268 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.

A sailboat race tracking system includes a race computer and a sailboat computing device authenticated to the race computer. The sailboat computing device transmits position data as a function of time to the race computer. An event organizer computing device sets a race start time and transmits the race start time to the race computer. The race computer receives the position data as a function of time from multiple sailboat computing devices and syncs it according to the race start time. The race computer transmits the time-synced position data of the sailboat computing devices to the sailboat computing devices and spectator computing devices for display.

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.

The invention discloses a trapezoidal sail multi-target size optimization method based on an NSGA-II algorithm, and relates to the technical field of unmanned sailboats. According to the method, the aspect ratio, the taper ratio and the camber ratio are selected as design parameters of the trapezoidal sail, after multiple sets of design parameters are sampled and obtained within the value range of the design parameters based on a Latin hypercube sampling method, a trapezoidal sail model is constructed by utilizing fluid simulation analysis software for each set of design parameters, and the trapezoidal sail model is obtained. Performance evaluation parameters corresponding to each group of design parameters are obtained through simulation, a database is constructed, the database is utilized to train a Kriging agent model for replacement, multiple groups of trapezoidal sail design parameters to be preferentially selected are selected, and multi-target size optimization is performed on the trapezoidal sail design parameters based on an NSGA-II algorithm and the trained Kriging agent model. And determining optimal trapezoidal sail design parameters and verifying the accuracy of the optimal trapezoidal sail design parameters. According to the method, trapezoidal sail design parameters and performance evaluation parameters are combined, and a basis is provided for optimization of a sail design scheme by using an NSGA-II method and a Kriging agent model.

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 an unmanned sailboat real-time wind field reconstruction method and system, and belongs to the field of unmanned sailboat navigation and environmental awareness, the system comprises a shipborne weather station sampling module, a wind field modeling module and a data fusion and estimation module, the shipborne weather station sampling module carries out real-time collection of wind field data along with an unmanned sailboat; a space-time dynamic change model of a wind field is constructed through a wind field modeling module, finally, the state of the wind field at the next moment is predicted through a data fusion and estimation module, prediction errors are corrected in combination with wind field data collected by a shipborne weather station in real time, and measurement updating is completed. According to the method, the shipborne weather station is introduced to serve as wind field data acquisition core equipment, prediction data and real-time acquired data are fused in combination with the wind field modeling module, the method has remarkable advantages in the aspects of reconstruction precision, real-time performance and path planning efficiency, and important technical support can be provided for wide application of the unmanned sailboat in the marine environment.

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.

The invention discloses a deep learning-based multi-scale feature fusion marine target identification method, which comprises the following steps of: acquiring picture and video data of various marine targets of a marine ship, and acquiring and generating a marine target detection data set, ocean targets are divided into 10 types of yachts, warships, passenger ships, cargo ships, sailboats, tugboats, kayaks, navigation marks, lighthouses, fishing boats and the like, a multi-scale feature fusion module is added in a deep learning network for the problem that the detection precision of a self-built ocean target data set is insufficient, and the detection precision is improved by fusing multi-layer features and injecting global information into a higher layer. An improved deep learning network model used for sea target identification is constructed, the method has the characteristic of having a good detection effect on small sea targets, multiple targets and overlapped targets, the model can be deployed in navigation cameras of ships after iteration training is finished, a monitoring system is established in a matched mode, and the detection accuracy is improved. And various targets on the sea can be monitored in real time.

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.

An actuation system (10) for actuating actuators in a sailboat (100) comprises, on board the sailboat (100): one or more driving elements (12), operable by crew operators; one or more actuators (20), configured to be driven by the driving elements (12), wherein the driving elements (12) are provided with a respective primary electric motor (16) and the actuators (20) are provided with a respective secondary electric motor (24). The system is further provided with an electrical circuit (18) configured to electrically couple the primary (16) and secondary (24) electric motors, the primary electric motor (16) being configured to transform a driving motion of the respective driving element (12) into electric energy in the electrical circuit (18); and the secondary electric motor (24) being configured to transform electric energy in the electrical circuit (18) into an actuating motion of the respective actuator (20). The actuation system can also be associated with energy recovery functions.

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.

1. The name of the product of this design: assembled handicraft (sailboat). 2. Purpose of this design product: This design product is used for assembling handicrafts. 3. The design highlights of this design product lie in the shape and pattern of the product and the layout of each component in the assembly state diagram. 4. The picture or photo that best illustrates the key points of the design: main view of the combined state 1. 5. The back of the product with this appearance design is a part that is not easy to see or cannot be seen when in use, and the rear view of each component is omitted; this product with this appearance design is a thin product, and other views of each component are omitted.

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.

Objects of the present invention are provide an evaluation method of ship propulsive performance in actual seas, an evaluation program of ship propulsive performance in actual seas and an evaluation system of ship propulsive performance in actual seas capable of precisely evaluating ship propulsive performance in actual seas on the same scale also before the ship sails for example. As solving means of the objects, a standard sailing model 2 of the ship in actual seas is set, a sailing condition of the ship and a ship condition of the ship are input to the standard sailing model 2, the standard sailing model 2 into which the sailing condition and the ship condition are input and the ship condition are applied to a previously verified calculating method 1 of ship performance in actual seas, and ship propulsive performance in actual seas is evaluated.

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.

The invention, which relates to the technical field of sailboat automatic sail operation driving, discloses a sailboat automatic sail operation driving system comprising a data acquisition module, a data analysis module, an intelligent control module and an execution control module. For sailing boats mainly powered by sails, only autorudders with locked course sail along a preset course all the time at present, and the problems that the course cannot be changed autonomously, the direction cannot be changed, the sailing speed cannot be controlled, the course cannot be predicted and the arrival time cannot be calculated under the condition of no human intervention are solved. The data analysis module and the intelligent control module are used for analyzing and generating instructions and signals, and the sailboat is controlled to automatically drive; the sailing performance is improved to the maximum extent and the time consumption is reduced to the maximum extent in different environments, the optimal sailing state can be kept under different wind conditions, and the sailing safety and comfort are improved; the controllability of the sailing boat is improved, human intervention is reduced, the sailing boat can sail efficiently and stably, and it is ensured that the expected sailing target is achieved.

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.