39 results about "Freeboard" patented technology

The utility model discloses a deepwater lifting pipe-laying ship for a 3000-meter-water-depth double-pipe-laying system, a main ship body of the deepwater lifting pipe-laying ship is arranged to be of a three-layer continuous deck structure, and a bottom layer is a double-bottom layer and is used for arranging marine equipment; the middle layer is a freeboard deck and is used for arranging an S-Lay pipe laying area; the upper layer is a main deck and is used for arranging a J-Lay pipe laying area and a pipe stacking area; a full-rotation crane is arranged at the stern part of the main ship body; a moon pool is arranged in the middle of the main ship body, and a J-Lay tower is arranged on the upper portion of the moon pool. A living building and a helicopter platform are arranged at the bow part of the main hull; a plurality of full-revolving propellers, a plurality of telescopic propellers and a plurality of side propellers are arranged on the outer side face of the bottom of the main ship body. The deepwater lifting platform can continuously work at the water depth of 3000 meters, and is provided with an S-Lay pipe laying system and a J-Lay pipe laying system.

The invention belongs to the technical field of ship draft detection, and provides a ship draft real-time detection system which comprises the following steps: establishing a three-dimensional dynamic coordinate system, and updating a water surface reference surface in combination with real-time water level data; calculating water level variation of adjacent frames and compensating a point cloud Z axis; a pure ship body point cloud is separated in combination with a water surface datum plane, ship body reflectivity and a region growing algorithm; fitting a deck plane of the pure ship body point cloud, performing edge detection to extract ship board features, and correcting a side board feature surface; converting the pixel coordinates of the water surface reference surface and superposing the auxiliary lines; positioning a waterline, converting a bow / middle / tail waterline coordinate to a three-dimensional dynamic coordinate system, and calculating an initial draft; the deck Z-axis average coordinate is extracted, and the bow / middle / tail freeboard height is calculated in combination with the water surface datum plane coordinate; the theoretical draft is deduced in combination with the ship type depth, the theoretical draft is compared with the initial draft, the final draft is output, and the ship draft detection precision in the complex water level change environment is improved.

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.

A long-distance underwater transportation method for immersed tubes, the steps of which are as follows: S1. After the prefabrication of the immersed tube segments is completed, preparations before launching are carried out; S2. Water is injected into the dry dock, and the immersed tube floats under the action of buoyancy to complete the launching of the immersed tube from the dock; S3. The towing barge tows the immersed tube and floats it along the waterway in the shallow sea area; S4. After the towing barge tows the immersed tube into the deep sea area, the immersed tube is towed to the installation position; S5. Before the immersed tube enters the installation position, the immersed tube floats up, and after floating up, the freeboard height is adjusted and the towing cable is adjusted; S6. The towing barge tows the immersed tube and floats it along the waterway to the designated installation position, and after basic positioning, mooring is carried out. By submerging the immersed tube segments for underwater transportation, the present invention avoids the damage to the structure caused by the extreme deep-sea environmental loads during the transportation process, realizes the long-distance transportation of the immersed tube across the deep sea area, and the present invention realizes the reuse of the existing immersed tube tunnel prefabrication factory, saving the investment in new projects and the construction period of the prefabrication yard.

The invention discloses a swing stopping system and method for an A-type hanging bracket, and belongs to the technical field of ships. The A-type hanging bracket is arranged on a deck of the ship body, and a hoisting device is arranged on the A-type hanging bracket and used for hoisting equipment; the oscillation stopping system comprises a traction device, a guide mechanism and a monitoring device, and the traction device is arranged on the deck and used for pulling the traction rope; the guide mechanism is arranged on the ship body, the traction rope is guided by the guide mechanism to connect the traction device and the equipment, and the traction rope is connected with a lifting point of the equipment to form oblique tension towards the side surface of the ship body on the equipment; the monitoring device is in communication connection with the traction rope and the traction device and used for adjusting the winding and unwinding speed and tension of the traction device on the traction rope, the problem that the A-type hanging bracket equipment shakes in the high freeboard scene is solved, and the operation safety and efficiency are improved.

The invention relates to a novel retracting and releasing mechanism of a dragging body. The mechanism mainly comprises a steel wire rope driving device installed on a ship deck, a throwing arm driven by the device to rotate around a first shaft by a large angle, and a vertical arm hinged to the free end of the throwing arm through a second shaft. The device is characterized in that a hydraulic motor is arranged on a throwing arm to drive a second shaft, and in the throwing or recycling process, the hydraulic motor can synchronously drive a vertical arm to perform reverse compensation rotation, so that the vertical arm is always kept in a vertical posture, and a dragging body with a large dip angle in the air is stably grabbed. The mechanism is further provided with a rigid locking device composed of a grabbing and locking mechanism and a grabbing and locking column, and a cable guide wheel used for protecting the trailing cable. The problem that the posture of the gravity center shift dragging body is difficult to control in the retracting and releasing process is solved, and the device is particularly suitable for high freeboard ships and has the advantages of being stable in releasing, high in safety and high in adaptability.

The invention provides a ship freeboard height detection method and device and electronic equipment. According to the method and the device, the cross-modal alignment parameter for representing the spatial transformation relationship between the image acquisition equipment for acquiring the image data and the laser radar for acquiring the point cloud data is determined based on the point cloud feature of the target ship and the visual feature of the target ship, and the cross-modal alignment parameter, the point cloud feature and the visual feature are further utilized; the freeboard weight distribution used for representing whether the position, corresponding to the target ship, of each feature point in the point cloud features belongs to the freeboard area or not is determined, so that the freeboard area to be detected is accurately focused, and clear freeboard semantic features in the visual features and scale information of the point cloud data are fully utilized. Therefore, the freeboard height of the target ship is determined according to the freeboard weight distribution, automatic freeboard height detection is realized, and the freeboard height detection efficiency is improved while the measurement precision is ensured and the cost is controlled.

The invention relates to an image analysis and AI video technology-based ship lockage and ferry safety intelligent supervision system. The system comprises a front-end multi-mode sensing system, a rear-end intelligent processing system, an early warning reporting system and a data middle station interaction module. The front end acquires high-quality data through a plurality of groups of multi-angle high-definition industrial cameras and a self-adaptive pan-tilt camera; the rear end is supported by an algorithm library to realize ship identity recognition, draft detection, ferry trajectory tracking and abnormal behavior recognition; the early warning system reports abnormal information in a grading manner according to severity; the data intermediate station module realizes bidirectional data interaction; ship draft detection is obtained through image preprocessing, identity recognition and freeboard height conversion calculation, ferry trajectory deviation is achieved through target detection, trajectory generation and direction included angle judgment, and the method aims at solving the problems that in the prior art, the function is single, the environment adaptability is poor, and safety parameter detection and data interaction capacity is lacked.

The application discloses a kind of inland river ship freeboard measurement method based on monocular vision.First, the internal parameter calibration of monocular camera is carried out using checkerboard by Zhang Zhengyou calibration method, and the internal parameter of camera is obtained;The camera shoots the side view of the ship, and the Deeplabv3+ model is used to segment the part between the ship deck line and the waterline according to the side view of the ship;Further, the ship deck line and the waterline are detected to determine the position of the ship freeboard and calculate the pixel height of the ship freeboard;The conversion from pixel height to actual height is realized by the camera internal parameter obtained by calibration, and the real value of the ship freeboard is calculated.The application models the parameters of the camera itself, does not rely on vanishing point and vanishing line for ship freeboard measurement, and provides assistance for the safety navigation of inland river ships on water as the basis for ship overload detection.

The present application belongs to the technical field of ship draft detection, and provides a ship draft depth real-time detection system, which comprises: establishing a three-dimensional dynamic coordinate system, updating a water surface datum in combination with real-time water level data; calculating adjacent frame water level change and compensating point cloud Z-axis; separating pure ship body point cloud in combination with the water surface datum, ship body reflectivity and a region growing algorithm; fitting a deck plane of the pure ship body point cloud, extracting a ship side feature through edge detection, and correcting a side shell feature surface; converting the water surface datum into pixel coordinates and superimposing an auxiliary line; positioning a draft line, converting bow / midship / stern draft line coordinates to the three-dimensional dynamic coordinate system, and calculating initial draft depth; extracting average coordinates of the Z-axis of the deck, calculating the bow / midship / stern freeboard height in combination with the water surface datum coordinates; and calculating the theoretical draft depth in combination with the ship type depth deduction, comparing the initial draft depth, and outputting the final draft depth, so as to improve the ship draft depth detection precision in a complex water level change environment.

The invention discloses a method for measuring and calculating a buoyancy reserve coefficient of a multi-purpose vehicle. The method comprises the following steps: step 1, acquiring a proportional relation between the multi-purpose vehicle and a corresponding three-dimensional model; 2, carrying out a full-load test on the vehicle in a still water state, and obtaining the mass of the vehicle in the full-load state and the actual freeboard height; 3, obtaining a corresponding model freeboard height in the three-dimensional model according to the actual freeboard height and the proportional relation, and measuring and calculating a model buoyancy reserve volume under the proportion of the three-dimensional model according to the model freeboard height; and 4, obtaining the buoyancy reserve coefficient of the multipurpose vehicle according to the model buoyancy reserve volume, the mass of the vehicle in the full load state and the proportional relation. According to the method, data capable of being accurately measured can be obtained from the vehicle, the data obtaining precision is guaranteed, and the requirement for high-precision measurement of the buoyancy reserve coefficient of the multipurpose vehicle is met.

The invention belongs to the field of ship detection, and particularly relates to a non-dynamic draught detection system and method of a ship, the system comprises a base station, a tide level station, a plurality of mobile stations and an acquisition and control terminal, the base station is used for calculating an error value between a real-time observation coordinate and a known accurate coordinate; transmitting differential data including the error value to the mobile station; the tide level station is used for continuously monitoring real-time tide level data of the sea area where the ship is located. The mobile station is used for receiving the GNSS satellite signal and the differential data sent by the base station, and resolving to obtain a three-dimensional coordinate; measuring the offset of the mounting position of the mobile station and the vertical direction of the freeboard deck; and the acquisition and control terminal is used for receiving the three-dimensional coordinates and the offset in the vertical direction of each mobile station, calculating the barycentric coordinates of the freeboard deck by adopting a three-point barycentric algorithm according to the plane coordinates and the calibration elevation of the three mobile stations, obtaining the actual height of the water surface where the ship is located, and calculating the real-time draft of the ship. According to the draught detection system, efficient, convenient and accurate ship draught detection can be achieved.

The utility model discloses a rectangular culture net cage with a low freeboard, and relates to the technical field of culture equipment, the rectangular culture net cage comprises a base, a frame structure, an upper building structure and a second support column, the middle part of the base is hollowed out and is provided with a first netting; the frame structure comprises a plurality of first supporting columns and a plurality of connecting assemblies, the first supporting columns are arranged on the base, and the connecting assemblies are arranged between every two adjacent first supporting columns; a second netting is arranged on the outer side of the frame structure; the second supporting column is arranged on the base, and the height of the second supporting column is larger than that of the first supporting column; the upper-layer building structure is arranged at the top of the second supporting column; a walkway and an operation room are arranged in the upper-layer building structure, and breeding equipment is arranged in the operation room. The height of the second supporting column is higher than that of the first supporting column, so that the height of the second supporting column provided with the superstructure is higher so as to avoid impact of sea waves, the design height of the first supporting column serving as a freeboard is reduced, and steel consumption is reduced.

The present invention belongs to the technical field of immersed tube measurement, and particularly relates to an immersed tube freeboard monitoring system and a monitoring method. The immersed tube freeboard monitoring system includes a measurement assembly, an elevation measurement device and a server; the measurement assembly includes a limit bucket and a floating prism rod, the bottom of the limit bucket is hollowed out, and the top of the bucket is connected to the top of the immersed tube through a connecting plate so that the limit bucket is vertically suspended outside the immersed tube. One end of the connecting plate close to the top of the immersed tube is provided with a first prism; the floating prism rod is vertically inserted into the limit bucket and can reciprocate vertically, and a second prism is provided at the top of the rod. The floating prism rod can float to the water surface as a whole; the elevation measurement device is installed on the shore to collect the elevation data of the first prism and the second prism in real time and upload them to the server; the calculation module in the server calculates the freeboard of the immersed tube in real time. The present invention can monitor the freeboard of the immersed tube in the storage area in real time, improve the measurement accuracy and reduce the measurement risk.

The design concerns a work or pleasure vessel capable of unobstructed passage through very shallow water passages, such as (but without exception) fixed bridges and the like. The upper part of the freeboard, the inflatable section, will collapse upon deflation of the air inside and rest upon the rigid part of the hull, thereby creating a very limited clearance height. This allows these obstacles in the waterway to be passed effortlessly and easily at all times. In both the inflated and deflated states, the inflatable part of the freeboard forms a permanently attached part of the vessel. After passing through the passage, the inflatable part of the freeboard is restored to its original shape using an air pump, after which the vessel safely navigates the waterway in its complete form.

A pleasure craft is provided such as a luxury pleasure craft. The craft eliminates the need for transverse bulkheads in one or more decks inside the hull of the craft, thus improving the aesthetics and usability thereof. The hull of the pleasure craft defines an imaginary or virtual freeboard deck located below the main deck of the craft. A cavity is arranged on one or more decks on both sides of the hull separate from the remaining space of the corresponding deck and delimited on its outer side by the corresponding side wall. The imaginary or virtual freeboard deck is therefore at a height equal to the extension in the vertical direction of the cavities from the floor of the corresponding deck.

This invention belongs to the field of boat and vessel deployment and recovery technology, and discloses a boat and vessel deployment and recovery device and a vessel. The boat and vessel deployment and recovery device comprises multiple ramp components that are rotatably connected in sequence, allowing the ramp structure to be placed on the vessel in a rolled-up state. When the boat needs to be retrieved or released, the ramp structure is unfolded by the deployment and recovery mechanism, placing the boat on the ramp structure. A lifting mechanism then moves the boat along the ramp structure, achieving the retrieval or release of the boat. After the boat has finished moving, the ramp structure returns to its rolled-up state and is stored on the vessel. This boat and vessel deployment and recovery device saves space on the vessel, expands the effective usable area of ​​the deck, and allows for the installation of different numbers of ramp components to adjust the length and slope of the ramp structure according to the vessel's freeboard. It has good practicality, is simple to design, and is safe and reliable.

The utility model relates to an air bag type sealing and closing device for an unprotected opening of a freeboard deck passing through a penetrating object, the upper part of the unprotected opening of the deck is connected with a first annular plate through a split bolt and a sealing gasket, the upper part of the first annular plate is fixedly connected with a vertical cylinder body, and the inner side of the cylinder body is fixedly connected with a second annular plate; an annular rubber air bag is arranged between the first annular plate and the second annular plate, an inflation opening communicated with the annular rubber air bag is formed in the side wall of the barrel, the annular rubber air bag expands towards the middle after being inflated to block an unprotected opening of a deck, and meanwhile a penetrating object penetrates through the unprotected opening all the time and does not need to be moved away. According to the utility model, the deck opening with the penetrating object is no longer used as an unprotected opening, so that the requirements of ship stability and load line convention are met; a clamp is not needed, and the problem that the clamp is inconvenient to disassemble and assemble is solved; through remote control and on-site operation, the air bag can reach different pressures to meet the requirements of different tightness.

The invention provides a method and a system for determining the size of a front edge area of a graded vertical wharf, and relates to the technical field of wharf front edge area size determination, comprising the following steps: acquiring the design high and low water levels of a port and the empty and full load freeboards of a target ship type; calculating the top elevations of the upper and lower platforms based on the obtained parameters; extracting operation equipment space occupation and process space requirements according to a preset loading and unloading process scheme to form a process requirement data set; taking the upper platform as a design plane, taking process demand data as a constraint, constructing a total width optimization function taking the width of each functional area as a variable and taking minimization of the total land occupation cost of a leading edge area as a target, and solving the design width of the upper platform; constructing a width constraint model by taking a lower platform as a design plane, and solving a minimum feasible width; a design parameter set is constructed according to the design elevation and width of the upper platform and the lower platform and serves as a deterministic basis of the wharf leading edge area size, and reliable technical support is provided for scientific and efficient design of the graded vertical wharf.

The invention discloses a dam turnover water depth calculation method for moraine lake surge, belongs to the technical field of disaster prevention and control, and can solve the problem that the dam turnover water depth cannot be accurately calculated in the prior art. The method comprises the steps that S1, a freeboard of the moraine lake is determined according to the water level height of the moraine lake and the dam crest height of a dam of the moraine lake; s2, determining the wave height and the wave velocity of the surge propagating to a preset position in front of the dam; s3, calculating a first ratio of the wave height to the freeboard, and calculating a second ratio of the kinetic energy of the wave velocity to the potential energy of the freeboard; and S4, the dam turning water depth of the surge is determined according to the first ratio, the second ratio and the freeboard. The method is used for calculating the dam turning water depth of moraine lake surges.

The present invention is a method for checking and verifying the attitude of a hull in a fully floating state. The specific steps are as follows: Layout of the checking and verifying system: The checking and verifying system includes four checking and monitoring components, four measuring robots, four communication modules, a data processing terminal, and a power supply device; Checking and verifying the hull attitude: Start the power supply device to supply power, and start the measuring robots and communication modules; After starting the measuring robots, conduct monitoring and learning, measure the corresponding feature points respectively, and after the learning is completed, perform attitude monitoring on the hull in the tracking mode, and transmit data through the communication module. After automatically calculating the results, give the adjustment values required by the hull leveling system, and the leveling system reads them in and automatically adjusts the hull attitude. The present invention can be applied to the measurement work of hull attitude adjustment of a leveling ship in a fully floating state for a submarine immersed tube tunnel. Operators can retrieve and view the freeboard height measurement data at any time period through the system background; it can automatically measure the instantaneous attitude of the hull of the leveling ship.

According to the oil cylinder arrangement structure of the roll-on-roll-off ship movable ramp, the movable ramp is located above a freeboard deck, a liquid tank and an air duct are arranged between the freeboard deck and the movable ramp, and the oil cylinder arrangement structure comprises an oil cylinder arrangement structure space defined by peripheral side structure longitudinal walls, the movable ramp and the freeboard deck. The air ducts and the liquid tanks are sequentially arranged on the two sides of the oil cylinder arrangement structure space from bottom to top, the structure longitudinal wall and the wall of each liquid tank are arranged in a spaced mode, and the oil cylinders are located in the oil cylinder arrangement structure space and connected with the freeboard deck through oil cylinder bases fixed to the freeboard deck. According to the oil cylinder arrangement structure of the roll-on-roll-off ship movable ramp, the requirements for liquid tank and air duct arrangement are met, and the requirements for oil cylinder supporting strength and oil cylinder maintenance are met.

A ship having a first hatch element covering an opening in the freeboard and a second hatch element covering an opening in an upper deck. To enable a more flexible cargo handling, the second hatch element protrudes sideways over the freeboard in its open position, and it can therefore be used as a crane for cargo handling.

This invention discloses a method for automatically measuring the pixel height of inland river vessel freeboard based on monocular images. First, an instance segmentation model is used to segment the vessel image, generating instance segmentation results and a resulting image. The resulting image is then cropped based on the instance segmentation results. The cropped image is then binarized. Line segment detection is then performed on the binary image. A linear model is then fitted between the binary image and the line segment detection results using a distance-based clustering algorithm (K-means) and a random sampling consensus algorithm (RANSAC). This method then determines the positions of the vessel's deck line and waterline, and calculates the pixel height of the vessel's freeboard.

The utility model relates to a high freeboard ship embedded type up-down step which comprises a stair embedded in a ship, the end, close to a ship shell, of the stair is lower than a deck, the other end of the stair is flush with the upper edge of the deck, and a springboard used for being in butt joint with a wharf is further arranged on the stair. The shape of the springboard is the same as the bending shape of the staircase, and the springboard is attached to the surface of the staircase. The stair is embedded in the ship, so that the stair does not directly collide with a wharf in the ship docking process, the stair is not prone to being damaged, and under the condition that the distance between the ship and the wharf is long, the springboard attached to the stair can be moved to the position between the lower end of the stair and the wharf; therefore, the elevator can be moved from the stairs to the wharf through the gangplank.

The utility model relates to the field of surface water environment, in particular to a novel microorganism sample sampling rod which comprises an electric telescopic rod, and a protective cover is mounted at the output end of the electric telescopic rod; one end of the threaded column is inserted into the threaded sleeve, the threaded column is in threaded connection with the inner wall of the threaded sleeve, the protective cover can be conveniently installed at the output end of the electric telescopic rod, and the sealing performance of the connecting position of the fixing piece and the threaded sleeve can be enhanced through the sealing gasket arranged outside the end, close to the fixing piece, of the threaded column in a sleeving mode; by rotating a fastening screw at the top of the protective cover, the abutting plate can be driven to move, so that the sterilization bottle can be conveniently abutted and fixed in the protective cover, by holding a handle at one end of an electric telescopic rod, the length of the electric telescopic rod can be conveniently controlled through an adjusting key, the sterilization bottle can be conveniently placed in water for sampling, and the problem that a ship body is high in freeboard and inconvenient to use is solved. And under the condition that the freeboard cannot be lowered by adjusting the draft, the bottle is difficult to be placed under the water surface by a hand for countercurrent sampling.

The utility model discloses a boarding and leaving facility of a low-freeboard ship, which comprises a structural stairway, the structural stairway is embedded in a broadside, one end of the structural stairway is positioned on the broadside to form a first boarding port, and the other end of the structural stairway is connected with a deck to form a second boarding port, so that a channel from the broadside to the deck is formed. A fixed permanent channel is formed in the broadside in an embedded mode, and the embarkation risk can be reduced.

This invention provides a method and system for determining the dimensions of the frontal area of ​​a graded vertical wharf, relating to the technical field of wharf frontal area dimension determination. The method includes: obtaining the port's design high and low water levels and the empty and full-load freeboard of the target vessel type; calculating the top elevations of the upper and lower platforms based on the obtained parameters; extracting the space requirements for operating equipment and process space according to a preset loading and unloading process plan, forming a process requirement dataset; using the upper platform as the design plane and the process requirement data as constraints, constructing a total width optimization function with the width of each functional area as a variable and minimizing the total land occupation cost of the frontal area as the objective, to solve for the design width of the upper platform; using the lower platform as the design plane, constructing a width constraint model to solve for the minimum feasible width; and constructing a set of design parameters based on the design elevations and widths of the upper and lower platforms, serving as the basis for determining the dimensions of the wharf frontal area. This invention provides reliable technical support for the scientific and efficient design of graded vertical wharves.

A kind of unshielded container ship built-in B type cabin, container ship is provided with B type cabin, the B type cabin is continuously arranged along the length direction, the top of the B type cabin is outwardly convex, higher than the highest point of the hull topside structure;The bottom of the B type cabin is oblique at the hull bilge portion protruding structure, and is oblique;Stop floating and rocking member is arranged between the sidewall of the B type cabin and the topside structure, folding rainproof structure is fixed above the stop floating and rocking member, and a plurality of stop floating and rocking members and the folding rainproof structure are arranged at equal intervals along the circumference of the B type cabin.The B type cabin of the present application protrudes above the deck and is exposed outside the hull structure, which increases the loading capacity of the B type cabin by 2 times of the traditional scheme, improves the LNG loading rate, and also maximizes the utilization rate of the container ship's cargo capacity, simplifies the construction process, reduces the weight of the empty ship, and achieves higher economic benefits.

The utility model belongs to the technical field of ships, and discloses a ship which comprises a deck, a water diversion rope ladder releasing and containing device, a water diversion rope ladder and a gangway ladder, the water diversion rope ladder releasing and containing device is provided with a rack and a releasing and rolling mechanism installed on the rack so as to release and roll the water diversion rope ladder, and the rack can move relative to the deck. Therefore, when the freeboard of the ship is smaller than 9 meters, a pilot can directly use the water diversion rope ladder to boarding the ship, when the freeboard of the ship is larger than 9 meters, the pilot can firstly use the water diversion rope ladder and then transit to the accommodation ladder to boarding the ship, and the personal safety of the pilot is guaranteed.