4); a floating plate (1) arranged at the top of the foundation (4), wherein the lower portion of the floating plate (1) is of a concave arc shape; and several vibration isolators (3) configured to connect the foundation (4) and the floating plate (1). Each vibration isolator (3) comprises an outer sleeve (9), an inner sleeve (10) and a pre-buried bearing casing (11), wherein the outer sleeve (9) is a hollow cylinder and embedded in the floating plate (1), and a bearing block is provided in the outer sleeve (9); the pre-buried bearing casing (11) comprises a lower base and a casing, the casing being hollow, the lower portion of the casing being fixedly connected to the lower base, and the lower base being pre-buried inside the convex-arc-shaped portion of the foundation (4); and the inner sleeve (10) comprises a top plate, a spring and a lower bottom plate, the top plate being connected to the lower bottom plate by means of the spring, the lower bottom plate being connected to the lower base of the pre-buried bearing casing (11), and the top plate of the inner sleeve (10) being fitted and connected to the bearing block of the outer sleeve (9). By means of changing the shape of the foundation and providing drainage ditches on two sides and flange structures, a vibration-damping device drains water more easily and is not prone to experiencing water accumulation, blockages can be removed more conveniently, and smooth drainage is ensured.

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 belongs to the technical field of seabed monitoring, and discloses a comprehensive design method and system for a ballast type seabed monitoring subsurface buoy, and the method comprises the following steps: determining the composition and size of circuit hardware; calculating the overall power consumption; determining the volume and weight of the battery; determining a space together with a battery and other components; estimating the volume and weight of the floating body shell; measuring and calculating buoyancy and ballast balance weight; whether the overall quality and the displacement meet the layout requirements or not is judged. According to the invention, the functions of underwater laying, releasing, floating, positioning recovery and the like are realized. The volume and the stress in water are calculated according to the endurance and requirements, and the subsurface buoy can stably work at the water depth of 150 m for 500 h; experimental results verify that the stress strain of the magnesium-aluminum alloy spherical shell can bear a 160m simulated water depth pressure test. The stability and the concealment of the ocean detection work implemented on the basis of the subsurface buoy system are relatively improved.

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 utility model discloses a ship water ballast space self-control anti-rolling device, relates to ocean engineering technical field, including ship side and anti-rolling water bag, the left side and right side of ship side are both symmetrically fixed installation support plate, anti-rolling water bag outer side is fixed connection shell, the outer side of connecting shell is provided with through-hole, the through-hole is connected with the through-hole, the through-hole is connected with the through-hole through the through-hole, and the through-hole is connected with the through-hole through the through-hole through the through-hole through the through-hole through the through-hole. A pipe joint of the anti-rolling water bag penetrates through the through hole, connecting mechanisms are symmetrically arranged at the upper end of the supporting plate, inserting blocks are symmetrically and fixedly installed on the outer side of the connecting shell, and the supporting plate is movably connected with the inserting blocks through the connecting mechanisms. By the adoption of the structure, when the anti-rolling water bag is disassembled, no external tool is needed, only the pull handles need to be pulled to be away from each other at the same time, the pull handles drive the clamping rods to be separated from the insertion blocks in the first insertion grooves through the pull plates connected with the pull rods, and at the moment, the connecting shell on the anti-rolling water bag can be directly disassembled from the connecting base; therefore, the anti-rolling water bag can be conveniently and rapidly disassembled, assembled, replaced and maintained.

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.

An autonomous underwater vehicle for performing subsea operations is disclosed. The autonomous underwater vehicle, AUV, 100 comprises a hull 101 having a nose end and a tail end; a propulsion mechanism 152 configured to propel the AUV; and an internal ballast 151 located in the hull. The propulsion mechanism comprises a pair of counter-rotating propellers 153, wherein the rotational speed of each propeller is independently controllable. The AUV further comprises an internal ballast positioning mechanism configured to controllably move the internal ballast relative to the hull. The independently controllable propellers of the pair of counter-rotating propellers and the internal ballast positioning mechanism each provide roll control for the AUV. Also disclosed is an AUV with a steerable propulsion mechanism and a method of navigating an AUV between sea level and a seabed.