215 results about "Sailing craft" patented technology

The invention relates to the technical field of sailboat training instruments, and provides a real-time simulation platform for sailboat exercise training, which comprises a training sailboat used for trainee driving training; the rainwater simulation mechanism is used for simulating the influence of raining on the sight of the driver in rainy days; the water inlet mechanism is used for simulating the influence on the operation of a driver when the training sailboat inclines in rainy days and water enters a cockpit; and the water pumping mechanism is used for simulating internal drainage of the cockpit and recycling recycled water resources. Through the cooperation of the rainwater simulation mechanism, the control mechanism and the water inlet mechanism, the sailboat training simulation platform can simulate the influence of rainwater blowing to a cab from different directions on the sight of a student, can simulate the influence condition of the amount of different rainwater blowing to the interior of the cab from different directions on the sight of the student, and meanwhile, can simulate the influence condition of the amount of rainwater blowing to the interior of the cab from different directions. The sailboat training simulation platform can simulate the influence of rainwater on the deck of the training sailboat entering a cockpit due to the inclination of the boat body on the operation and driving of trainees in rainy days.

The invention belongs to the technical field of ship course control, and discloses an unmanned sailboat sail-rudder cooperative active-disturbance-rejection course control method based on ESO, and the method comprises the following steps: building a nonlinear course motion mathematical model; designing a self-adaptive tracking differentiator to smooth the expected course; the course, the yawing angular velocity, the sail aerodynamic moment and the comprehensive disturbance are observed in real time through ESO; based on a nonlinear state error feedback control law, in combination with the output of the tracking differentiator and the observed value of the ESO, generating a rudder torque control quantity, performing constraint processing on the rudder torque control quantity, and outputting a rudder angle instruction; and a dynamic optimal sail angle is decided according to the lift-drag ratio parameter, the apparent wind speed and the relative wind angle of the sail aerodynamic model corrected in real time, and a sail angle instruction is generated after the dynamic optimal sail angle is compensated and constrained by combining the course deviation. The adaptive capacity to the time-varying wind field and the model uncertainty is enhanced, and the anti-interference performance and the energy efficiency of the system are improved through dynamic optimization and compensation of the sail angle.

The invention belongs to the technical field of unmanned sailboat environment perception and path planning, and discloses an unmanned sailboat reinforcement learning path planning method based on dynamic wind field reconstruction. Comprising the following steps: step 1, setting a map and an initial setting; 2, wind field preparation and LES data simulation are carried out; step 3, performing reinforcement learning path planning; step 4, meteorological station wind field sampling; step 5, dynamic wind field reconstruction based on a Navier-Stokes equation is carried out; and step 6, path extraction and result calculation. According to the method, through combination of real-time wind field reconstruction and reinforcement learning, the accuracy and adaptability of path planning are remarkably improved, the sailing time and energy consumption are effectively reduced, and the sailing efficiency and safety of the unmanned sailboat are improved.

A unitary hermetically sealed device is disclosed for providing self-contained electric propulsion drive power to a motor boat or sailboat, where the entire propulsion system is contained in a separable pressurized hermetic enclosure attached to the underside of the vessel and also acts as a keel of the vessel, and which simplifies production, provides improved safety from high voltages, and prevents drive system maintenance or repair when the vessel is located in the water. The rigid hermetically sealed device functions as a skid-plate to avoid damage to the softer typically fiberglass hull when running the vessel aground or when running up onto or off of the beach or onto or off a trailer.

The invention relates to the technical field of ship course control, and particularly discloses an MPC-based unmanned sailing ship course control method and system, and the method comprises the steps: carrying out the stress analysis of a ship body, a sail and a rudder of an unmanned sailing ship based on a ship MMG separation modeling thought, and building a yawing dynamic model of the unmanned sailing ship; a second-order bow turning dynamical model of the unmanned sailboat about the bow turning angle and the bow turning angular speed serves as an MPC prediction model, the control increment of the rudder angle at the current moment is output, and the control quantity at the current moment is obtained through calculation; based on the wind field data, acquiring a yaw angle of the ship body course influenced by sail stress; the control quantity at the current moment is compensated through feedforward of the yaw angle, and the compensated control quantity is applied to a rudder of the unmanned sailboat. Accurate control of the course of the unmanned sailboat is realized.

The invention discloses a marine ranch cruising task-oriented drum sailboat event triggering optimization control method. The method comprises the following steps of: constructing a three-degree-of-freedom nonlinear mathematical model of a drum sailboat; generating a virtual reference path based on the waypoints by using LVS so as to obtain a guidance law and a position error; improving the guidance law by using a limited boundary circle rule to obtain an improved ILVS guidance law, and further obtaining a heading error; designing a virtual control law based on the actor-commentator neural network; a dynamic surface control technology is introduced to filter the virtual control law and define a dynamic error, and a robust neural damping technology is used to carry out robustness processing on a nonlinear term; designing intermediate control input by combining the actor-commentator neural network, the dynamic error subjected to robust processing and the derivative of the filtered virtual control law; designing an integral dynamic event triggering mechanism, and designing a ship path tracking controller by combining an adaptive compensation technology and intermediate control input; according to the invention, the communication load of a guidance system can be effectively reduced, the practicability of the controller in a dynamic marine environment is effectively improved, and the cruise precision of a marine ranch is guaranteed.

A system for sailing training includes at least one tuning parameter of a sailboat which can be set to multiple positions; a camera mounted on the sailboat for recording a video of a current position of the at least one tuning parameter; a mobile computing device for controlling the camera; an app executing on the mobile computing device for analyzing the position video of the at least one tuning parameter of the sailboat and for determining in real-time using AI how to modify the current position of the tuning parameter to maximize performance of the sailboat; and a notification generated by the mobile computing device for alerting a sailor to the preferred tuning parameter position.

The invention belongs to the technical field of sailboat manipulation simulation, and discloses a somatosensory interaction sailboat manipulation simulation method and system based on three-dimensional human body posture estimation. The method comprises the following steps: capturing a live-action picture in real time by using a camera, and acquiring a 2D human body posture by using a 2D posture detector; inputting the 2D human body posture into a three-dimensional human body posture estimation method for image guidance state space enhancement, and calculating a 3D human body posture; and the obtained 3D human body posture is mapped to a somatosensory control module in a sailboat motion operation virtual scene, so that interactive operation based on somatosensory motion is realized. According to the method, the local feature extraction advantage of the space-time expanded graph convolution model and the global feature extraction advantage of the hierarchical joint enhanced selective state space model are fused, so that the real-time performance of the model is ensured, and meanwhile, the precision advantage of the model is shown in the test of the common data set; the method is more suitable for somatosensory interaction sailboat manipulation simulation tasks.

A sail assembly 100 for use in a stand-up sailing activity comprises a support frame 5a, 5b and a sheet of flexible material 6 attached to the support frame. The support frame is comprised of two or more spars 4a, 4b which can be connected to a connector 1 by means of connector arms 3a, 3b. The connector arms 3a, 3b are pivotable about a pivot 2a, 2b of the connector and can be drawn together into a stowed configuration or separated and locked into a deployed configuration. When the assembly is assembled and the connector is adjusted from the stowed configuration to the deployed configuration, the flexible material unfurls to form the sail 6. The sail optionally includes a transparent portion to allow a sailor visibility through the sail.

The utility model provides a folding fan type solar sail and a sailing boat with the folding fan type solar sail. The folding fan type solar sail comprises a mast, an inclined supporting sail rod, an inclined pulling sail rod, a first flexible solar cell panel, a second flexible solar cell panel, a third flexible solar cell panel, a first shaft sleeve joint, a second shaft sleeve joint, a third shaft sleeve joint and a conical fixing buckle. Inclined supporting sail rods and inclined pulling sail rods are arranged on the two sides of the mast, the inclined supporting sail rods and the mast are connected through second shaft sleeve joints, the inclined supporting sail rods and the mast are connected through first shaft sleeve joints, third shaft sleeve joints are arranged at the tail ends of the inclined supporting sail rods, the third shaft sleeve joints are fixed relative to the inclined supporting sail rods, and the inclined pulling sail rods and the inclined supporting sail rods are connected through the third shaft sleeve joints. A first flexible solar cell panel, a second flexible solar cell panel and a third flexible solar cell panel are arranged between the diagonal bracing sail rod and the mast; the second shaft sleeve joint slides up and down on the mast, so that the sail is unfolded and folded, the sail is more efficient and quicker to use, and the sailing adaptability of the sailing boat is improved by the generated electric power.

The invention discloses a wind-driven wing sail type unmanned sailing boat, comprising: a boat body comprising a water surface part and an underwater part, the water surface part being provided with a deck, the deck being provided with a solar panel, the underwater part being provided with a keel and a rudder blade; the wing sail is connected with the ship body through a sail rotating mechanism and used for providing sailing driving force, the wing sail is of a symmetrical structure, and flexible solar panels are embedded in the left side face and the right side face of the wing sail; the rudder blade is connected with the ship body through a rudder shifting mechanism and used for controlling the course; and the energy storage and control module is arranged in the ship body and used for being connected with the solar panel, storing energy and controlling the sail rotating mechanism and the rudder rotating mechanism to operate. The wing sail skin of a carbon fiber / PVC three-layer sandwich structure is adopted and matched with the variable-cross-section carbon fiber rib plate, balance of light weight and flutter resistance is achieved, the double integration mode of the solar cell is adopted, the flexible solar panels on the two sides of the wing sail and the deck monocrystalline silicon cell form a complementary power supply network, the autonomous survivability is high, and the requirement for ocean sailing is met.

1. The name of the design product: radio remote control sailboat model (Chinese Fu boat one Dan Yang ship). 2. The use of the design product: for decorative ornaments. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view. 5. The bottom of the design product is not easy to see or not visible when used, omit the top view. 6. The wooden rack in the design picture is not part of the protected design content.

The present application belongs to the technical field of unmanned sailboat, and particularly relates to a rigid wing sail self-balancing turning sail system of unmanned sailboat, which comprises a main sail skeleton, a main sail shell, a turning sail control box, a tail wing connecting rod assembly, a tail wing main body, a steering engine and a tail wing rope driving assembly. The driving end of the steering engine is controlled to move, and the tail wing main body is driven to rotate through the tail wing rope driving assembly, so as to adjust the deflection angle of the tail wing main body relative to the main sail as a whole, adjust the included angle (attack angle) between the main sail as a whole and the wind, and make the main sail as a whole reach a predetermined attack angle and keep a stable balance state. The mast of the main sail as a whole can rotate freely around the unmanned sailboat body, realizes the rotation decoupling of the rigid wing sail and the ship body, the bow shaking movement of the unmanned sailboat does not affect the attack angle of the rigid wing sail, the tail wing can be regarded as the air rudder of the main sail by adjusting the attack angle of the main sail through the tail wing, and the method makes the main sail attack angle adjustment more efficient and rapid, and reduces the adjustment power consumption.

The invention discloses a method for determining optimal water surface stability and underwater motion performance of a dual-mode unmanned sailboat. Firstly, based on ship stability specifications, the water surface initial stability height of a sailing ship under different heavy hammer masses is calculated, and the initial stability height range is determined; secondly, ship body recovery torque and wind tilting torque are calculated, static and dynamic heeling angles are determined, and the initial stability high range of the ship body is further narrowed; thirdly, calculating underwater stability, establishing an underwater motion model, and obtaining a hydrodynamic coefficient; then, simulation is carried out based on the underwater motion model, and the limit pitch angle and rising / diving height performance under different parameters are calculated. And finally, constructing a multi-objective optimization model and solving an optimal parameter combination. And selecting an optimal compromise scheme based on an ideal point method, and determining the final weight mass and propeller mounting angle. Unified optimization of the dual-mode performance is achieved, and the design efficiency and the comprehensive performance of the aircraft are remarkably improved.

1. The name of this design product: Silicone mold (sailboat sign 2). 2. Purpose of this design product: used to make silicone molds for hanging signs. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: Stereoscopic drawing 1.

The application belongs to the field of unmanned sailboat manufacturing, in particular to a lightweight wing sail of an unmanned sailboat and a processing method thereof. The lightweight wing sail of the unmanned sailboat comprises a carbon fiber wing sail shell and a metal framework. The metal framework is arranged at the lower part of the inner cavity of the carbon fiber wing sail shell. The carbon fiber wing sail shell comprises a carbon fiber wing sail shell side piece A and a carbon fiber wing sail shell side piece B. A plurality of hand holes are arranged on the carbon fiber wing sail shell side piece B. The carbon fiber wing sail shell and the metal framework are arranged, and the metal framework is arranged at the lower part of the inner cavity of the carbon fiber wing sail shell. The upper part of the inner cavity of the carbon fiber wing sail shell can be supported by the structure of the carbon fiber wing sail shell itself. The metal framework does not need to penetrate from top to bottom in the carbon fiber wing sail shell. The weight of the entire wing sail can be greatly reduced, the gravity center of the wing sail is lowered, the overall gravity center of the unmanned sailboat is lowered, the rolling stability and the anti-overturning ability of the unmanned sailboat are effectively ensured, and the installation structure is simple and easy to process.

The present invention relates to a sailing boat comprising an aerodynamic profile and a system for determining the characteristics of the incident air flow on its leading edge. In order to be able to precisely determine the position of the stagnation point at different regions along the leading edge of the aerodynamic profile, a system comprises: rows (S1 to S5) of pressure sensors (16) distributed on either side of the leading edge (14) and virtually forming a pattern (M1 to M5) spaced apart from each other in the form of a simple broken line; and a computer (20) connected to the pressure sensors (16). The computer (20) determines the corresponding stagnation point position along each of the patterns (M1 to M5), the stagnation point position being defined by the abscissa of the curve (a1 to a5) and by the height (z1 to z5) evaluated based on the corresponding height data from the pressure sensors (16) in the corresponding rows (S1 to S5), for which the pressure P*, interpolated based on the pressure measurements provided by the pressure sensors (16) in the corresponding rows (S1 to S5), is at a maximum.

Sail for a sail-powered craft, and corresponding craft The invention relates to a sail (10) for a sail-powered craft (1), said sail being intended to be mounted along a mast (6). The sail (10) has an aerodynamic cross-section comprising, on the one hand, a peripheral contour (12) comprising a leading edge (14), a trailing edge (16), and two adjacent surfaces (18) each extending between the leading edge and the trailing edge; and on the other hand, an interior space surrounded by the peripheral contour (12) and configured to accommodate the mast (6).The sail (10) comprises at least one longitudinal inflatable envelope (20) comprising two walls, inner and outer, facing each other, said two walls each comprising a textile sheet and being connected to each other by a multitude of connecting threads distributed over the entire surface of said sheets and of substantially equal lengths, forming a structure, preferably closed or sealed, suitable for being inflated, and at least part of the peripheral contour (12) is formed by said at least one inflatable envelope (20). The invention also relates to a sail- or hybrid-powered craft, comprising such a sail (10). Figure for the abstract: Fig. 1.

This invention provides an angle-of-attack control device and a passive angle-of-attack airfoil sailboat, belonging to the field of passive angle-of-attack control for rigid sails. The angle-of-attack control device includes an airfoil sail and a rotating mechanism. The airfoil sail includes an airfoil sail surface, a mast, and a base matching the mast. The mast is perpendicular to the base and rotatably connected to the base. The mast is fixedly connected to the bottom of the airfoil sail surface. The rotating mechanism is located at the top of the airfoil sail surface. The rotating mechanism includes a motor and a rotating drum. The motor includes a rotation drive component, a speed-changing component, and an output shaft. The motor is located at the top of the airfoil sail surface, and the output shaft is parallel to the mast and fixedly connected to the rotating drum. This passive angle-of-attack airfoil sailboat includes a double hull and multiple angle-of-attack control devices, which are arranged in an array on the double hull. Using the angle-of-attack control device and passive angle-of-attack airfoil sailboat provided by this invention can solve the problems of excessively large airfoil sail structures, insufficient mainsail area, and insufficient propulsion in existing technologies.

The invention relates to a quadruple sailing boat (1) for fish farming in open or ocean sea areas, comprising at least one base structure (2), at least one seine (5), at least one driving and accommodation compartment (3), at least one sail system (4) and at least one storage silo (6), all of which are modular and / or detachable. According to the invention, the at least one base structure (2) comprises: at least two main floats (7) which are parallel and spaced apart from each other and are connected or fastened to each other by means of at least one arm (8); and at least two secondary floating bodies (9) adjacent to each of the at least two main floating bodies (7), the perimeter of the secondary floating bodies being smaller than the perimeter of the at least two main floating bodies (7), and the two secondary floating bodies being arranged parallel to each outboard and at a distance from the at least two main floating bodies.

The invention relates to the field of unmanned sailboat environment perception and path planning, and discloses an unmanned sailboat path planning method combining dynamic wind field reconstruction and an A star algorithm, and the method comprises the following steps: 1, environment modeling and initialization; 2, wind field data simulation and wind field preparation; step 3, executing A star algorithm path planning; 4, meteorological station wind field sampling; step 5, dynamic wind field reconstruction based on a Navier-Stokes equation is carried out; the efficient unmanned sailboat path planning method is provided by integrating a dynamic A star algorithm and a dynamic wind field reconstruction technology, and by means of dynamic wind field reconstruction and real-time updating based on a Navier-Stokes equation and in combination with the dynamic A star path planning algorithm, the path of the unmanned sailboat can be effectively planned. The optimal path selection of the unmanned sailboat can be realized in a complex wind field environment, the sailing time and energy consumption are reduced, and the sailing safety is improved at the same time.

The invention relates to a telescopic mast device (1) for a sail-powered vessel, the telescopic mast device (1) being erected along a specific elongation axis (O1) and including: - a stationary section (11) intended to be positioned above an upper deck (42) of the vessel; - a plurality of movable sections (10, 10A, 10B) coaxial with the stationary section (11), each upper movable section (10, 10A, 10B)—referred to as upper section (10B)—being slidably mounted in the movable section (10, 10A, 10B), which is directly lower—referred to as lower section (10A)—relative to the specific elongation axis (O1) of the mast; - angular indexing elements (2) configured to constrain a rotation of each upper section (10B) with respect to the lower movable section (10, 10A, 10B) located opposite, relative to the specific elongation axis (O1), the angular indexing elements (2) including at least one indexing shim (22) secured to an upper portion (102) of the upper section (10B), the at least one indexing shim (22) collaborating with at least one indexing rail (21) secured to the lower section (10A) located opposite the at least one indexing shim (22).

The utility model discloses a speed control system and an unmanned sailing boat. The speed control system comprises a first speed control assembly and a second speed control assembly. The first speed control assembly comprises a mounting table, two control surfaces and a driving structure, the driving structure is used for being arranged on the mounting table, the two control surfaces are symmetrically arranged on the mounting table, the control surfaces are rotationally connected with the mounting table, and the driving structure is connected with the control surfaces and used for driving the control surfaces to synchronously rotate oppositely or oppositely; the second speed control assembly comprises a sliding plate and a telescopic structure, the sliding plate is slidably installed in the control surface, a connecting rod is arranged on the sliding plate, the fixed end of the telescopic structure is fixedly installed on the control surface, and the movable end is fixedly connected with the connecting rod; wherein the control surface is hollow to form a sliding area, the sliding plate is slidably mounted in the sliding area, a kidney-shaped groove is formed in the upper end face of the control surface, and the connecting rod is slidably connected with the kidney-shaped groove. The utility model aims to solve the problem of poor speed control effect of an unmanned sailboat speed control device in the prior art.

Vehicle with: - a DC network (101) comprising: a) a high-voltage busbar (104) operating at a first voltage level; b) a low-voltage busbar (106) operating at a second voltage level below the first voltage level; c) converters (138, 152, 156) configured to transfer current between different voltage levels by means of a conversion; - at least one high-voltage battery (130) configured to store current at the first voltage level and electrically connected to the high-voltage busbar (104) to transfer current to and from the high-voltage busbar (104); - electrical loads (100) comprising: a) high-voltage loads (114) connected to the high-voltage busbar (104) in parallel with the high-voltage battery (130) to be supplied at the first voltage level;b) Low-voltage loads (116) connected to the low-voltage busbar (106) to be supplied at the second voltage level; - an electronic control unit (BCU) configured to control at least one (152) of the converters (138, 152, 156) to regulate the energy / power flows in the DC network (101);characterized in that the DC network (101) also comprises a medium-voltage busbar (105) operating at a third voltage level between the first and second voltage levels, the vehicle also comprising means for generating electricity from renewable energy sources (139) wherein the means for generating energy from renewable energy sources (139) are connected to the medium-voltage busbar (105) so that current is supplied to the third voltage level and wherein the converters (138, 152, 156) comprise: - at least one first bidirectional DC-DC converter (138) arranged to transfer current between the high-voltage busbar (104) and the medium-voltage busbar (105) with a conversion between the first and third voltage levels;- at least one second DC-DC converter (152) arranged to transfer current from a high-voltage busbar (104) or a medium-voltage busbar (105) to the low-voltage busbar (106) with a conversion to the second voltage level from the first voltage level or the third voltage level.

The invention discloses a sailboat motion dynamic prediction method based on grey wolf optimization and a kernel extreme learning machine. The method comprises the following steps: establishing a three-degree-of-freedom motion prediction model based on a grey wolf optimization algorithm and a kernel extreme learning machine algorithm; determining input characteristics and three-degree-of-freedom output response of the three-degree-of-freedom motion prediction model, and dividing the model into a training set and a verification set according to a proportion; performing preliminary training on the three-degree-of-freedom motion prediction model based on the training data set to obtain a preliminarily trained three-degree-of-freedom motion prediction model; testing the preliminarily trained three-degree-of-freedom motion prediction on the verification set, and iteratively searching a parameter position for reducing the fitting fitness of the three-degree-of-freedom motion model by adopting a grey wolf optimization algorithm to obtain a trained three-degree-of-freedom motion prediction model; and based on the trained three-degree-of-freedom motion prediction model, dynamic prediction of ship control motion is realized.

1. Name of the product in this design: Fragrance (Sailboat). 2. Purpose of this design: Fragrance for improving the air quality in vehicles or indoors. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The application discloses a kind of remote control sailboat main sail pole positioning adjusting mechanism and remote control sailboat, including being positioned in the positioning adjusting shell of mast near bottom, positioning adjusting shell is opened with first through slot that is penetrated up and down, transmission is provided with the rotating rod in first through slot, the top of rotating rod is hinged with main sail pole, the bottom of rotating rod is hinged with cable-stayed device, the end of cable-stayed device away from rotating rod is hinged main sail pole;Positioning adjusting shell is further provided with first positioning adjusting screw rod, one end of first positioning adjusting screw rod is located in long strip port, rotating rod can rotate and swing in first through slot, and the swing position of rotating rod can be limited by adjusting first positioning adjusting screw rod.Rotating rod can be automatically converted between inclined and vertical state under the guidance of first through slot, the tightness state of cable-stayed device is switched adaptively, without operator to adjust separately, completely solve the contradiction that the adjustment function of cable-stayed device exists different tightness requirements for cable-stayed device when wind and near wind.