492 results about "Mooring" patented technology

The invention discloses a special-shaped steel pipe concrete pipe section hoisting dynamic pose control method, relates to the technical field of ocean engineering underwater pipeline installation, and mainly solves the problems of insufficient dynamic response and low space pose control precision when a special-shaped pipe section is hoisted in a complex water flow environment. The method comprises the steps that pipe section space pose design parameters are obtained, the pitch angle and the rolling angle of a pipe section are monitored in real time through an inclination angle sensor set, disturbance torque generated by real-time water flow force is calculated, sling length compensation amount is generated, and the take-up and pay-off speed of a chain block at each lifting point is independently adjusted; and meanwhile, adjusting mooring ropes moored on the two sides are pulled to control the horizontal rotation angle of the pipe section, the height of a lifting hook and tension of the mooring ropes are fed back and adjusted in cooperation with a floating crane positioning system, and finally accurate underwater in-position of the pipe section to the preset position of the seabed is achieved. The device is mainly used for hoisting and sinking operation of the special-shaped concrete filled steel tube section in the marine environment, water flow interference can be effectively resisted, and accurate butt joint and installation quality of a pipe section connector are guaranteed.

The invention discloses a control scheduling method and system for an anchoring parking area, and relates to the technical field of control scheduling. Comprising the following steps: periodically scanning a ship to be moored to obtain an attitude parameter set, synchronously mapping the attitude parameter set to a unified space coordinate system, and constructing an original anchoring parameter matrix; carrying out ship-by-ship matching on the original anchoring parameter matrix and a preset anchoring ground berth rule, constructing a berth feasibility judgment matrix, and identifying an actual mooring area set in the current anchoring ground; based on the berth feasibility judgment matrix, performing spatial reconstruction on each anchoring point in the actual mooring area set by adopting hierarchical scheduling, and outputting a structured scheduling instruction set; and packaging the structured scheduling instruction set into a structured scheduling information packet through shore side communication, and issuing anchoring adjustment information to the target ship. According to the invention, fine identification and screening of the current available anchoring area are realized, and the accuracy and safety of berth distribution are significantly improved.

The present disclosure relates to a culture system for the seabed, comprising: a base for being disposed in the seabed; the floating box is arranged above the base, a first containing cavity used for containing liquid is formed in the floating box, and the first containing cavity is communicated with the outside in an openable and closable mode and used for introducing the liquid or discharging the liquid so as to change the overall weight and enable the floating box to move in the height direction; the culture net cage is connected above the floating box; the winding piece is arranged above the culture net cage; one end of the positioning piece is connected with the base, and the other end of the positioning piece sequentially penetrates through the aquaculture net cage and the floating box and then is connected to the winding piece in a retractable mode, and the positioning piece is used for limiting the floating box and the aquaculture net cage to move in the extending direction of the positioning piece. When the buoyancy tank floats to the sea level, the function of mooring an anchor chain can be achieved, and arrangement of the mooring anchor chain is omitted. And meanwhile, the culture net cage and the floating box can still be located on the base when being located on the seabed again through winding and unwinding of the winding piece, and displacement is avoided.

The invention discloses an underwater gliding robot anchoring process energy consumption optimization method and system based on a subdomain grey box model. The energy consumption optimization method comprises the steps that a white box energy consumption mechanism model in the underwater gliding robot anchoring process is established; the whole anchoring energy consumption stage of the underwater gliding robot is divided into a plurality of sub-domains, and a Latin hypercube design method is adopted to simulate and generate a plurality of sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain agent model, fusing the white-box energy consumption mechanism model and constraint conditions of an oil bag volume and a movable mass position to form a sub-domain grey-box model, and performing segmented energy consumption fitting by using the sub-domain grey-box model; and with minimization of energy consumption fitted by the sub-domain grey box model as a target, performing iterative optimization on the sub-domain proxy model by adopting a dynamic guidance self-adjusting particle swarm algorithm, and outputting optimal planning parameters. The method realizes anchoring full-process low-energy-consumption control, and is suitable for marine resource exploration, hydrological monitoring and other tasks.

The invention relates to the technical field of bridge pier scour monitoring, discloses an air-water-shore cooperative overwater float type bridge pier scour monitoring system, and belongs to the technical field of bridge safety monitoring. According to the system, an integrated framework is formed by a buoy platform, a shore-based cooperative monitoring station and a cloud monitoring platform. The buoy platform is fixed to a pier through a mooring lead, the underwater sonar module of the buoy platform can scan the terrain of a riverbed at multiple angles, and the overwater module integrates high-precision positioning and video monitoring. The shore-based station is provided with a laser scanner and a high-definition camera to monitor the overwater structure and the macroscopic environment of the pier. The cloud platform serves as a control center, converges the multi-source data of the buoys and the shore stations through a communication network, carries out time sequence correlation and fusion analysis, and dynamically evaluates the scour pit development and the bridge pier structure state. According to the invention, the limitation of a single monitoring mode is broken through, collaborative acquisition and intelligent fusion of air, water and shore data are realized, the comprehensiveness, accuracy and early warning capability of monitoring are remarkably improved, and reliable guarantee is provided for safe operation of bridges.

The invention provides a floating navigation mark anchorage positioning method and system, and relates to the technical field of floating navigation mark anchorage detection, and the method comprises the steps: transmitting a first wave beam to an underwater object through a sonar device, screening out a first echo of the underwater object which is an anchorage, and obtaining a target echo; acquiring a ship position; the sonar equipment transmits a second wave beam to the ship; a second distance and a second angle between the sonar equipment and the ship are determined firstly, and then the real-time position of the sonar equipment is determined; then determining a first distance and a first angle between the mooring ingot and the sonar equipment; based on the real-time position of the sonar equipment, the first distance and the first angle, determining the current position of the mooring ingot; and finally, generating an adjustment path based on the current position and the design position of the tied ingot. And the echo corresponding to the concrete anchor is screened out as the target echo, so that the interference of irrelevant objects is eliminated. A sonar detection principle and an algorithm are used to calculate the specific position of the mooring anchor underwater. And by comparing the current position and the design position of the tied ingot, the deviation condition is known, and correction is facilitated.

The invention relates to a wave energy conversion device, a control method thereof, a control device and a storage medium, and relates to the field of wave energy power generation. The wave energy conversion device comprises a wave energy conversion unit, a fixed reflecting wall structure and a mooring and anchoring system. The wave energy conversion unit comprises a floater, a power output device and a connecting structure for connecting the floater and the power output device; the static immersion depth of the floater in the initial state is configured to respond to wave excitation and mainly take heaving motion, and the power output device is used for converting the heaving motion of the floater into available energy to be output; the wave energy conversion unit is connected to a seabed or a fixed reflecting wall structure; the fixed reflecting wall structure is arranged on one side of the wave energy conversion unit and is used for reflecting waves with opposite propagation directions, so that the wave energy forms energy accumulation in a local area around the wave energy conversion unit; and the mooring and anchoring system is used for stabilizing the wave energy conversion unit and the fixed reflecting wall structure in a preset water area environment together.

The invention provides a laying tool, a laying method and a recovery method for a sailing type temperature-salinity-depth detector, and the tool comprises a tow fish which is provided with an attitude sensor on the surface of a housing and is used for detecting the pitch angle of the tow fish; the throwing frame is installed on the ship body and used for guiding the laying path of the tow fish; the winch is installed on a ship afterdeck or in a cabin, and the tow fish is hung through a mooring rope. Wherein an executing mechanism of the winch is in communication connection with the attitude sensor and is configured to respond to an attitude signal generated when the tow fish enters water and drive the tow fish to be adjusted to be in a vertical state; and driving the tow fish to be adjusted to be in a horizontal state in response to a posture signal when the tow fish is out of water. The laying tool provided by the invention is suitable for various laying scenes, realizes automatic posture adjustment of the tow fish when the tow fish enters and exits water, improves the automation degree and safety of operation, avoids human interference, and is beneficial to improving the measurement precision of the temperature-salinity-depth sensor.

The invention relates to the technical field of ship mooring, and discloses a mooring device for a ship, the mooring device for the ship comprises a base and a winch assembly arranged on one side of the base, synchronous movement is achieved through a dynamic rope adjusting structure, the diameter is automatically adjusted through a horn-shaped guide part according to the thickness of a mooring rope, and when the ship is affected by stormy waves, the mooring rope is automatically adjusted. The diameter of the arc plate can be automatically adjusted according to the tensile force of the cable, unwinding buffering and rolling of the balls are achieved, cable abrasion is effectively reduced, the damage risk of stormy waves to the cable is reduced, the service life and safety of the cable under complex working conditions are guaranteed, in addition, bidirectional self-adaptive steering can be conducted along with ship swinging, excessive deflection is limited while ship swinging is allowed, and the service life of the cable is prolonged. It is ensured that the mooring rope is evenly and stably stressed, and the safety, reliability and operation efficiency of ship mooring are greatly improved.

The invention discloses an offshore floating type wind-light-wave-flow combined power generation system which comprises a semi-submersible type wind-wave-flow combined power generation device, a floating pipe type photovoltaic array and a connecting mooring, and the semi-submersible type wind-wave-flow combined power generation device is composed of a wind generating set, an overtopping type wave energy power generation device and an ocean current energy power generation device. The wind generating set is fixed to the overtopping wave energy power generation device, the ocean current energy power generation device is fixed to the lower portion of the overtopping wave energy power generation device, the overtopping wave energy power generation device floats on the sea surface, and the floating pipe type photovoltaic array is arranged around the semi-submersible type wind wave and current combined power generation device in the mode of floating on the sea surface. And the connecting mooring is used for mutually positioning and connecting the semi-submersible wind wave and flow combined power generation device and the floating pipe type photovoltaic array, and simultaneously positioning and connecting the semi-submersible wind wave and flow combined power generation device and the floating pipe type photovoltaic array with the seabed. Through deep coupling of wind, light and wave flows, three-dimensional utilization of sea space is achieved, and multi-energy efficient complementary power generation is achieved.

The invention provides a resetting system and a resetting control method for an offshore floating energy island, and the resetting system comprises a counterweight adjusting module which comprises a servo motor, an annular mooring chain track and a counterweight block. The buoyancy adjusting module comprises air supply equipment and an air bag. And the thrust adjusting module comprises a horizontal thrust adjusting module and a vertical thrust adjusting module. And the monitoring module comprises a plurality of groups of sensors to monitor the position information of the energy island in real time. When the energy island is in vertical unbalance, the servo motor drives the balancing weight to move along the annular mooring chain track, and first-stage reset adjustment is carried out; further, the air supply equipment inflates and deflates the air bag for secondary reset adjustment; further, a vertical thrust adjusting module provides vertical thrust to carry out three-stage reset adjustment; when the energy island is horizontally unbalanced, the horizontal thrust adjusting module provides horizontal thrust and pushes the floating body main structure to achieve horizontal reset adjustment. According to the scheme of the invention, through a multi-stage reset strategy, the reset efficiency of the energy island and the adaptability in an extreme environment are improved.

The invention discloses a starting berth identification method based on a multi-source data weight algorithm, which belongs to the field of waterway traffic, and comprises the following steps of: firstly, determining a preorder berth time threshold value, screening effective berth points by using double threshold values of navigational speed less than one section and berth more than one hour, constructing an effective berth point set, and finding an optimal center point; berths are matched through an electronic fence technology, cross-voyage redundant data are eliminated, adjacent same-name berth records are merged, berth point data are processed, and a preorder berth set is formed; and then constructing a weight algorithm, extracting an exchange value, a production place and a parking time weight value, performing normalization, performing weighted fusion according to a set weight to calculate a score, and determining the highest score as a starting parking space. The method realizes accurate positioning of the cargo loading and transporting starting point, and improves the identification precision and reliability.

The present invention relates to an intelligent berthing method for inland anchorages, comprising the following steps: S1: a ship sends a berth application and obtains the ship's current information; S2: using the ship information to predict the ship's arrival time at each available anchorage; S3: collecting information on all currently moored ships at the anchorage and allocating berths to incoming ships based on the current berthing situation at the anchorage; S4: after a ship has moored, checking whether it has moored at the designated location as required; S5: after receiving a departure information, collecting the ship's departure time for use in allocating berths to subsequent incoming ships; and S6: upon reaching the scheduled departure time, the ship performs the departure operation. This method can predict ship arrival times and intelligently allocate berths to incoming ships, thereby reducing anchorage management costs, improving anchorage operation efficiency, and enhancing the intelligent construction of anchorages.

The invention discloses a digital twinning-based multistage water-saving ship lock navigation safety guarantee method and system, and the method comprises the steps: collecting multi-source sensing data, generating an alignment data flow and a quality evaluation report, and updating a digital twinning state; by means of the aligned data flow and the quality evaluation report, through non-contact observation and probability fusion, mooring force probability distribution is obtained; based on the digital twinning state and the alignment data flow, identifying a hydraulic impulse response and adopting hydraulic phase lock tracking to generate a vibration suppression opening template; and in the digital twin system, integrating the mooring force probability distribution and the vibration suppression opening template, executing distribution robust random control barrier optimization, and outputting an executable valve track. According to the method, water hammer oscillation can be actively inhibited, robust safety guarantee is provided for uncertain mooring force, and the navigation safety of the large water-saving ship lock is effectively improved.

The present invention discloses a mooring stabilization method and device for ship berthing. The method comprises: obtaining external environmental parameters and ship parameters; obtaining relative position information between the ship and the dock, and determining the position of the ship in the wind flow based on the relative position information; determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable based on the external environmental parameters, the ship parameters, and the position of the ship in the wind flow; obtaining the ship's roll angular velocity and the ship-turning torque due to environmental factors, and transmitting these to a mooring stabilization device for the mooring stabilization device to assist the ship in mooring. The present invention combines the current external environmental conditions of the ship with its own parameters to determine the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable under different wind flow conditions, thereby accurately controlling the ship's mooring state, ensuring the safety and economic benefits of the ship during mooring, and can be widely used in the fields of ship berthing and ship mooring.

[Problem] To provide a mooring device and a ship that have low introduction costs and facilitate mooring work. [Solution] A mooring device 1 that is to be installed on a ship S comprises a base part 10 that can rotate around a reference axis, a first arm part 20 that is connected to the base part 10 such that the angle to the reference axis can be changed, a second arm part 30 that is linked to the first arm part 20 such that an opening angle θ to the first arm part 20 can be changed, an end effector 50 that is connected to the tip end of the second arm part 30, an elastic part 60 that produces elastic force that acts to increase the opening angle θ, and a mooring cord 80 that is led out from a winch 70, passes through the end effector 50, and has a noose part 80a at the tip end.

According to the current load simulation method provided by the invention, based on a pulley-counterweight system, accurate equivalent simulation of a steady-state ocean current load in a wave pool without a physical current generation capability is realized. According to the method, dependence of high-cost current making equipment is avoided, the loading direction and size can be flexibly adjusted, platform initial offset, mooring tension change and floating body low-frequency motion response characteristics caused by ocean current are effectively represented, and the completeness and accuracy of multi-working-condition environment load reproduction in a pool test are remarkably improved.

The present invention discloses a method for rapidly predicting harbor waves and the dynamic response of moored ships, comprising: S1: constructing a harbor wave numerical model; S2: constructing a mooring numerical model of a preset ship type; S3: using the harbor wave numerical model and the mooring numerical model to establish a training set, the training set including nearshore wave condition parameters, nearshore wind field condition parameters, harbor wave parameters, and moored ship dynamic response data; S4: using the nearshore wave condition parameters and the nearshore wind field condition parameters as inputs and the harbor wave parameters and the moored ship dynamic response data as outputs to train a neural network model; S5: inputting nearshore wave observation data and nearshore wind field observation data into the neural network model to obtain harbor wave and moored ship dynamic response prediction data. The present invention can overcome the shortcomings of the prior art and achieve rapid prediction of harbor waves and moored ship dynamic responses.

The invention belongs to the technical field of ocean new energy, and provides an anchor system multi-floating-body array wave flow motion response analysis method and system, and the technical scheme is that a joint simulation method of multi-body dynamics and computational fluid mechanics is adopted to carry out the comprehensive modeling and analysis of a mooring type multi-floating-body array, and the wave flow motion response analysis of the mooring type multi-floating-body array is realized. A universal joint connection structure for platform connection is designed, and an equivalent concentrated mass-spring unit is introduced to simplify modeling of a mooring chain. Joint simulation is implemented in a numerical wave generation and ocean current pool, and hydrodynamic force and structural response of the anchor system multi-floating-body array system under the steady-state ocean current and regular wave conditions is evaluated; the system studies the influence of the size of the floating ball, the weight of the mooring chain and the flow velocity on the hydrodynamic performance and the platform stability. And the performance requirements in a complex marine environment can be better met.

The invention relates to the technical field of deep sea communication and ocean observation, in particular to a long-term stable real-time communication system based on domestic satellites under high sea conditions. Comprising a submerged buoy body, the submerged buoy body is provided with a communication floating body module, a multi-source domestic satellite communication module, a low-power-consumption control module and a data processing module which are electrically connected in sequence, and an intelligent sensing module and an underwater data access module which are respectively connected with the data processing module; the device further comprises a main floating body. The system can be widely applied to deep-sea subsurface buoy platforms, marine environment monitoring stations, deep-sea scientific investigation equipment and other scenes, realizes real-time transmission of hydrodynamic and biogeochemical multi-element synchronous observation data at the water depth of 0-6000 meters, and supports research on the dynamic process of isolated waves, near-inertia internal waves and the like in the ocean and safety guarantee of the marine environment.

The invention discloses a concrete floating system which comprises a concrete floating body, an embedded steel drum and a plurality of mooring chains, the lower end of the embedded steel drum is embedded in the upper surface of the concrete floating body, the end of each mooring chain is connected to the side face of the concrete floating body, and the system can adapt to the complex and changeable marine environment and is high in practicability. And the safety and the stability of the new energy equipment are improved.

The invention discloses a grabbing and suction force fusion shared anchor structure, an offshore floating platform and an implementation method. The grabbing and suction force fusion shared anchor structure comprises a barrel wall and a barrel cover; the top of the barrel wall is connected with the barrel cover to form a suction anchor structure; a plurality of wing plates are distributed on the outer side wall of the barrel wall; barrel wall lug plates are arranged on the outer side wall around the barrel wall; the barrel wall lug plate is connected with the barrel wall lug plate connecting rod; a mooring ring is arranged on the outer side of each barrel wall lug plate connecting rod; each mooring ring is fixedly connected with the lower end of the anchor chain; the upper end of the anchor chain is connected with an anchoring point on the offshore floating platform; anchor grabbing key teeth are arranged at the lower part of the outer side wall around the barrel wall; each catching anchor key tooth is hinged with one end of the umbrella-shaped catching anchor; and a vertical pile anchor is vertically arranged in a central through hole of the barrel cover. According to the invention, stable and reliable anchoring support can be provided for an offshore floating photovoltaic (or wind power) system installed on an offshore floating platform under complex mooring working conditions of large load, high torque and strong stress.

The utility model provides mooring type feeding unmanned aerial vehicle feeding equipment for deep and far sea culture and a feed feeding device. The feeding equipment comprises a feeding unmanned aerial vehicle, a feeding hose, a hose winch, a Roots blower, a feed storage tank, a distribution box and a control end. The feed feeding device comprises a feed feeding assembly and a feeding hose connector, the mooring type scheme of unmanned aerial vehicle feed feeding is achieved, the safety of the feed feeding process is guaranteed by means of an unmanned aerial vehicle feeding mode in the face of the complex sea conditions of deep and far sea breeding, and manpower input is reduced; more importantly, the feed storage tank is directly connected with the unmanned aerial vehicle through the feeding hose (capable of being integrated with a cable), feed supply and power supply of the unmanned aerial vehicle in the feeding process are guaranteed, the feeding area of deep and far sea breeding is large, the breeding distance is large, the situation that the unmanned aerial vehicle goes back and forth for multiple times can be avoided through the mode, and the feeding efficiency is greatly improved.

The invention relates to the technical field of breakwaters, in particular to a breakwater embedded with an oscillating water column type wave energy power generation device adapting to tidal range variation, which comprises a breakwater body, a plurality of mounting grooves are formed in the head wave surface of the breakwater body and are respectively arranged at intervals in the horizontal direction, and a driving system is arranged in each mounting groove. The driving system is connected with an oscillating water column type wave energy power generation device, and the oscillating water column type wave energy power generation device is driven by the driving system to ascend and descend in the vertical direction. A plurality of oscillating water column type wave energy power generation devices are embedded in the head wave face of the breakwater body at intervals, and the heights and opening orientations of the oscillating water column type wave energy power generation devices are flexibly adjusted through the driving system so as to adapt to and be matched with tidal range changes and incoming wave direction changes of a service sea area; on the basis of maintaining stable mooring conditions in the harbor, energy absorption and capture of waves with different tide levels and incoming wave directions are achieved in an efficient mode, and the capture efficiency is improved to the maximum extent.

The invention relates to the technical field of ship mooring, and discloses a ship mooring device which comprises a bearing seat, a cable winding wheel is fixedly connected to the outer wall of a shaft rod of the bearing seat, a cable is evenly wound around the outer wall of the cable winding wheel, a servo motor is fixedly connected to one side of the cable winding wheel, and a guide assembly is arranged on one side of the bearing seat. A tension self-adjusting assembly is arranged on the side face of the guide assembly and comprises a plurality of guide wheels arranged side by side, the outer wall of the cable is continuously connected with the guide wheels in a wound mode, and the cable is continuously connected to the guide wheels of the tension self-adjusting assembly in a wound mode through the tension self-adjusting assembly. When the ship shakes and the tension of the mooring rope is increased, the tension self-adjusting assembly starts to play a role and can absorb and consume energy generated by the ship shaking, so that the change of the tension on the mooring rope is buffered.

The invention provides a mooring failure prediction method, device and equipment based on a floating type wind turbine, and belongs to the technical field of floating type wind turbines.The method comprises the steps that platform data of the floating type wind turbine and environment data of the environment where the floating type wind turbine is located are obtained; analyzing the platform data, and constructing a platform numerical simulation model of the floating wind turbine; splitting the environmental data, and extracting key environmental parameters of each environmental parameter type; on the basis of the key environment parameters, motion change information and mooring force change information of the floating wind turbine are predicted through a platform numerical simulation model and a motion mooring prediction model; according to the method, the mooring failure evaluation strategy is used for carrying out anomaly evaluation on the motion change information and the mooring force change information, a mooring failure evaluation result of the floating type wind turbine is generated, and the accuracy of motion response prediction of the floating type wind turbine is effectively improved.

The invention relates to the field of marine floating bridges, and discloses a marine floating bridge floating island module which comprises a seabed pile foundation, the side wall of the top end of the seabed pile foundation is sleeved with a lifting lug a through a cable a, the surface of the top end of the seabed pile foundation is sleeved with a lifting lug b through a cable b, and floating bridge mechanisms are arranged on the surfaces of the lifting lug b and the lifting lug a. The platform can be quickly built at positions such as the sea surface so as to cope with different use environments. A storm-resistant stable system is constructed through a semi-cylindrical structure, a two-way mooring rope and gravity center adjustment, the curved surface contour of a semi-cylindrical floating plate can guide waves to flow along the side face of a plate body, front impact is avoided, wave impact force is dispersed, and the transverse swing angle is controlled within 5 degrees; the seabed pile foundation forms pull-down and side-pull two-way fixation through the mooring rope a and the mooring rope b, vertical movement is limited, horizontal drifting is restrained, and the module is prevented from being separated from a preset area; the gravity center of the sealed clean water bags in the water storage cavity can be flexibly adjusted by increasing and decreasing the number.