CN112660332B - Intelligent control system for ship and ship body control method - Google Patents
Intelligent control system for ship and ship body control method Download PDFInfo
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Abstract
The invention relates to an intelligent control system for a ship and a ship body control method, wherein the intelligent control system for the ship comprises a front propeller and a rear propeller, and is characterized in that: the device also comprises a course sensing module, wherein the front propeller comprises a first CAN bus transceiving unit, a first control unit, a first GPS module, a first nine-axis sensor, a front steering motor driving circuit, a front propulsion motor and a front propulsion motor driving circuit; the course sensing module comprises a third CAN bus transceiving unit, a fourth control unit, a second GPS module and a second nine-axis sensor; the rear propeller comprises a fourth CAN bus transceiving unit, a fifth control unit, a rear steering motor driving circuit, a rear propelling motor and a rear propelling motor driving circuit, wherein the CAN bus transceiving units are connected through CAN buses. Compared with the prior art, the intelligent control system has the advantages that the front propeller and the rear propeller are connected through the CAN bus, and the course sensing module is used as an auxiliary device, so that the intelligent control function of the ship is realized.
Description
Technical Field
The invention relates to an intelligent control system for ships.
Background
At present, most of thrusters used by vessels of the type such as the road ship and the like comprise a front thruster and a rear thruster, the front thruster and the rear thruster are not communicated with each other and belong to two independent individuals, the rear thruster is not associated with the front thruster, and the rear thruster can only be controlled by using a matched control lever and a steering wheel. When the front propeller uses the intelligent control function, the rear propeller is in an idle state and can not automatically provide auxiliary power for the ship.
When leading propeller uses intelligence control functions such as electron anchor, because of all kinds of sensors install in leading propeller, can only obtain the data of leading propeller position, can only be fixed in near the target of settlement with the bow position at this moment, and can only let the bow keep on the airline, the unable hull direction of confirming, and the unable rearmounted propeller of control to adjustment hull angle. In the in-service use process, the hull often can receive external influences such as wind direction, rivers, inertia to appear the hull swing phenomenon, and the sense of experience is relatively poor in actual operation, especially under the condition that the wind direction is changeable, the regimen is complicated and automatic the transport bay.
To fishing enthusiasts, when they wish that the electron fix a point is cast, the hull is wholly fixed, and when only the bow position is fixed, the requirement on the environment is higher, and only can satisfy the use when the calm, the stern swing can influence the fishing impression under other circumstances.
Disclosure of Invention
The invention aims to solve the primary technical problem of providing a ship intelligent control system which can control the position of a bow and can control the whole ship body in view of the prior art.
The invention further aims to solve the technical problem of providing a ship body control method of the ship intelligent control system, wherein the control method can not only control the position of a ship bow, but also can control the whole ship body.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a ship intelligence accuse system, is including setting up the leading propeller at the hull front side, sets up the rearmounted propeller at the hull rear side, its characterized in that: the device also comprises a course sensing module arranged at the rear side of the ship body, wherein
The front thruster includes: the system comprises a first CAN bus transceiving unit, a first control unit, a first GPS module, a first nine-axis sensor, a front steering motor driving circuit, a front propulsion motor and a front propulsion motor driving circuit, wherein the first GPS module, the first nine-axis sensor, the front steering motor driving circuit and the front propulsion motor driving circuit are all in communication connection with the first control unit; the first CAN bus transceiving unit is also in communication connection with the first control unit; the front steering motor is connected with a front steering motor driving circuit, and the front propelling motor is connected with a front propelling motor driving circuit;
the course sensing module comprises: the system comprises a third CAN bus transceiving unit, a fourth control unit, a second GPS module and a second nine-axis sensor, wherein the second GPS module and the second nine-axis sensor are in communication connection with the fourth control unit;
the rear thruster includes: the system comprises a fourth CAN bus transceiving unit, a fifth control unit, a rear steering motor driving circuit, a rear propulsion motor and a rear propulsion motor driving circuit, wherein the rear steering motor driving circuit and the rear propulsion motor driving circuit are in communication connection with the fifth control unit; the fourth CAN bus transceiving unit is also in communication connection with the fifth control unit; the rear steering motor is connected with a rear steering motor driving circuit, and the rear propulsion motor is connected with a rear propulsion motor driving circuit;
the first CAN bus transceiving unit is connected with the third CAN bus transceiving unit through a CAN bus, and the fourth CAN bus transceiving unit is connected with the third CAN bus transceiving unit through a CAN bus.
As an improvement, the rear propeller further comprises a steering angle detection mechanism, and the steering angle detection mechanism is in communication connection with the fifth control unit.
In a further improvement, the invention further comprises an operation rod assembly, a steering wheel assembly and a display screen assembly which are in communication connection with the fifth control unit.
And the preposed propeller further comprises a second CAN bus transceiving unit and a second control unit, wherein the preposed steering motor driving circuit and the preposed propelling motor driving circuit are in communication connection with the second control unit, the second control unit is in communication connection with the second CAN bus transceiving unit, the second CAN bus transceiving unit is in communication connection with the first CAN bus transceiving unit, and the preposed steering motor driving circuit, the preposed propelling motor driving circuit and the first control unit are in data forwarding communication through the second control unit, the second CAN bus transceiving unit and the first CAN bus transceiving unit.
And the foot controller component is connected with the second CAN bus transceiving unit, and data forwarding communication is carried out between the foot controller component and the first control unit through the second CAN bus transceiving unit and the first CAN bus transceiving unit.
Improve again, leading propeller still includes the first 2.4G transceiver module who is connected with first the control unit, ship intelligence control system still includes the remote controller, and this remote controller includes second 2.4G transceiver module, third the control unit, remote control button module and remote control display module and third the control unit communication connection, and second 2.4G transceiver module also with third the control unit communication connection, first 2.4G transceiver module and second 2.4G transceiver module communication connection.
The technical scheme adopted by the invention for solving the further technical problems is as follows: a ship body control method of a ship intelligent control system with the structure is characterized in that: the first control unit receives data of the first GPS module, and the data of the first GPS module is used as the current position coordinate of the ship body; the first control unit receives data of a first nine-axis sensor and a second nine-axis sensor in the course sensing module to obtain an included angle between the ship body and the geomagnetic field; the first control unit outputs control signals for the preposed steering motor driving circuit, the preposed propelling motor driving circuit, the postpositive steering motor driving circuit and the postpositive propelling motor driving circuit by comparing the current position coordinate of the ship body with the coordinate of the set position and combining the obtained included angle between the ship body and the terrestrial magnetism so as to control the preposed steering motor, the preposed propelling motor, the postpositive steering motor and the postpositive propelling motor, further control the overall posture of the ship body and keep the overall posture of the ship body stable.
When the front-mounted propeller is in a storage state and exits the system, the fifth control unit acquires data of a second GPS module in the course sensing module, and takes the data of the second GPS module as the current position coordinate of the ship body; and the fifth control unit acquires the information of a second nine-axis sensor in the course sensing module, acquires the navigational speed information of the ship body, and outputs control signals to the rear steering motor driving circuit and the rear propulsion motor driving circuit so as to control the rear steering motor and the rear propulsion motor and further control the running attitude of the ship body.
If the distance between the current position coordinate of the ship body and the coordinate of the set position is more than or equal to 10 meters, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor, so that the steering angle of the front steering motor is the same as the set whole navigation direction, and simultaneously outputs a control signal to the front propulsion motor driving circuit to control the front propulsion motor to start and operate at full power; meanwhile, the first control unit outputs a control signal to the rear steering motor driving circuit to control the rear steering motor, so that the steering angle of the rear steering motor and the keel of the ship body are kept in a same line, and simultaneously outputs a control signal to the rear propulsion motor driving circuit to control the rear propulsion motor to start and operate at a first preset auxiliary power.
If the distance between the current position coordinate of the ship body and the coordinate of the set position is less than 10 meters, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor, so that the steering angle of the front steering motor is the same as the direction of the set position, and simultaneously outputs a control signal to the front propulsion motor driving circuit to control the front propulsion motor to start and operate with second preset auxiliary power; meanwhile, the first control unit outputs a control signal to the rear steering motor driving circuit to control the rear steering motor so that an included angle between the hull and the terrestrial magnetism is close to a set angle value, and outputs a control signal to the rear propulsion motor driving circuit to control the rear propulsion motor to start and operate at a third preset auxiliary power.
If the current position coordinate of the ship body reaches the coordinate of the set position, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor so that the steering angle of the front steering motor always points to the set position direction, and simultaneously outputs a control signal to the rear steering motor driving circuit so as to control the rear steering motor so that the included angle between the ship body and the terrestrial magnetism always points to the set angle value; simultaneously controlling the front propulsion motor and the rear propulsion motor to stop working; when the current position coordinate of the ship body deviates 1.5 meters from the coordinate of the set position or the included angle between the ship body and the terrestrial magnetism exceeds 20 degrees, the first control unit outputs a control signal to the front propulsion motor driving circuit or the rear propulsion motor driving circuit to control the front propulsion motor or the rear propulsion motor to start and operate with fourth preset auxiliary power, so that the position of the ship body is slowly restored to the coordinate of the set position.
Compared with the prior art, the invention has the advantages that: the front propeller and the rear propeller are connected through the CAN bus, real-time transmission of states of the front propeller and the rear propeller is achieved, the intelligent control function of the ship is achieved by being assisted with a course sensing module installed at the rear portion of the ship, the ship CAN not only control the position of the ship head, but also control the whole ship body when the intelligent functions are achieved, and experience of ship operation control is improved.
Drawings
Fig. 1 is a block diagram of a ship intelligent control system in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The intelligent control system of the ship as shown in figure 1 comprises a front propeller arranged at the front side of the ship body, a rear propeller arranged at the rear side of the ship body and a course sensing module arranged at the rear side of the ship body, wherein the course sensing module is arranged at the rear side of the ship body
The front thruster includes: the device comprises a first CAN bus transceiving unit, a second CAN bus transceiving unit, a first control unit, a second control unit, a first 2.4G transceiving module, a first GPS module, a first nine-axis sensor, a front steering motor driving circuit, a front propulsion motor driving circuit and a ship body key module, wherein the first GPS module, the first nine-axis sensor and the first 2.4G transceiving module are all in communication connection with the first control unit; the first CAN bus transceiving unit is also in communication connection with the first control unit; the second CAN bus transceiving unit is in communication connection with the first CAN bus transceiving unit; the second control unit is in communication connection with the second CAN bus transceiving unit, and the ship body key module, the preposed steering motor driving circuit and the preposed propulsion motor driving circuit are in communication connection with the second control unit; the front steering motor is connected with a front steering motor driving circuit, and the front propelling motor is connected with a front propelling motor driving circuit; the front steering motor driving circuit, the front propulsion motor driving circuit and the first control unit carry out data forwarding communication through the second control unit, the second CAN bus receiving and transmitting unit and the first CAN bus receiving and transmitting unit;
the foot controller component is connected with the second CAN bus transceiving unit, and data forwarding communication is carried out between the foot controller component and the first control unit through the second CAN bus transceiving unit and the first CAN bus transceiving unit;
the course sensing module comprises: the system comprises a third CAN bus transceiving unit, a fourth control unit, a second GPS module and a second nine-axis sensor, wherein the second GPS module and the second nine-axis sensor are in communication connection with the fourth control unit;
the rear thruster includes: the system comprises a fourth CAN bus transceiving unit, a fifth control unit, a rear steering motor driving circuit, a steering angle detection mechanism, a rear propulsion motor and a rear propulsion motor driving circuit, wherein the rear steering motor driving circuit, the steering angle detection mechanism and the rear propulsion motor driving circuit are in communication connection with the fifth control unit; the fourth CAN bus transceiving unit is also in communication connection with the fifth control unit; the rear steering motor is connected with a rear steering motor driving circuit, and the rear propulsion motor is connected with a rear propulsion motor driving circuit; the fourth CAN bus transceiving unit is connected with the third CAN bus transceiving unit through a CAN bus;
the operating rod assembly, the steering wheel assembly and the display screen assembly are in communication connection with the fifth control unit;
the remote controller comprises a second 2.4G transceiver module, a third control unit, a remote control key module and a remote control display module, wherein the remote control key module and the remote control display module are in communication connection with the third control unit, the second 2.4G transceiver module is also in communication connection with the third control unit, and the first 2.4G transceiver module is in communication connection with the second 2.4G transceiver module.
When the ship intelligent control system controls the ship body, the first control unit receives data of the first GPS module, and the data of the first GPS module is used as the current position coordinate of the ship body; the first control unit receives data of a first nine-axis sensor and a second nine-axis sensor in the course sensing module to obtain an included angle between the ship body and the geomagnetic field; the first control unit outputs control signals for the preposed steering motor driving circuit, the preposed propelling motor driving circuit, the postpositive steering motor driving circuit and the postpositive propelling motor driving circuit by comparing the current position coordinate of the ship body with the coordinate of the set position and combining the obtained included angle between the ship body and the terrestrial magnetism so as to control the preposed steering motor, the preposed propelling motor, the postpositive steering motor and the postpositive propelling motor, further control the overall posture of the ship body and keep the overall posture of the ship body stable.
Because the acceleration sensor, the geomagnetic angle sensor and the gyroscope sensor are integrated in the two nine-axis sensors, the first control unit can obtain the included angle between the ship body and the geomagnetic field according to the data of the first nine-axis sensor and the second nine-axis sensor, and the calculation method adopts the conventional method in the prior art such as EKF.
When the ship body sails, a user can start an intelligent control function by using a function key on a remote controller and wirelessly transmits the intelligent control function to the front-mounted propeller through 2.4G, a first control unit in the front-mounted propeller starts intelligent functions, and when the intelligent functions are realized, if the distance between the current position coordinate of the ship body and the coordinate of a set position is more than or equal to 10 m, the first control unit outputs a control signal to a driving circuit of the front-mounted steering motor so as to control the front-mounted steering motor, so that the steering angle of the front-mounted steering motor is the same as the set whole sailing direction, and simultaneously outputs a control signal to the driving circuit of the front-mounted propulsion motor so as to control the front-mounted propulsion motor to start and operate at full power; meanwhile, the first control unit outputs a control signal to the rear steering motor driving circuit to control the rear steering motor, so that the steering angle of the rear steering motor and the keel of the ship body are kept in a same line, and simultaneously outputs a control signal to the rear propulsion motor driving circuit to control the rear propulsion motor to start and operate at a first preset auxiliary power. The control method is suitable for the intelligent function of automatic navigation, and the rear propeller can also provide certain auxiliary power, so that the ship can run at a faster straight line speed, and the condition that the sailing ship is inclined due to the influence of lateral force (wind and water flow) when sailing is carried out by single front thrust in the prior art can be eliminated, and the control method is more favorable for running in a narrow channel. When the ship turns, the steering angle of the rear steering motor keeps the same line with the keel of the ship body, so that more smooth curve running can be completed, and the navigation quality is improved.
If the distance between the current position coordinate of the ship body and the coordinate of the set position is less than 10 meters, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor, so that the steering angle of the front steering motor is the same as the direction of the set position, and simultaneously outputs a control signal to the front propulsion motor driving circuit to control the front propulsion motor to start and operate with second preset auxiliary power; meanwhile, the first control unit outputs a control signal to the rear steering motor driving circuit to control the rear steering motor so that an included angle between the hull and the terrestrial magnetism is close to a set angle value, and outputs a control signal to the rear propulsion motor driving circuit to control the rear propulsion motor to start and operate at a third preset auxiliary power. The control method is applicable to the intelligent function of fixed-point anchoring, and can promote fixed-point anchoring into fixed-point directional anchoring because the rear propeller can also provide certain auxiliary power, so that the positioning and orientation of the ship can be ensured because the intelligent system calculates the ship attitude (the ship attitude is determined by two parameters of the current position coordinate of the ship and the included angle between the ship body and the terrestrial magnetism), and the front propulsion motor and the rear propulsion motor are respectively provided with second preset auxiliary power and third preset auxiliary power for operation. Is not influenced by the water flow direction and the wind direction.
If the current position coordinate of the ship body reaches the coordinate of the set position, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor so that the steering angle of the front steering motor always points to the set position direction, and simultaneously outputs a control signal to the rear steering motor driving circuit so as to control the rear steering motor so that the included angle between the ship body and the terrestrial magnetism always points to the set angle value; simultaneously controlling the front propulsion motor and the rear propulsion motor to stop working; when the current position coordinate of the ship body deviates 1.5 meters from the coordinate of the set position or the included angle between the ship body and the terrestrial magnetism exceeds 20 degrees, the first control unit outputs a control signal to the front propulsion motor driving circuit or the rear propulsion motor driving circuit to control the front propulsion motor or the rear propulsion motor to start and operate with fourth preset auxiliary power, so that the position of the ship body is slowly restored to the coordinate of the set position. The control method is applicable to the intelligent function of anchor point directional drift, and a user can use the keys of the remote controller to move a directional ship according to the current fixed-point anchoring position, so that the ship can stably move in the operation process.
When the front-mounted propeller is in a storage state and exits the system, the fifth control unit acquires data of a second GPS module in the course sensing module, and the data of the second GPS module is used as a current position coordinate of the ship body; and the fifth control unit acquires the information of a second nine-axis sensor in the course sensing module, acquires the navigational speed information of the ship body, and outputs control signals to the rear steering motor driving circuit and the rear propulsion motor driving circuit so as to control the rear steering motor and the rear propulsion motor and further control the running attitude of the ship body.
Claims (8)
1. The utility model provides a hull control method of ship intelligence control system, wherein ship intelligence control system, including the leading propeller of setting in hull front side, sets up the trailing propeller at the hull rear side, its characterized in that: the intelligent control system of the ship further comprises a course sensing module arranged on the rear side of the ship body, wherein the course sensing module is arranged on the rear side of the ship body
The front thruster includes: the system comprises a first CAN bus transceiving unit, a first control unit, a first GPS module, a first nine-axis sensor, a front steering motor driving circuit, a front propulsion motor and a front propulsion motor driving circuit, wherein the first GPS module, the first nine-axis sensor, the front steering motor driving circuit and the front propulsion motor driving circuit are all in communication connection with the first control unit; the first CAN bus transceiving unit is also in communication connection with the first control unit; the front steering motor is connected with a front steering motor driving circuit, and the front propelling motor is connected with a front propelling motor driving circuit;
the course sensing module comprises: the system comprises a third CAN bus transceiving unit, a fourth control unit, a second GPS module and a second nine-axis sensor, wherein the second GPS module and the second nine-axis sensor are in communication connection with the fourth control unit;
the rear thruster includes: the system comprises a fourth CAN bus transceiving unit, a fifth control unit, a rear steering motor driving circuit, a rear propulsion motor and a rear propulsion motor driving circuit, wherein the rear steering motor driving circuit and the rear propulsion motor driving circuit are in communication connection with the fifth control unit; the fourth CAN bus transceiving unit is also in communication connection with the fifth control unit; the rear steering motor is connected with a rear steering motor driving circuit, and the rear propulsion motor is connected with a rear propulsion motor driving circuit;
the first CAN bus transceiving unit is connected with the third CAN bus transceiving unit through a CAN bus, and the fourth CAN bus transceiving unit is connected with the third CAN bus transceiving unit through a CAN bus;
the first control unit receives data of the first GPS module, and the data of the first GPS module is used as the current position coordinate of the ship body; the first control unit receives data of a first nine-axis sensor and data of a second nine-axis sensor in the course sensing module, and obtains an included angle between the ship body and the geomagnetism; the first control unit outputs control signals to the front steering motor driving circuit, the front propulsion motor driving circuit, the rear steering motor driving circuit and the rear propulsion motor driving circuit by comparing the current position coordinate of the ship body with the coordinate of the set position and combining the obtained included angle between the ship body and the terrestrial magnetism so as to control the front steering motor, the front propulsion motor, the rear steering motor and the rear propulsion motor and further control the overall attitude of the ship body, so that the overall attitude of the ship body is kept stable;
if the current position coordinate of the ship body reaches the coordinate of the set position, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor so that the steering angle of the front steering motor always points to the set position direction, and simultaneously outputs a control signal to the rear steering motor driving circuit so as to control the rear steering motor so that the included angle between the ship body and the terrestrial magnetism always points to the set angle value; simultaneously controlling the front propulsion motor and the rear propulsion motor to stop working; when the current position coordinate of the ship body deviates 1.5 meters from the coordinate of the set position or the included angle between the ship body and the terrestrial magnetism exceeds 20 degrees, the first control unit outputs a control signal to the front propulsion motor driving circuit or the rear propulsion motor driving circuit to control the front propulsion motor or the rear propulsion motor to start and operate with fourth preset auxiliary power, so that the position of the ship body is slowly restored to the coordinate of the set position.
2. The hull control method of a smart ship control system according to claim 1, wherein: the rear propeller also comprises a steering angle detection mechanism which is in communication connection with the fifth control unit; the intelligent control system for the ship further comprises an operating rod assembly, a steering wheel assembly and a display screen assembly which are in communication connection with the fifth control unit.
3. The hull control method of a smart ship control system according to claim 1, wherein: the front propeller further comprises a second CAN bus transceiving unit and a second control unit, wherein the front steering motor driving circuit and the front propulsion motor driving circuit are in communication connection with the second control unit, the second control unit is in communication connection with the second CAN bus transceiving unit, the second CAN bus transceiving unit is in communication connection with the first CAN bus transceiving unit, and data forwarding communication is carried out between the front steering motor driving circuit and the front propulsion motor driving circuit as well as between the front steering motor driving circuit and the first control unit through the second control unit, the second CAN bus transceiving unit and the first CAN bus transceiving unit.
4. The hull control method of a smart ship control system according to claim 3, wherein: the foot controller component is connected with the second CAN bus receiving and transmitting unit, and data forwarding communication is carried out between the foot controller component and the first control unit through the second CAN bus receiving and transmitting unit and the first CAN bus receiving and transmitting unit.
5. The hull control method of a smart ship control system according to any one of claims 1 to 4, wherein: leading propeller still includes the first 2.4G transceiver module who is connected with first the control unit, ship intelligence control system still includes the remote controller, and this remote controller includes second 2.4G transceiver module, third the control unit, remote control button module and remote control display module and third the control unit communication connection, second 2.4G transceiver module also with third the control unit communication connection, first 2.4G transceiver module and second 2.4G transceiver module communication connection.
6. The hull control method according to claim 1, characterized in that: when the front-mounted propeller is in a storage state and exits the system, the fifth control unit acquires data of a second GPS module in the course sensing module, and takes the data of the second GPS module as the current position coordinate of the ship body; and the fifth control unit acquires the information of a second nine-axis sensor in the course sensing module, acquires the navigational speed information of the ship body, and outputs control signals to the rear steering motor driving circuit and the rear propulsion motor driving circuit so as to control the rear steering motor and the rear propulsion motor and further control the running attitude of the ship body.
7. The hull control method according to claim 1, characterized in that: if the distance between the current position coordinate of the ship body and the coordinate of the set position is more than or equal to 10 meters, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor, so that the steering angle of the front steering motor is the same as the set whole navigation direction, and simultaneously outputs a control signal to the front propulsion motor driving circuit to control the front propulsion motor to start and operate at full power; meanwhile, the first control unit outputs a control signal to the rear steering motor driving circuit to control the rear steering motor, so that the steering angle of the rear steering motor and the keel of the ship body are kept in a same line, and simultaneously outputs a control signal to the rear propulsion motor driving circuit to control the rear propulsion motor to start and operate at a first preset auxiliary power.
8. The hull control method according to claim 1, characterized in that: if the distance between the current position coordinate of the ship body and the coordinate of the set position is less than 10 meters, the first control unit outputs a control signal to the front steering motor driving circuit to control the front steering motor, so that the steering angle of the front steering motor is the same as the direction of the set position, and simultaneously outputs a control signal to the front propulsion motor driving circuit to control the front propulsion motor to start and operate with second preset auxiliary power; meanwhile, the first control unit outputs a control signal to the rear steering motor driving circuit to control the rear steering motor so that an included angle between the hull and the terrestrial magnetism is close to a set angle value, and outputs a control signal to the rear propulsion motor driving circuit to control the rear propulsion motor to start and operate at a third preset auxiliary power.
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| JP6250296B2 (en) * | 2012-04-12 | 2017-12-20 | ランクセス・ドイチュランド・ゲーエムベーハー | Activated resole cured rubber composition |
| US20160274585A1 (en) * | 2013-11-14 | 2016-09-22 | Michail KARAGIANNIS | Method for reducing the swinging of ships, anchored or moored to a buoy, and device for the implementation thereof |
| CN203965941U (en) * | 2014-05-20 | 2014-11-26 | 中山市雅太电器有限公司 | The ship's propeller of controlled in wireless navigation |
| US9988134B1 (en) * | 2016-12-12 | 2018-06-05 | Brunswick Corporation | Systems and methods for controlling movement of a marine vessel using first and second propulsion devices |
| CN110244707A (en) * | 2019-05-13 | 2019-09-17 | 自然资源部第一海洋研究所 | A kind of intelligent ship dynamic positioning operating system |
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