46 results about "Ship waves" patented technology

The invention relates to a combined support and anchor cable combined underwater immersed tube tunnel and a construction method thereof, the combined support and anchor cable combined underwater immersed tube tunnel comprises a tunnel body which is formed by tube joints which are connected end to end in the length direction; the lower part of the pipe joint supporting mechanism extends into the seabed, the upper part of the pipe joint supporting mechanism extends out of the seabed, and the pipe joint is supported on the upper part of the pipe joint supporting mechanism; the device is characterized by further comprising a pipe joint anchoring mechanism used for controlling vibration and / or displacement of the tunnel body, and the pipe joint anchoring mechanism is arranged between the outer wall of the pipe joint and the seabed; the piles are distributed on the outward sides of the pipe joints forming the tunnel body at intervals, the lower ends of the piles penetrate into the seabed, the upper ends of the piles upwards stretch out of the seabed and are fixed to the pipe joints, and the resultant force of the tunnel body in the X direction, the Y direction and the Z direction is close to zero. The device has the advantages that vibration and / or displacement generated by the coupling effect of factors such as ocean waves, ocean currents, ship waves, storm surge and dynamic loads are effectively controlled so as to cope with the complex ocean environment; and the technical difficulty, the engineering cost and the comprehensive cost are reduced.

The invention discloses an intelligent early-warning and wave-absorbing system and method for navigation tunnel ship traveling waves, and belongs to the field of navigation tunnel wave absorbing.The intelligent early-warning and wave-absorbing method for navigation tunnel ship traveling waves comprises the steps that when a ship arrives at an entrance of a navigation tunnel, a lifting rotating assembly controls a wave-absorbing plate to rotate till the included angle between the wave-absorbing plate and the inner wall of the navigation tunnel is a preset angle; when a ship drives into the navigation tunnel, the wave height measuring assembly monitors the water level change in the navigation tunnel and the ship traveling wave height in real time and transmits monitoring data to the control terminal for processing, the control terminal judges the monitoring data and controls the early warning assembly to send out early warning information, and the lifting rotating assembly controls the wave absorbing plate to ascend and descend to absorb waves. And after the ship is driven out of the navigation tunnel, wave height monitoring is stopped, and the lifting rotating assembly drives the wave absorbing plate to ascend and descend to the initial position. According to the embodiment of the invention, the angle and height of the wave absorbing plate can be dynamically adjusted to adapt to complex wave changes in a tunnel, meanwhile, an early warning signal is sent out, and the navigation safety and efficiency of a ship are improved.

The invention discloses a ship control method and device in an inland river scene, electronic equipment and a storage medium, and can be applied to the technical field of intelligent navigation of ships. According to the method, the ship traveling wave energy distribution rule is calculated according to the first state information and the second state information which are acquired in real time, then the first following distance is determined, and then path planning is performed by combining the ship energy consumption, the ship traveling wave energy distribution rule, the safety margin and the total navigation time which are acquired in real time to obtain the first navigation path of the target ship; a first sailing control instruction of the target ship is predicted by adopting a nonlinear model control method so as to control the sailing process of the target ship in the inland river scene, and meanwhile, the sailing process of the target ship in the inland river scene is controlled by a second sailing control instruction generated by dynamically adjusting the first sailing path according to the channel environment change information. Therefore, the balance between the energy efficiency and the sailing efficiency can be realized in the whole sailing process of the target ship, and emergencies in the sailing process can be effectively coped with.

The invention discloses a ship comprehensive information database management system and method based on big data analysis, and the system comprises a marine environment sensing and ship state monitoring module which is used for collecting marine environment data and ship operation state data in real time; the ship wave influence characteristic modeling module is used for constructing a ship wave influence characteristic model; the ship navigation optimization target setting module is used for modeling a ship navigation oil consumption and energy saving problem into a nonlinear constraint optimization problem; the mayfly variants naiad optimization global path search module is used for determining a preliminary candidate ship optimal navigation path set in a dynamic search space; the water drop algorithm local path optimization module is used for obtaining a local optimal navigation path; and the ship global path optimization and navigation control module generates corresponding ship navigation control parameters. The optimal energy consumption area under different sea conditions can be predicted by combining the ship comprehensive information database, and path fine adjustment is performed according to the real-time position of the ship and the marine environment parameters.

The invention relates to the technical field of ship sea wave compensation, in particular to a closed-loop feedback control method and system for a ship wave compensation medical care platform, and the method comprises the following steps: obtaining a posture signal of a lower platform of the wave compensation medical care platform, constructing a data set, and constructing a posture prediction model of the lower platform; the processor is used for acquiring attitude predicted values at future moments; based on the data set and the lower platform pose prediction model, constructing a residual prediction model to obtain a residual prediction value of pose prediction; and constructing a kinematics model of the lower platform, determining an accurate attitude value through an attitude correction algorithm in combination with an attitude predicted value and a residual predicted value, solving a rotation angle of a servo motor by using a motion inverse solution algorithm, and further realizing closed-loop feedback control of the wave compensation medical care platform. The wave compensation medical care platform can be accurately controlled in a complex environment, the wave compensation effect on the wave compensation medical care platform is improved, and then the risk of offshore medical treatment is reduced.

The utility model discloses a ship wave breaking structure which comprises a wave breaking structure body, a fixing clamping groove is formed in the outer surface of the rear end of the wave breaking structure body, a welding piece is arranged on the inner wall of the fixing clamping groove, and a buffering protection structure is arranged on the outer surface of the front end of the wave breaking structure body. According to the ship wave breaking structure, by arranging the left ice breaking structure, the right ice breaking structure and the buffering protection structure, floating ice on the water surface can be broken, the resistance of a ship running in a severe cold water area is reduced, and the situation that the floating ice influences running of the ship in the severe cold water area is avoided; the front reinforcing blocks and the side reinforcing blocks can further reinforce the icebreaking surface structures of the icebreaking blades, the icebreaking efficiency of the left icebreaking structure and the right icebreaking structure is further improved, the resistance of the wave breaking structure body in water can be reduced, corrosion of seawater to the wave breaking structure body can be avoided, and the service life of the wave breaking structure body is prolonged. And the top buffer block can buffer collision on the front end of the wave breaking structure main body.

The utility model provides an unmanned cleaning ship. The unmanned cleaning ship comprises a ship body, a propeller, a garbage basket, a salvage assembly and a blocking net. The number of the ship bodies is two, the two ship bodies are arranged side by side and connected with each other, and a containing space is formed between the two ship bodies. The front end part of any ship body is tip-shaped; the propellers are connected with the tail ends of the two ship bodies; the garbage basket is located in the containing space and connected with the ship body. The front end of the salvage assembly is located on the bottom side of the ship body, and the tail end of the salvage assembly is located on the upper side of the garbage basket. The catamaran adopts the slender sheet body design, so that the viscous pressure difference resistance borne by the catamaran body in the sailing process can be reduced; the tip water breaking design is adopted at the head of the catamaran sheet body, so that wave-making resistance generated during sailing of the catamaran body can be reduced, ship waves are reduced, and the catamaran is more stable; as the wave-making resistance and the eddy resistance are reduced, the catamaran shows higher stability and efficiency during low-speed sailing, and long-time and continuous water surface garbage cleaning operation is facilitated.

The invention provides a slamming acceleration accurate measurement method for a low-speed water entry problem, and belongs to the technical field of ship wave load tests.The method comprises the steps that a piezoelectric acceleration sensor and a capacitive acceleration sensor are arranged at the center of a model to form a measurement system, and slamming acceleration signal measurement and data acquisition are conducted synchronously; collecting high-frequency acceleration data of the piezoelectric acceleration sensor; collecting low-frequency acceleration data of the capacitive acceleration sensor; and superposing and synthesizing the high-frequency acceleration data and the low-frequency acceleration data to obtain a synthesized slamming acceleration signal. According to the invention, the problems of static acceleration signal loss and zero drift of the piezoelectric acceleration sensor are solved through a numerical optimization mode of signal correction; compared with the independent measurement of a high-frequency response capacitive slamming acceleration sensor, the noise of the acceleration signals is reduced and the signal-to-noise ratio is improved while the accurate measurement of high-frequency and low-frequency acceleration signals is considered in the existing test scheme.

The present invention discloses a maximum a posteriori ship wave load reliability analysis method of an improved maximum entropy method, which belongs to the technical field of ship wave load response and reliability assessment, including obtaining a function function of a ship profile load response, and obtaining variables and their distribution information that affect the function function of the ship profile load response; initially extracting a small number of samples based on a Sobol sequence in a sampling space to form a training set, and obtaining function values ​​according to the training set; on the basis of the training set, using a Gaussian random process, a neural network and other proxy model methods to construct a proxy model. The present invention uses the maximum a posteriori and proxy model methods, uses the proxy model method to obtain the mapping relationship of the function function, and uses the mapping relationship as a priori information based on the maximum a posteriori framework, effectively alleviating the problem that the prediction accuracy of the traditional integer-order moment maximum entropy method is not high due to insufficient information, thereby reducing the amount of function function calculation and improving the calculation accuracy.

The present application relates to a kind of photovoltaic power generation integrated ship wave shield, regular rectangular deck opening is opened on top plate, and longitudinal and transverse beams are formed between each deck opening;Each deck opening is provided with a photovoltaic panel or transparent glass corresponding to each deck opening;The lower part of adjacent longitudinal is fixedly provided with multiple pairs of truss diagonal bracing, and the bottom end of each pair of truss diagonal bracing is connected to form a connection node, and multiple connection nodes are fixedly connected with truss horizontal bracing along the direction of beam, to form a group of truss diagonal bracing unit;Truss horizontal bracing is fixedly connected with lower wall at both ends;No column is arranged in the space below top plate.The present application can provide sufficient structural support for wave shield without setting support, while reducing the influence on deck equipment, without affecting the passage and operation of personnel.Integrated solar photovoltaic panel is installed on the top of closed wave shield, which can prevent sea waves from entering the ship body, fully utilize the space above wave shield, and use solar power generation to provide additional clean energy for ship.

The present invention discloses a ship comprehensive information database management system and method based on big data analysis. The system includes: a marine environment perception and ship status monitoring module for real-time collection of marine environmental data and ship operating status data; a ship wave impact characteristic modeling module for constructing a ship wave impact characteristic model; a ship navigation optimization target setting module for modeling the ship navigation fuel consumption and energy conservation problem as a nonlinear constrained optimization problem; a variant mayfly optimization global path search module for determining a preliminary set of candidate ship optimal navigation paths within a dynamic search space; a water drop algorithm local path optimization module for obtaining locally optimal navigation paths; and a ship global path optimization and navigation control module for generating corresponding ship navigation control parameters. By combining the ship comprehensive information database, the present invention can predict the optimal energy consumption area under different sea conditions and fine-tune the path based on the ship's real-time position and marine environmental parameters.

The present invention discloses a ship wave simulation method based on XBeach ship path cycle setting, comprising the following steps: using Delft3D in combination with engineering drawing interpolation to construct a water depth terrain grid in the experimental simulation area; setting ship parameters in the XBeach file; setting cyclic navigation path data parameters in the XBeach file; setting model running time, time step, sediment data and other model parameters in the XBeach file; using the XBeach model to perform long-term ship wave simulation calculations, outputting waterway scouring and silting simulation data, and obtaining ship wave scouring and silting simulation results. The present invention simulates the scouring of waterway revetments under the action of ship waves by setting the ship cycle path data in XBeach, thereby realizing the scouring simulation of revetments under the long-term action of ship waves, which is helpful to make quantitative calculation and analysis on the degree to which inland waterway revetments are affected by ship waves, and provides a theoretical basis for the design and maintenance of revetments.

The present invention discloses a method for determining the equivalent design wave of a ship's wave load under level 6 sea conditions, relating to the field of ship structural safety. The method comprises: treating the hull as a variable-section beam, and for a ship at a constant speed, calculating the wave load transfer function at the hull beam section under different wave conditions, wherein the wave conditions include different wave direction angles and different circular frequencies of the incident wave; based on the wave load transfer function at the hull beam section, calculating the short-term predicted extreme values ​​of the wave load under different wave direction angles and different zero-crossing periods within the significant wave height range of level 6 sea conditions; selecting a maximum value from all the short-term predicted extreme values ​​of the wave load, and determining the equivalent design wave parameters of the wave load under level 6 sea conditions based on the maximum value. The equivalent design wave is a sinusoidal regular wave, and its parameters include wave amplitude, circular frequency, and wave direction. By converting the study of the load on the hull under random waves into the study of the hull load under regular waves, this method is of great significance for subsequent research on hull load levels and structural safety.

The invention relates to an operation and maintenance ship wave compensation trestle simulation wind field lap joint test method. The lap joint test method comprises the following steps that a boarding ladder is selected to replace a wind field platform for lap joint of the wave compensation trestle; carrying out safety check and pre-debugging before the test; pulling the operation and maintenance ship to a test area, and positioning the ship at a position 10-25 meters away from the simulated wind pile; the trestle is lifted and rotated, the trestle swings to the direction perpendicular to the ship body, and lap joint is prepared; stretching out the trestle until the end part of the trestle is in contact with the boarding ladder, and automatically switching to a lapping state when the trestle is completely lapped; the lap joint condition is checked; and the mother ship is moved towards the bow, the stern, the left chord and the right chord, and the trestle is kept in lap joint with the boarding ladder. The method has the advantages that the trestle lap joint test is carried out at a company wharf, the boarding ladder tool is used for replacing a wind field platform, the operation and maintenance ship trestle lap joint test time and cost are shortened, the lap joint test cost is reduced, and it is guaranteed that follow-up projects can be smoothly delivered by optimizing the trestle lap joint test process.

The invention provides a polar forecastle ship wave-resisting and anti-freezing ventilation system which comprises an air inlet structure air duct and an air exhaust structure air duct, the air inlet end of the air inlet structure air duct is arranged on the side wall of one broadside of a ship, and the air outlet end of the air exhaust structure air duct is arranged on the side wall of the other broadside of the ship. A plurality of air inlet pipes are connected to the lower portion of the air inlet structure air channel, an air inlet fan is arranged on each air inlet pipe, a plurality of air exhaust pipes are connected to the lower portion of the air exhaust structure air channel, and an air exhaust fan is arranged on each air exhaust pipe. The sides, close to the broadside, of the air inlet structure air channel and the air outlet structure air channel are provided with wave-resisting and anti-freezing assemblies, and the air inlet air pipe and the air outlet air pipe are both located on the sides, away from the broadside, of the wave-resisting and anti-freezing assemblies. The wave-resisting and anti-freezing ventilation system for the polar forecastle ship can meet the sailing requirement in the polar region and under the extremely heavy storm sea condition, the wave-resisting and anti-freezing effects of the ventilation system on an external ventilation opening are remarkable, and the energy-saving design specific to the system is achieved.

The invention provides a design method of a straight hole type wave absorbing structure for an ecological revetment, and belongs to the technical field of ecological channel wave absorbing. The technical problems that in the prior art, bank slope vegetation is eroded by ship waves for a long time, riverway water quality is damaged, and the process of designing a wave absorbing structure is tedious are solved. According to the technical scheme, the method comprises the steps that S1, ship traveling wave elements are calculated; s2, calculating a transmission coefficient and a reflection coefficient; s3, calculating wave force; s4, determining a structure design environment, and establishing a relation; s5, carrying out stability checking calculation; s6, selecting vegetation; and S7, determining the overall design of the wave absorbing structure. The method has the beneficial effects that the building structure of the vertical wall body with the straight holes is arranged in front of the ecological revetment, the holes are formed in the wave absorbing structure, and the ship traveling wave elements are treated; the problems that bank slope vegetation is eroded, water circulation in front of and behind the wave absorbing structure is poor, and design is tedious are solved through the technical means that the size of the straight hole type wave absorbing structure is calculated through a theoretical formula.

A ship traveling wave energy dissipation device applicable to an ecological waterway, comprising: a fountain pillar vertically arranged in the coastal waters near the ornamental revetment; a wave dissipation mechanism installed at the top of the fountain pillar and near the water surface for wave dissipation treatment; and an automatic water replenishing fountain mechanism installed at the top of the fountain pillar, the automatic water replenishing fountain mechanism being used to convert wave energy to drive the fountain and perform automatic water replenishment. The present invention can not only reduce ship traveling waves and protect the ecological revetment, but also further utilize the wave energy of ship traveling waves to spray the fountain, and has high application value for improving the landscape on both sides of the ecological waterway.

The invention relates to a longitudinal heterogeneous ship formation-based drag reduction prediction model design method and a related device, and belongs to the technical field of ship engineering and fluid mechanics, and the method comprises the steps: setting longitudinal heterogeneous ship formation numerical simulation parameters in preset simulation software; designing numerical simulation scenes of different formation configurations by adopting a control variable method, determining ship resistance coefficients of longitudinal heterogeneous ship formations under each formation configuration, and analyzing action rules of bow flow field velocity and ship traveling waves on shear resistance and differential pressure resistance; based on the action rule, a mixed graph neural network prediction model is adopted to predict formation resistance of a to-be-formed ship group, and the mixed graph neural network prediction model comprises a collaborative architecture coded through a GATv2 dynamic attention mechanism and GINE geometric features. According to the method, the resistance reduction effect of the longitudinal heterogeneous ship formation can be predicted and optimized, and a scientific basis and an intelligent decision tool are provided for ship formation configuration.

This invention relates to an experimental apparatus and method for simulating ship motion under severe sea conditions, belonging to the field of ship wave load testing technology. It addresses the problem that existing severe sea condition wave load testing technologies are insufficient in simulating realistic waves under actual sea conditions, such as high wave heights, distorted waves, and breaking waves. The wave-generating system includes a wave-generating plate located at one end of a water tank and swinging along the length of the tank, and a driving component for driving the wave-generating plate's swing. The nonlinear wave generation system includes a wave-generating rod and several jet pipes. The wave-generating rod is arranged along the width of the water tank and slidably set along the height of the water tank via a height adjustment component. The jet pipes are all located at the bottom of the water tank. This invention enables the simulation of the water-air mixture flow field and accurate measurement of loads in distorted and nonlinear waves under severe sea conditions. It allows for a wide variety of experimental types and diverse functions, and can replace the expensive and costly towing tanks used for general ship models.

The embodiment of the application provides a shaft power generation fuel saving system in a ship power positioning mode, which is applied to the technical field of ship propulsion and control, and comprises: a data acquisition module, which acquires ship wave motion sensing data and generates a three-dimensional wave ship body atlas; a thrust loss prediction module, which predicts the instantaneous immersion depth of a propeller according to the atlas and calculates the instantaneous thrust loss amount in a future time window through a deep learning model; a coordinated control and execution module, which controls the dynamic switching of the shaft power generator between the power generation mode and the electric mode according to the comparison result of the thrust loss amount and a threshold value and sends an unloading signal before switching to the electric mode; and a power grid load management unit, which receives the unloading signal and short-term removes an interruptible load. The application realizes active prediction and dynamic compensation of thrust loss under wave disturbance, stabilizes the main engine speed, recovers energy, guarantees the stability of the power grid through load collaborative management, and improves the safety and economy of ship power positioning operation.

The application discloses a ship wave energy dissipation and wave dissipation arc plate floating structure design method and a period unit structure, belongs to the technical field of floating breakwater, and collects hydrological condition and ship running characteristic data of a water area to be sheltered, including navigation water level h, speed, ship wave height H, wavelength L and ship wave direction, constructs a period unit structure with triple wave dissipation and energy dissipation modules, connects multiple period unit structures to form an arc plate floating structure with a rhythm structure, makes waves have a phase difference in a propagation process, changes a wave propagation path by using wave interference, and dissipates wave energy. The arc plate floating structure has good wave dissipation and energy dissipation effects, the modular design of the period unit structure provides high flexibility, construction convenience and scalability, and the structure layout can be quickly adjusted according to actual needs. The arc plates are sequentially connected to form a rhythm structure, the structure is simple, and the appearance is beautiful. The use of the hollow plates can also reduce material consumption and cost.

The utility model provides a ship bridge frame wave compensation device and system and relates to the technical field of ship wave compensation, the device comprises a portal frame and wave compensation mechanisms, the portal frame and the wave compensation mechanisms are arranged above a ship body, and the two sets of wave compensation mechanisms are arranged on the two sides of the portal frame respectively. The two groups of wave compensation mechanisms are symmetrically arranged; the wave compensation mechanism comprises a wave compensation oil cylinder and winches, the wave compensation oil cylinder is arranged between the portal frame and the winches, and the winches are connected with the wave compensation oil cylinder, the portal frame and the bridge frame through steel cables, so that the technical problem of cooperation of multiple winches in cooperation in the prior art is solved; the technical effects that the control system is simplified, installation and maintenance are convenient, and cost is reduced are achieved.

The application discloses a wave load calculation network training method and a ship wave load calculation method. The method comprises the following steps: obtaining fluid simulation data formed after simulation of a ship in a pre-set water flow environment in computational fluid dynamics; loading a wave load calculation network; dividing the wave load calculation network into an encoder, a connector and a decoder; calling the encoder to calculate initial wave load of the ship in the water flow environment according to a multi-head self-attention mechanism and a multi-layer perception method under one-dimensional angle of the fluid simulation data; calling the connector to determine resolution features associated with the initial wave load; calling a decoding layer to calculate target wave load of the ship in the water flow environment according to the initial wave load and the resolution features; and using the multi-head self-attention mechanism and the multi-layer perception to enable the wave load calculation network to learn complex and implicit features of the fluid simulation data when calculating the wave load of the ship, thereby improving the stability of the wave load calculated by the wave load calculation network.

The invention discloses a method and a device for creating a viscous spawning site of fishes in a canal, computer equipment and a readable storage medium. The method comprises the following steps: acquiring key habitat parameters of a historical viscous spawning site of target fishes; dividing a to-be-built area into space units, and simulating habitat conditions of each unit by using a numerical model; based on the historical spawning data and the simulated habitat, identifying main environment driving factors influencing spawning; obtaining a suitability curve of each factor through a tolerance test; determining an influence distance by combining ship traveling waves; and constructing a spawning site suitability model, screening a potential building area, and determining an engineering scheme. According to the method, through multi-scale habitat simulation and driving factor coupling, precise site selection and bionic engineering design of a spawning site are achieved, scientific support is provided for canal fish breeding habitat restoration, and the breeding success rate of viscous egg fishes is increased.

The application discloses a high-speed ship wave-resisting stabilizing hydrodynamic force self-adaptive control method and an implementation device, and belongs to the field of high-speed ship wave-resisting stabilizing hydrodynamic force self-adaptive control. The application comprises a stabilizing device, a power driving device, a real-time monitoring module and a hydrodynamic force optimization control module. The stabilizing module comprises a vector water jet propeller for active stabilizing and an appendage for passive stabilizing. The vector water jet propeller is installed at the stern of the ship, can be actively adjusted in multi-angle rotation to form a control surface. The appendage is installed on both sides of the ship body and connected with the ship body through two mutually parallel electric connecting rods. The bottom of the electric connecting rod is connected with the ship body through a multi-angle rotating base. The crank is electrically driven by the hydrodynamic force optimization control module and moves in different directions to drive the connecting rod and the appendage to move horizontally and longitudinally. The sensor and the gyroscope installed on the ship body can obtain the ship body posture, the appendage position and the sea state information in real time. The monitoring data is brought into the hydrodynamic force optimization control system to obtain the optimal solution of the appendage position, and the high-speed ship wave-resisting stabilizing hydrodynamic force self-adaptive control is realized according to the optimal solution of the appendage position.

The invention discloses a method and a system for calculating the maximum wave height of ship traveling waves at the closed end of a ship lift chamber with a middle channel. The method comprises the following steps: determining a navigation path of a ship driving out of a first-stage ship lift chamber and driving into a second-stage ship chamber through the middle channel; acquiring ship parameters and an intermediate channel scale; the maximum navigational speed V of the ship in the channel is determined, and the Froude number is calculated; and substituting the parameters into a dimensionless regression model, and directly calculating the maximum wave height of the closed end of the ship chamber. According to the method, the influence of closed end reflection, fluctuation superposition, channel section coefficient and ship scale coupling is comprehensively considered for the first time, the defects that an existing empirical formula is only suitable for an open water area and neglects the closed boundary effect are overcome, the prediction precision of the maximum wave height of the ship traveling wave of the middle channel of the combined ship lift is remarkably improved, and the prediction accuracy is improved. And a reliable basis is provided for safe operation and channel optimization design of the multi-stage ship lift.

The present invention discloses an ecological waterway revetment and wave-breaking device and its assembly method, belonging to the technical field of inland river slope protection engineering. The device comprises a support mechanism and a grating mechanism, the support mechanism comprising upright posts, a center beam, a top beam, and a bottom plate. One end of the upright post is embedded in a cup-shaped foundation on the bottom plate, and the other end is provided with a first mortise and tenon groove. The two ends of the center beam are placed on the corbels of the upright posts, forming a water-permeable hole with the bottom plate. The first tenons at the two ends of the top beam extend into the first mortise and tenon grooves, connecting to the upright posts. Adjacent bottom plates are connected to each other via second tenons and second mortise and tenon grooves. The grating mechanism comprises grating bars arranged parallel to each other between the center beam and the top beam. One end of the grating bar extends into a groove provided in the center beam, and the other end is connected to the top beam via a detachable assembly. The device can achieve water circulation between the riverside and the landside while reducing the energy of ship waves.

The invention discloses an unmanned ship wave energy collecting device based on a nonlinear inerter and an X structure. The unmanned ship wave energy collecting device comprises a ship body, an X-structure energy collector and a vibration platform, and the ship body plays a supporting role; the vibration platform is arranged on the ship body through the X-structure energy collector; when the ship body encounters waves in water, the ship body and the vibration platform generate relative displacement through the X-structure energy collector, and energy collection is achieved. The design that the X structure and the nonlinear inerter are combined is adopted, the characteristics of the nonlinear inerter are utilized, the ultra-high system equivalent mass can be achieved only through the extremely small additional mass, low dynamic and high static can be achieved under the ultra-low system frequency, in other words, ultra-low frequency wave energy collection is achieved through low dynamic rigidity, and the high bearing capacity is achieved through high static rigidity. In addition, due to the design of the X structure, the device is more compact, a certain damping effect can be achieved through cooperation of the X structure and the springs, and the stability of the unmanned ship under different weather conditions is improved.

The invention discloses a navigation ship motion parameter extraction method based on wave height time sequence data. Two measuring points are arranged on the same side of a ship navigation main channel by adopting a wave height sensor; the method comprises the following steps: acquiring ship traveling wave time-wave height data in a channel by using double measuring points, and constructing a basic signal set; performing frequency spectrum domain conversion and purification processing on the basic signal set by combining short-time Fourier transform with noise threshold filtering to obtain an effective wave system frequency spectrum matrix; angular frequencies of two measuring points are extracted by adopting a dynamic window peak value detection method in combination with linear fitting aiming at transverse waves, and slopes of the two measuring points are extracted by frequency spectrum matrix binaryzation and improved Hough transform aiming at scattered waves; the ship navigational speed is inverted based on the angular frequency, the vertical distance between the ship and the measuring point is deduced in combination with the scattered wave slope, the navigational direction angle is deduced according to double-measuring-point geometric analysis, the navigational speed, the ship position and the course angle parameters are output, and navigational ship dynamic monitoring without active signal dependence is achieved. According to the invention, high-precision and high-reliability ship dynamic monitoring in a complex scene is realized.