CN116946324A - Motor direct-drive propulsion system with rudder function - Google Patents
Motor direct-drive propulsion system with rudder function Download PDFInfo
- Publication number
- CN116946324A CN116946324A CN202311160723.3A CN202311160723A CN116946324A CN 116946324 A CN116946324 A CN 116946324A CN 202311160723 A CN202311160723 A CN 202311160723A CN 116946324 A CN116946324 A CN 116946324A
- Authority
- CN
- China
- Prior art keywords
- ship
- steering
- drive
- propulsion
- motor direct
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 69
- 239000000725 suspension Substances 0.000 claims description 25
- 230000004044 response Effects 0.000 claims description 24
- 230000006870 function Effects 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000001556 precipitation Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 2
- 239000000306 component Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000005538 encapsulation Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63B79/15—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers for monitoring environmental variables, e.g. wave height or weather data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
Abstract
The invention relates to the technical field of ship propulsion, in particular to a motor direct-drive propulsion system with a rudder function, which realizes the integrated design of a propulsion system and a rudder by directly connecting a motor to a propulsion device, accurately senses the direction information of a ship through a direction sensing module, and is used for sensing the flow field condition around the ship through a flow field sensing module so as to judge the running environment of the ship and perform hydrodynamic analysis; acquiring the running condition of the ship in real time through a ship monitoring module; the direct-drive propulsion module adjusts the magnitude and direction of propulsion according to the instruction provided by the steering analysis module; the rudder control module intelligently controls the steering engine of the ship, and realizes the steering function of the ship. The system integrates a plurality of modules, so that accurate ship control and efficient propulsion effect are realized, convenience and flexibility are provided for ship control, and the system is suitable for various ship types and application scenes.
Description
Technical Field
The invention relates to the technical field of ship propulsion, in particular to a motor direct-drive propulsion system with a rudder function.
Background
The direct-drive propeller is an advanced propulsion system, which converts electric energy into propulsive force by directly connecting an electric motor with the propeller, thereby pushing the ship to advance. The direct drive propeller eliminates the complex structure and energy conversion losses in the drive train and provides higher efficiency and power output than conventional propulsion systems. The core component of the direct-drive propeller is a high-efficiency motor, usually a permanent magnet synchronous motor or an induction motor, and can be directly arranged in the propeller of the ship. The direct-drive propeller can realize accurate steering and rudder control functions, so that the operability and maneuverability of the ship are improved. Through the electronic control system, a ship operator can accurately control the output power and the steering angle of the propeller, and sailing operations such as advancing, retreating, steering, berthing and the like of the ship are realized. The direct-drive propeller also has the advantages of silence and environmental protection. The application of the device in the field of ship engineering is continuously increased, and a more efficient, reliable and sustainable propulsion solution is provided for ships.
Chinese patent publication No.: CN113232816a discloses a marine propeller, including diesel engine drive, the pole setting, the action bars, the encapsulation, screw and water seal, and be located the inside main shaft of pole setting and be located the oar axle of encapsulation in-connection screw, the dead ahead of screw is equipped with the rudder blade, and the rudder blade is located the screw axis perpendicular, the top of screw is equipped with the rudder blade drive who is connected with the pole setting, rudder blade drive rudder blade horizontal hunting, the below of screw is equipped with the lower fixed plate of being connected with the encapsulation, the lower extreme of rudder blade is connected to the lower fixed plate, the position that is located the main shaft below on the oar axle is equipped with the protruding axle, the both sides of protruding axle are equipped with corotation mechanism and reversal mechanism respectively, corotation mechanism or reversal mechanism are connected with the protruding axle, in order to realize coaxial corotation or reversal, the turbulent flow that the rotation of different directions produced can wash the filth of screw blade, the effectual attachment that reduces the filth, the maintenance cycle of screw is improved. But the invention does not solve the problems in terms of navigation and control of the ship with improved sailing efficiency and safety.
Disclosure of Invention
Therefore, the invention provides a motor direct-drive propulsion system with a rudder function, which is used for solving the problems in the aspects of navigation and control of ships in the prior art so as to improve the navigation efficiency, safety and accuracy of the ships.
In order to achieve the above object, the present invention provides a motor direct-drive propulsion system with rudder function, comprising:
the direction sensing module is used for determining a steering angle according to the current direction of the ship and steering target information;
the flow field sensing module is connected with the direction sensing module and used for detecting flow field data of the current position of the ship, wherein the flow field data comprise water flow direction, water flow speed, wind direction and wind speed;
the ship monitoring module is respectively connected with the direction sensing module and the flow field sensing module and used for acquiring ship surrounding environment information and ship self information through the sensor;
the ship surrounding environment information comprises barriers around the ship and meteorological conditions of the position of the ship;
the ship self information comprises the current speed, the position, the ship body posture, the ship performance and the ship constraint condition;
the obstacle comprises other ships, buoys, reefs and shoreside, and the meteorological conditions comprise air temperature, humidity, visibility and precipitation;
the steering analysis module is respectively connected with the direction sensing module, the flow field sensing module and the ship monitoring module and is used for determining a steering mode of the ship according to the steering angle, the flow field data, the ship surrounding environment and the ship self information so as to enable the ship to navigate according to a preset path and a preset target, and determining the adjustment quantity of the steering angle according to the ship surrounding environment and/or the steering efficiency;
the rudder control module is connected with the steering analysis module, is arranged on the ship and is connected with the rudder, and is used for adjusting the angle of the rudder blade to change the steering speed and the sailing direction of the ship and adjusting the working mode of the direct-drive propulsion device;
and the direct-drive propulsion module is connected with the steering analysis module and is used for providing propulsion power for the ship by controlling the rotating speed, the power and the propulsion direction of the direct-drive propulsion device and controlling the direction of the impeller of the direct-drive propulsion device according to the judging result of the steering mode so as to keep the steering stability of the ship body.
Further, the direct-drive propulsion device comprises a combined propulsion unit and a water flow guiding unit;
the combined propulsion unit comprises a power motor direct-drive propeller for providing propulsion power for ship navigation and four steerable balance motor direct-drive propellers distributed around the ship body for keeping the ship body balanced;
the water flow guiding unit comprises four water flow guiding parts which are respectively and correspondingly arranged outside the four balance motor direct-drive propellers, so that water in the single water flow guiding part flows through the corresponding steering balance motor direct-drive propellers;
the single water flow guide part is provided with a guide through hole and a balance through hole, the corresponding balance motor direct-drive propeller is arranged at the through intersection position of the guide through hole and the balance through hole, and the through direction of each balance through hole is the direction vertical to the horizontal plane;
the power motor direct-drive propeller comprises a motor and a propeller, wherein a shaft of the motor is directly connected with the propeller to serve as a power source of the propeller to control output torque and rotating speed through control signals, and the propeller is used for converting the rotating force of the motor into thrust to propel a water body to drive a ship to advance;
the balance motor direct-drive propeller is provided with a motor and an impeller, and the outer side of the rim of the impeller is connected with a steering motor for driving the impeller to rotate around the diameter of the rim of the impeller so as to change the propelling direction of the balance motor direct-drive propeller.
Further, the single water flow guiding part is also provided with a water flow angle adjusting component for adjusting the angle formed between the guiding through hole and the moving direction of the ship body through the water flow angle adjusting component.
Further, the balance motor direct-drive propeller is respectively arranged at a first position, a second position, a third position and a fourth position which are in contact with water at the bottom of the ship side, wherein the first position and the second position are positioned at the front side of the ship side and are symmetrical along the central axis of the ship body, and the third position and the fourth position are positioned at the rear side of the ship side and are symmetrical along the central axis of the ship body;
wherein the first guiding through hole of the first water flow guiding part penetrates the front side and the outer side of the port of the hull, the second guiding through hole of the second water flow guiding part penetrates the front side and the outer side of the starboard of the hull, the third guiding through hole of the third water flow guiding part penetrates the rear side and the outer side of the port of the hull, and the fourth guiding through hole of the fourth water flow guiding part penetrates the rear side and the outer side of the starboard of the hull;
the steering motor of the single balance motor direct-drive propeller is vertical to the corresponding guide through hole and the corresponding balance through hole, and the steering motor is used for adjusting the propulsion direction of the balance motor direct-drive propeller by adjusting the angle of the steering shaft so that the propulsion direction of the balance motor direct-drive propeller at least comprises the through direction of the guide through hole and the through direction of the vertical through hole.
Further, the steering direction sensing module includes:
the direction sensing device is arranged at the navigation bridge of the ship or the top of the ship and is used for acquiring the current direction of the ship;
the display device is connected with the direction sensing device and is used for displaying a panoramic image or a map image of the current ship position and displaying the current direction of the ship;
a steering target obtaining unit connected with the direction sensing device and used for determining the actual position information of the steering target by obtaining the image position information of the steering target confirmed on the display device and calculating the relative position relation between the current position of the ship and the steering target;
a steering calculation unit connected with the steering target acquisition unit and used for calculating an initial steering angle according to the relative position relation between the current position of the ship and the steering target position;
wherein the relative positional relationship includes a distance deviation and a direction deviation.
Further, the initial steering angle θ is expressed by the following equation in a canvas coordinate system:
θ＝atan2(u,v)
wherein u is the longitude of the ship and the steering target, v is the latitude of the ship and the steering target, and theta epsilon [ -pi, pi ];
the canvas coordinate system is established by taking the current ship position as an origin.
Further, the rudder control module determines the actual rotation angle theta a of the rudder blade according to the initial steering angle theta and the steering environment influence quantity so as to steer the course of the ship to the steering target;
θa＝θ+θw+θc
and determining the flow field data and the initial steering angle by using the flow field data, wherein thetaw is the flow field angle influence quantity, and thetac is the ship characteristic correction angle.
Further, the direct-drive propulsion device is also provided with a rudder blade mechanism and a suspension device for suspending the power motor direct-drive propeller;
the rudder blade mechanism is arranged at the tail of the ship and positioned on the axis of the ship body, and is used for adjusting the heading of the ship by controlling the deflection angle of the rudder blade;
the suspension device is arranged on the axis of the ship body and in front of the rudder blade, and is arranged in a rotatable structure capable of rotating around the axis vertical to the sea level and used for changing the propelling direction of the power motor direct-drive propeller.
Further, the steering analysis module is pre-provided with an active steering mode for enabling the ship to rotate towards the target direction by adjusting the rudder blade angle and a response steering mode for enabling the ship to rotate towards the target direction by adjusting the rudder blade angle and the propulsion direction of the power motor direct-drive propeller;
the direct-drive propulsion module is used for controlling each steering motor to confirm the propulsion direction in response to the active steering mode, so that the propulsion direction of each balance motor direct-drive propeller is parallel to the corresponding guide through hole, and at least a component in the same direction as the current navigation direction of the ship exists in the propulsion direction;
after the steering mode is triggered and responded, the rudder control module controls each steering motor to adjust the propulsion direction so that the propulsion direction of the balance motor direct-drive propeller on the same side with the steering direction is vertically downward to spray water downwards through the balance through hole to keep the balance of the ship body.
Further, the steering analysis module determines a steering mode of the ship according to the surrounding environment and/or steering efficiency of the ship;
if the first preset condition is reached, triggering to respond to a steering mode to change the rudder blade angle and adjusting the direction of the power motor direct-drive propeller;
the first preset condition comprises that the ship monitoring module monitors that obstacles around the ship exist in a preset planning route, the deviation between the actual running route of the ship and the preset planning route exceeds a preset yaw range, and the calculated actual rotation angle of the rudder blade is larger than a preset angle.
Further, the steering analysis module determines the adjustment direction of the motor direct-drive propeller according to an angle formed by the current ship position and the steering target position by taking the initial ship position as an angle vertex under the condition of a first response steering mode;
if the angle is a positive value, the steering analysis module judges that the suspension device is adjusted clockwise so as to correspondingly adjust the direction of the power motor direct-drive propeller;
if the angle is a negative value, the steering analysis module judges that the suspension device is adjusted in the anticlockwise direction so as to correspondingly adjust the direction of the power motor direct-drive propeller;
the first response steering mode condition is that the deviation between the actual driving route of the current ship and the preset planning route exceeds a preset yaw range and the response steering mode is triggered
Compared with the prior art, the steering system has the beneficial effects that the steering angle can be accurately determined by the ship according to the current direction and the target information by combining the steering target information through the direction sensing module, so that accurate steering operation is realized.
Further, the flow field sensing module acquires flow field data of the current position of the ship, including information such as water flow direction, water flow speed, wind direction and wind speed, which are critical to the navigation plan and path planning of the ship, and can help the ship select an optimal navigation route and an energy-saving navigation scheme.
Further, the ship monitoring module obtains information of the surrounding environment of the ship and the ship itself through the sensor, wherein the information comprises obstacles, meteorological conditions, speed, position, posture, performance and the like of the ship, the information can monitor the safety condition of the ship in real time, and the comprehensive perception of a ship operator on the surrounding environment is provided, so that collision accidents are avoided and navigation constraint conditions are complied with.
Further, the steering analysis module comprehensively considers the data of the direction sensing module, the flow field sensing module and the ship monitoring module, calculates the most suitable steering mode through algorithm analysis, guides the ship to navigate according to a preset path and a target, and the intelligent analysis capability greatly improves the navigation safety, efficiency and autonomy of the ship.
Further, the direct-drive propulsion module is used as a core of the propulsion system, and the rotating speed, the power and the direction of the propulsion device are controlled according to the instruction of the steering analysis module, so that accurate propulsion force is provided for the ship, and the forward, stop, steering and navigation control of the ship are realized.
Drawings
FIG. 1 is a connection diagram of a motor direct drive propulsion system with rudder function according to an embodiment of the present invention;
FIG. 2 is a flow chart of a motor direct drive propulsion system with rudder function according to an embodiment of the present invention;
FIG. 3 is a view showing the position of the hull of the water flow guide according to the embodiment of the present invention;
FIG. 4 is a position diagram of a balancing motor direct drive propeller in response to a steering mode according to an embodiment of the present invention;
FIG. 5 is an enlarged view of position A;
in the figure: 11, a first guide through hole; 12, a second guide through hole; 13, a third guide through hole; 14, a fourth guide through hole; 2, balancing the through hole.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 and 2, fig. 1 is a connection diagram of a motor direct-drive propulsion system with rudder function according to an embodiment of the present invention, and fig. 2 is a flowchart of a motor direct-drive propulsion system with rudder function according to an embodiment of the present invention, where the embodiment of the present invention provides a motor direct-drive propulsion system with rudder function, including:
the direction sensing module is used for determining a steering angle according to the current direction of the ship and steering target information;
the flow field sensing module is connected with the direction sensing module and used for detecting flow field data of the current position of the ship, wherein the flow field data comprise water flow direction, water flow speed, wind direction and wind speed;
the ship monitoring module is respectively connected with the direction sensing module and the flow field sensing module and used for acquiring ship surrounding environment information and ship self information through the sensor;
the ship surrounding environment information comprises barriers around the ship and meteorological conditions of the position of the ship;
the ship self information comprises the current speed, the position, the ship body posture, the ship performance and the ship constraint condition;
the obstacle comprises other ships, buoys, reefs and shoreside, and the meteorological conditions comprise air temperature, humidity, visibility and precipitation;
the steering analysis module is respectively connected with the direction sensing module, the flow field sensing module and the ship monitoring module and is used for determining a steering mode of the ship according to the steering angle, the flow field data, the ship surrounding environment and the ship self information so as to enable the ship to navigate according to a preset path and a preset target, and determining the adjustment quantity of the steering angle according to the ship surrounding environment and/or the steering efficiency;
the rudder control module is connected with the steering analysis module, is arranged on the ship and is connected with the rudder, and is used for adjusting the angle of the rudder blade to change the steering speed and the sailing direction of the ship and adjusting the working mode of the direct-drive propulsion device;
and the direct-drive propulsion module is connected with the steering analysis module and is used for providing propulsion power for the ship by controlling the rotating speed, the power and the propulsion direction of the direct-drive propulsion device and controlling the direction of the impeller of the direct-drive propulsion device according to the judging result of the steering mode so as to keep the steering stability of the ship body.
Fig. 3 is a block diagram showing a position of a ship body of the water flow guiding portion according to the embodiment of the invention.
Specifically, the direct-drive propulsion device comprises a combined propulsion unit and a water flow guiding unit;
the combined propulsion unit comprises a power motor direct-drive propeller for providing propulsion power for ship navigation and four steerable balance motor direct-drive propellers distributed around the ship body for keeping the ship body balanced;
the water flow guiding unit comprises four water flow guiding parts which are respectively and correspondingly arranged outside the four balance motor direct-drive propellers, so that water in the single water flow guiding part flows through the corresponding steering balance motor direct-drive propellers;
the single water flow guiding part is provided with a guiding through hole and a balancing through hole 2, the corresponding balancing motor direct-drive propeller is arranged at the through intersection position of the guiding through hole and the balancing through hole 2, and the through direction of each balancing through hole 2 is the direction vertical to the horizontal plane;
the power motor direct-drive propeller comprises a motor and a propeller, wherein a shaft of the motor is directly connected with the propeller to serve as a power source of the propeller to control output torque and rotating speed through control signals, and the propeller is used for converting the rotating force of the motor into thrust to propel a water body to drive a ship to advance;
the balance motor direct-drive propeller is provided with a motor and an impeller, and the outer side of the rim of the impeller is connected with a steering motor for driving the impeller to rotate around the diameter of the rim of the impeller so as to change the propelling direction of the balance motor direct-drive propeller.
Specifically, the single water flow guiding part is also provided with a water flow angle adjusting component for adjusting the angle formed by the guiding through hole and the moving direction of the ship body through the water flow angle adjusting component.
Specifically, the balance motor direct-drive propeller is respectively arranged at a first position, a second position, a third position and a fourth position which are in contact with water at the bottom of the ship side, wherein the first position and the second position are positioned at the front side of the ship side and are symmetrical along the central axis of the ship body, and the third position and the fourth position are positioned at the rear side of the ship side and are symmetrical along the central axis of the ship body;
the water flow guide parts are correspondingly arranged at the positions, wherein corresponding balance motor direct-drive propellers are arranged at the through intersection positions of the guide through holes and the balance through holes 2, and the through direction of each balance through hole 2 is a direction vertical to a horizontal plane;
wherein the first guiding through hole 11 of the first water flow guiding part penetrates the front side and the outer side of the port of the hull, the second guiding through hole 12 of the second water flow guiding part penetrates the front side and the outer side of the starboard of the hull, the third guiding through hole 13 of the third water flow guiding part penetrates the rear side and the outer side of the port of the hull, and the fourth guiding through hole 14 of the fourth water flow guiding part penetrates the rear side and the outer side of the starboard of the hull;
the steering motor of the single balance motor direct-drive propeller is vertical to the corresponding guide through hole and the corresponding balance through hole 2, and the steering motor is used for adjusting the propulsion direction of the balance motor direct-drive propeller by adjusting the angle of the steering shaft so that the propulsion direction of the balance motor direct-drive propeller at least comprises the through direction of the guide through hole and the through direction of the vertical through hole.
Specifically, the steering direction sensing module includes:
the direction sensing device is arranged at the navigation bridge of the ship or the top of the ship and is used for acquiring the current direction of the ship;
the display device is connected with the direction sensing device and is used for displaying a panoramic image or a map image of the current ship position and displaying the current direction of the ship;
a steering target obtaining unit connected with the direction sensing device and used for determining the actual position information of the steering target by obtaining the image position information of the steering target confirmed on the display device and calculating the relative position relation between the current position of the ship and the steering target;
a steering calculation unit connected with the steering target acquisition unit and used for calculating an initial steering angle according to the relative position relation between the current position of the ship and the steering target position;
wherein the relative positional relationship includes a distance deviation and a direction deviation.
In the implementation, a direction sensing device which combines a compass and a landmark recognition technology and can accurately acquire the current direction of the ship is arranged on the navigation bridge of the ship or the top of the ship; displaying the panoramic image or map image of the current ship position through a display device such as a touch screen display and the like, and displaying the current direction of the ship; acquiring the confirmed image position information of the steering target on the display device through an image processing algorithm and a calibration device, determining the actual position information of the steering target, and calculating the relative position relation between the current position of the ship and the steering target; and finally, calculating an initial steering angle required by the current ship to move towards the steering target.
The initial steering angle θ in the embodiment of the invention is represented by the following formula in a canvas coordinate system:
θ＝atan2(u,v)
wherein u is the longitude of the ship and the steering target, v is the latitude of the ship and the steering target, and theta epsilon [ -pi, pi ];
the canvas coordinate system is established by taking the current ship position as an origin.
It can be understood that the rotation direction of the rudder blade is adjusted according to the calculation result of the initial steering angle θ so as to steer the bow of the current hull to the steering target:
when theta epsilon (-pi, 0), controlling one side of the rudder blade away from the hull to deviate to the left side of the hull so as to turn the current ship to the left side;
when theta epsilon (0, pi), controlling one side of the rudder blade away from the ship body to deviate to the right side of the ship body so as to steer the current ship to the right side;
when θ=0, the rudder blade is controlled to maintain the normal state to make the ship go straight
When theta= -pi/pi, controlling the rudder blade to deviate left/right to the maximum angle from the side of the hull to make the current ship turn around.
Specifically, the rudder control module determines an actual rotation angle theta a of a rudder blade according to the initial steering angle theta and the steering environment influence quantity so as to steer the course of the ship to the steering target;
θa＝θ+θw+θc
and determining the flow field data and the initial steering angle, wherein thetaw is the flow field angle influence quantity, and thetac is the ship characteristic correction angle and is usually a determined value.
Wherein V is m V is the current speed of the ship m0 V is the reference value of the ship speed a V is the current water flow velocity a0 For influencing the reference value for the water flow velocity, θ 1 Theta is the included angle between the current water flow direction and the current running direction of the ship 10 V is the reference value of the included angle between the water flow direction and the ship running direction b For the current wind speed, V b0 For the wind speed to influence the reference value, θ 2 Theta is the included angle between the current wind direction and the current running direction of the ship 20 Is the reference value of the included angle between the wind direction and the ship running direction. θ 1 Less than theta 10 When taking negative value, θ 1 Theta or more 10 When taking positive value, θ 2 Is the same as the positive and negative of the above; wherein it can be understood that the water flow velocity affects the reference value V a0 And the wind speed influence reference value V b0 Corresponding value is carried out according to the speed of the direct-drive propulsion device, and the general V a0 The value can be the average water flow speed, V of the ship navigation scene b0 The value can be the average wind power of the ship navigation scene, and the ship speed reference value V m0 The maximum travel speed of the ship is set to 0.5 times.
The steering environment influence is determined by environment factors, ship characteristics and system errors;
wherein the environmental factors include the flow field data and the ship ambient information;
the ship characteristics include ship inertia and steering sensitivity due to the structure, size and center of gravity position of the ship;
the systematic errors include the accuracy of the rudder control system and the accuracy of the sensor.
Specifically, the step of determining the steering environment influence amount is:
step S1, collecting environment data;
step S11, acquiring flow field data, and measuring the speed and direction of water flow around the ship by using a flowmeter or other flow field sensors;
step S12, acquiring ship surrounding environment information, and acquiring obstacles, other ship positions and other navigation environment information around the ship by using a radar, a camera or other sensors;
s2, analyzing environmental factors, and evaluating the influence of the current environment such as water flow direction, strength, obstacle position and the like on the steering of the ship according to the flow field data and the ship surrounding environment information; if the ship runs along/against water, the direction of the water flow is required to be corrected when the ship turns, and the stronger the water flow is, the larger the direction of the water flow is required to be corrected;
s3, calculating the inertia and steering sensitivity of the ship by considering the structure, the size and the gravity center position of the ship;
and step S4, the rudder control system is calibrated regularly, including the accuracy of the steering engine, the controller and the sensors, so as to ensure that the steering engine, the controller and the sensors can accurately read and execute steering instructions, and the rudder blade position sensors are calibrated and configured so as to ensure the accuracy and the sensitivity of the rudder blade position sensors.
Specifically, the direct-drive propulsion device is also provided with a rudder blade mechanism, a power motor direct-drive propeller and a suspension device for suspending the power motor direct-drive propeller;
the rudder blade mechanism is arranged at the tail of the ship and positioned on the axis of the ship body, and is used for adjusting the heading of the ship by controlling the deflection angle of the rudder blade;
the suspension device is arranged on the axis of the ship body and in front of the rudder blade, and is arranged in a rotatable structure capable of rotating around the axis vertical to the sea level and used for changing the propelling direction of the power motor direct-drive propeller.
Specifically, the suspension device consists of the following components:
the bracket, which is mounted on the hull axis and in front of the rudder blade, is generally strong and stiff enough to withstand the thrust of the propeller and other external forces.
A rotation axis, a vertical axis in the centre of the support, about which the suspension is allowed to rotate, is usually made of a corrosion-resistant and high-strength material, to ensure structural stability and durability.
The rotating mechanism is a mechanical device or an electric device, so that the hanging device can rotate around the rotating shaft; the rotation mechanism may comprise a motor, gear system, hydraulic system or other suitable driving means, by operating the rotation mechanism the rotation angle and speed of the suspension device may be controlled.
The connecting rod is a rod-like structure that can connect the power motor direct drive propeller and the suspension device, typically at the bottom of the motor direct drive propeller, then extends to the top of the suspension device and connects to the rotational shaft of the suspension device via a universal joint or other coupling, the length and size of which are adapted to the specific vessel and propeller design.
Referring to fig. 4 and 5, fig. 4 is a position diagram of a balanced motor direct-drive propeller in response to a steering mode, and fig. 5 is an enlarged view of a position a, wherein a steering analysis module is preset with an active steering mode for rotating a ship towards a target direction by adjusting a rudder blade angle, and a response steering mode for rotating the ship towards the target direction by adjusting the rudder blade angle and adjusting a propulsion direction of the power motor direct-drive propeller;
the direct-drive propulsion module is used for controlling each steering motor to confirm the propulsion direction in response to the active steering mode, so that the propulsion direction of each balance motor direct-drive propeller is parallel to the corresponding guide through hole, and at least a component in the same direction as the current navigation direction of the ship exists in the propulsion direction;
after the steering mode is triggered and responded, the rudder control module controls each steering motor to adjust the propulsion direction so that the propulsion direction of the balance motor direct-drive propeller on the same side with the steering direction is vertically downward to keep the balance of the ship body by spraying water downwards through the balance through hole 2.
Specifically, the active steering mode plans a route according to the steering angle, the flow field data and the ship self information, enables the ship to rotate towards a target direction by adjusting the rudder blade angle, and changes the ship travelling speed by adjusting the output torque of the power motor direct-drive propeller;
and the response steering mode realizes steering obstacle avoidance or course adjustment of the ship by rapidly changing rudder blade angles and/or adjusting the direction of the motor direct-drive propeller according to the ship-monitored ship surrounding environment.
Specifically, the steering analysis module determines a steering mode of the ship according to the surrounding environment and/or steering efficiency of the ship;
if the first preset condition is reached, triggering to respond to a steering mode to change the rudder blade angle and adjusting the direction of the power motor direct-drive propeller;
the first preset condition comprises that the ship monitoring module monitors that obstacles around the ship exist in a preset planning route, the deviation between the actual running route of the ship and the preset planning route exceeds a preset yaw range, and the calculated actual rotation angle of the rudder blade is larger than a preset angle.
Specifically, the ship monitoring module detects that an obstacle exists in a preset planning course or the deviation of the actual running course of the ship and the preset planning course through a sensor, when the deviation exceeds a preset yaw range, the steering analysis module judges whether a first preset condition is met and triggers a response steering mode, and then the control system controls the rudder blade control system and the motor direct-drive propeller control system to change the steering of the ship so as to avoid the obstacle or adjust the track of the ship. The ship monitoring module can automatically adjust the steering mode of the ship according to the surrounding environment and steering efficiency of the ship, can quickly adapt to the changing condition and improves the safety and operability of the ship. In practice, yaw ranges and other related parameters and logic need to be determined based on voyage requirements and environmental conditions.
The steering analysis module of the embodiment of the invention determines the adjustment direction of the motor direct-drive propeller according to the angle formed by the current ship position and the steering target position by taking the initial position of the ship as the angle vertex under the condition of a first response steering mode;
if the angle is a positive value, the steering analysis module judges that the suspension device is adjusted clockwise so as to correspondingly adjust the direction of the power motor direct-drive propeller;
if the angle is a negative value, the steering analysis module judges that the suspension device is adjusted in the anticlockwise direction so as to correspondingly adjust the direction of the power motor direct-drive propeller;
the first response steering mode condition is that the deviation of the actual driving route of the current ship and a preset planning route exceeds a preset yaw range and a response steering mode is triggered.
It can be understood that the clockwise direction or the anticlockwise direction of the suspension device takes the current position of the suspension device and the bow as the initial position, the suspension device deflects clockwise or anticlockwise, and the larger the included angle of the angle is, the larger the angle adjustment amount of the suspension device is.
Under the condition of a second response steering mode, determining the adjustment direction of the power motor direct-drive propeller according to the position relation between the position of the obstacle around the ship and the steering direction;
if the position of the obstacle is on the same side of the current steering direction of the ship, the steering analysis module judges that the suspension device is adjusted in the anticlockwise direction so as to correspondingly adjust the direction of the power motor direct-drive propeller;
if the obstacle position is at different sides of the current steering direction of the ship, the steering analysis module judges that the suspension device is adjusted clockwise so as to correspondingly adjust the direction of the power motor direct-drive propeller;
the second response steering mode condition is that the ship monitoring module monitors that an obstacle positioned around the ship exists in a preset planning route and triggers a response steering mode;
under the condition of a third response steering mode, determining the angle adjustment quantity of the power motor direct-drive propeller according to the absolute value of the angle difference between the actual rotation angle of the rudder blade and the preset angle;
at the moment, the steering analysis module judges that the rotating angle of the rudder blade is adjusted by a preset angle according to the adjusting direction and is adjusted along the rudder blade adjusting direction through the suspension device so as to correspondingly adjust the direction of the power motor direct-drive propeller;
the third response steering mode condition is that the calculated actual rotation angle of the rudder blade is larger than a preset angle and the response steering mode is triggered.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A motor direct drive propulsion system with rudder function, comprising:
the direction sensing module is used for determining a steering angle according to the current direction of the ship and steering target information;
the flow field sensing module is connected with the direction sensing module and used for detecting flow field data of the current position of the ship, wherein the flow field data comprise water flow direction, water flow speed, wind direction and wind speed;
the ship monitoring module is respectively connected with the direction sensing module and the flow field sensing module and used for acquiring ship surrounding environment information and ship self information through the sensor;
the ship surrounding environment information comprises barriers around the ship and meteorological conditions of the position of the ship;
the ship self information comprises the current speed, the position, the ship body posture, the ship performance and the ship constraint condition;
the obstacle comprises other ships, buoys, reefs and shoreside, and the meteorological conditions comprise air temperature, humidity, visibility and precipitation;
the steering analysis module is respectively connected with the direction sensing module, the flow field sensing module and the ship monitoring module and is used for determining a steering mode of the ship according to the steering angle, the flow field data, the ship surrounding environment and the ship self information so as to enable the ship to navigate according to a preset path and a preset target, and determining the adjustment quantity of the steering angle according to the ship surrounding environment and/or the steering efficiency;
the rudder control module is connected with the steering analysis module, is arranged on the ship and is connected with the rudder, and is used for adjusting the angle of the rudder blade to change the steering speed and the sailing direction of the ship and adjusting the working mode of the direct-drive propulsion device;
and the direct-drive propulsion module is connected with the steering analysis module and is used for providing propulsion power for the ship by controlling the rotating speed, the power and the propulsion direction of the direct-drive propulsion device and controlling the direction of the impeller of the direct-drive propulsion device according to the judging result of the steering mode so as to keep the steering stability of the ship body.
2. The electric motor direct drive propulsion system with rudder function according to claim 1, wherein the direct drive propulsion device comprises a combined propulsion unit and a water flow guiding unit;
the combined propulsion unit comprises a power motor direct-drive propeller for providing propulsion power for ship navigation and four steerable balance motor direct-drive propellers distributed around the ship body for keeping the ship body balanced;
the water flow guiding unit comprises four water flow guiding parts which are respectively and correspondingly arranged outside the four balance motor direct-drive propellers, so that water in the single water flow guiding part flows through the corresponding steering balance motor direct-drive propellers;
the single water flow guide part is provided with a guide through hole and a balance through hole, the corresponding balance motor direct-drive propeller is arranged at the through intersection position of the guide through hole and the balance through hole, and the through direction of each balance through hole is the direction vertical to the horizontal plane;
the power motor direct-drive propeller comprises a motor and a propeller, wherein a shaft of the motor is directly connected with the propeller to serve as a power source of the propeller to control output torque and rotating speed through control signals, and the propeller is used for converting the rotating force of the motor into thrust to propel a water body to drive a ship to advance;
the balance motor direct-drive propeller is provided with a motor and an impeller, and the outer side of the rim of the impeller is connected with a steering motor for driving the impeller to rotate around the diameter of the rim of the impeller so as to change the propelling direction of the balance motor direct-drive propeller.
3. The motor direct-drive propulsion system with rudder function according to claim 2, wherein the balance motor direct-drive propulsion is respectively installed at a first position, a second position, a third position and a fourth position of the bottom of the ship side, which are in contact with water, the first position and the second position are located on the front side of the ship side and are symmetrical along the central axis of the ship body, and the third position and the fourth position are located on the rear side of the ship side and are symmetrical along the central axis of the ship body;
wherein the first guiding through hole of the first water flow guiding part penetrates the front side and the outer side of the port of the hull, the second guiding through hole of the second water flow guiding part penetrates the front side and the outer side of the starboard of the hull, the third guiding through hole of the third water flow guiding part penetrates the rear side and the outer side of the port of the hull, and the fourth guiding through hole of the fourth water flow guiding part penetrates the rear side and the outer side of the starboard of the hull;
the steering motor of the single balance motor direct-drive propeller is vertical to the corresponding guide through hole and the corresponding balance through hole, and the steering motor is used for adjusting the propulsion direction of the balance motor direct-drive propeller by adjusting the angle of the steering shaft so that the propulsion direction of the balance motor direct-drive propeller at least comprises the through direction of the guide through hole and the through direction of the vertical through hole.
4. A motor direct drive propulsion system with rudder function according to claim 3, characterized in that the steering direction sensing module comprises:
the direction sensing device is arranged at the navigation bridge of the ship or the top of the ship and is used for acquiring the current direction of the ship;
the display device is connected with the direction sensing device and is used for displaying a panoramic image or a map image of the current ship position and displaying the current direction of the ship;
a steering target obtaining unit connected with the direction sensing device and used for determining the actual position information of the steering target by obtaining the image position information of the steering target confirmed on the display device and calculating the relative position relation between the current position of the ship and the steering target;
a steering calculation unit connected with the steering target acquisition unit and used for calculating an initial steering angle according to the relative position relation between the current position of the ship and the steering target position;
wherein the relative positional relationship includes a distance deviation and a direction deviation.
5. The motor direct drive propulsion system with rudder function according to claim 4, wherein the initial steering angle θ is represented by the following formula in canvas coordinates:
θ＝atan2(u,v)
wherein u is the longitude of the ship and the steering target, v is the latitude of the ship and the steering target, and theta epsilon [ -pi, pi ];
the canvas coordinate system is established by taking the current ship position as an origin.
6. The motor direct-drive propulsion system with rudder function according to claim 5, wherein the rudder control module determines an actual turning angle θa of a rudder blade according to the initial turning angle θ and a turning environment influence amount to turn the heading of the ship to the turning target;
θa＝θ+θw+θc
and determining the flow field data and the initial steering angle by using the flow field data, wherein thetaw is the flow field angle influence quantity, and thetac is the ship characteristic correction angle.
7. The electric motor direct drive propulsion system with rudder function according to claim 6, wherein the direct drive propulsion device is further provided with a rudder blade mechanism and a suspension device for suspending the power electric motor direct drive propulsion;
the rudder blade mechanism is arranged at the tail of the ship and positioned on the axis of the ship body, and is used for adjusting the heading of the ship by controlling the deflection angle of the rudder blade;
the suspension device is arranged on the axis of the ship body and in front of the rudder blade, and is arranged in a rotatable structure capable of rotating around the axis vertical to the sea level and used for changing the propelling direction of the power motor direct-drive propeller.
8. The motor direct-drive propulsion system with rudder function according to claim 7, wherein the steering analysis module is pre-provided with an active steering mode for rotating the ship toward the target direction by adjusting the rudder blade angle, and a responsive steering mode for rotating the ship toward the target direction by adjusting the rudder blade angle and adjusting the propulsion direction of the power motor direct-drive propeller;
the direct-drive propulsion module is used for controlling each steering motor to confirm the propulsion direction in response to the active steering mode, so that the propulsion direction of each balance motor direct-drive propeller is parallel to the corresponding guide through hole, and at least a component in the same direction as the current navigation direction of the ship exists in the propulsion direction;
after the steering mode is triggered and responded, the rudder control module controls each steering motor to adjust the propulsion direction so that the propulsion direction of the balance motor direct-drive propeller on the same side with the steering direction is vertically downward to spray water downwards through the balance through hole to keep the balance of the ship body.
9. The electric motor direct drive propulsion system with rudder function according to claim 8, wherein the steering analysis module determines a steering mode of the vessel based on the vessel surroundings and/or steering efficiency;
if the first preset condition is reached, triggering to respond to a steering mode to change the rudder blade angle and adjusting the direction of the power motor direct-drive propeller;
the first preset condition comprises that the ship monitoring module monitors that obstacles around the ship exist in a preset planning route, the deviation between the actual running route of the ship and the preset planning route exceeds a preset yaw range, and the calculated actual rotation angle of the rudder blade is larger than a preset angle.
10. The motor direct-drive propulsion system with rudder function according to claim 9, wherein the steering analysis module determines the adjustment direction of the motor direct-drive propeller according to an angle formed by a current ship position and a steering target position with a ship initial position as an angle vertex in a first response steering mode condition;
if the angle is a positive value, the steering analysis module judges that the suspension device is adjusted clockwise so as to correspondingly adjust the direction of the power motor direct-drive propeller;
if the angle is a negative value, the steering analysis module judges that the suspension device is adjusted in the anticlockwise direction so as to correspondingly adjust the direction of the power motor direct-drive propeller;
the first response steering mode condition is that the deviation between the actual driving route of the current ship and the preset planning route exceeds a preset yaw range and the response steering mode is triggered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311160723.3A CN116946324B (en) | 2023-09-11 | 2023-09-11 | Motor direct-drive propulsion system with rudder function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311160723.3A CN116946324B (en) | 2023-09-11 | 2023-09-11 | Motor direct-drive propulsion system with rudder function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116946324A true CN116946324A (en) | 2023-10-27 |
| CN116946324B CN116946324B (en) | 2024-04-02 |
Family
ID=88446465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311160723.3A Active CN116946324B (en) | 2023-09-11 | 2023-09-11 | Motor direct-drive propulsion system with rudder function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116946324B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800781A (en) * | 2004-12-30 | 2006-07-12 | 中国科学院自动化研究所 | Track autopilot control system and method thereof |
| CN105644752A (en) * | 2015-12-27 | 2016-06-08 | 中山艾德克智能控制科技有限公司 | Novel wind-solar complementary power supply type unmanned sailing ship and control method thereof |
| JP2019043289A (en) * | 2017-08-31 | 2019-03-22 | 株式会社Ihi | Cruising controller and cruising control method |
| CN109634289A (en) * | 2019-01-24 | 2019-04-16 | 大连海事大学 | A kind of unmanned boat autonomous navigation system and its working method |
| CN111268041A (en) * | 2020-03-19 | 2020-06-12 | 中国人民解放军陆军军事交通学院镇江校区 | Intelligent monitoring unmanned ship |
| CN111712431A (en) * | 2018-01-29 | 2020-09-25 | 株式会社商船三井 | Ship steering control device |
| CN111830990A (en) * | 2020-07-29 | 2020-10-27 | 浙江北鲲智能科技有限公司 | Autonomous navigation control management system for large unmanned ship |
| CN112960078A (en) * | 2021-03-11 | 2021-06-15 | 宁波工业互联网研究院有限公司 | Unmanned sailing boat automatic driving system and method thereof |
| KR20220132909A (en) * | 2021-03-24 | 2022-10-04 | 김대인 | System for autonomous ship berthing reflecting weather conditions |
| CN115755934A (en) * | 2022-12-14 | 2023-03-07 | 武汉理工大学 | Ship harboring track control method and device, electronic equipment and storage medium |
-
2023
- 2023-09-11 CN CN202311160723.3A patent/CN116946324B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800781A (en) * | 2004-12-30 | 2006-07-12 | 中国科学院自动化研究所 | Track autopilot control system and method thereof |
| CN105644752A (en) * | 2015-12-27 | 2016-06-08 | 中山艾德克智能控制科技有限公司 | Novel wind-solar complementary power supply type unmanned sailing ship and control method thereof |
| JP2019043289A (en) * | 2017-08-31 | 2019-03-22 | 株式会社Ihi | Cruising controller and cruising control method |
| CN111712431A (en) * | 2018-01-29 | 2020-09-25 | 株式会社商船三井 | Ship steering control device |
| CN109634289A (en) * | 2019-01-24 | 2019-04-16 | 大连海事大学 | A kind of unmanned boat autonomous navigation system and its working method |
| CN111268041A (en) * | 2020-03-19 | 2020-06-12 | 中国人民解放军陆军军事交通学院镇江校区 | Intelligent monitoring unmanned ship |
| CN111830990A (en) * | 2020-07-29 | 2020-10-27 | 浙江北鲲智能科技有限公司 | Autonomous navigation control management system for large unmanned ship |
| CN112960078A (en) * | 2021-03-11 | 2021-06-15 | 宁波工业互联网研究院有限公司 | Unmanned sailing boat automatic driving system and method thereof |
| KR20220132909A (en) * | 2021-03-24 | 2022-10-04 | 김대인 | System for autonomous ship berthing reflecting weather conditions |
| CN115755934A (en) * | 2022-12-14 | 2023-03-07 | 武汉理工大学 | Ship harboring track control method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116946324B (en) | 2024-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11899465B2 (en) | Autonomous and assisted docking systems and methods | |
| EP3639104B1 (en) | Perimeter ranging sensor systems and methods | |
| US11733699B2 (en) | Ultrasonic perimeter ranging sensor systems and methods | |
| US20210080260A1 (en) | Imaging for navigation systems and methods | |
| JP5479788B2 (en) | Automatic steering system and automatic steering device | |
| US20220214171A1 (en) | Passage planning and navigation systems and methods | |
| CN108312151B (en) | Drift detection underwater robot device and control method | |
| CN109358654B (en) | Water-air amphibious search and rescue support unmanned aerial vehicle system | |
| CN110696966B (en) | Energy-saving self-guard sonar positioning buoy and control method | |
| CN109835441B (en) | Automatic driving method and system for water quality monitoring intelligent boat | |
| CN107878669B (en) | The wisdom water surface monitors trimaran | |
| CN105652878A (en) | Underwater target low-speed approaching and hovering submarine body combining multiple propellers | |
| CN109956020B (en) | Agricultural unmanned aerodynamic ship with laser-assisted navigation system and navigation method | |
| US20210053660A1 (en) | Sensor system for maritime vessels | |
| Guo et al. | Reactive path planning for autonomous sailboat using an omni-directional camera for obstacle detection | |
| Friebe et al. | A marine research ASV utilizing wind and solar power | |
| CN108549372A (en) | unmanned boat control method and control device | |
| CN110632920A (en) | Unmanned ship control method | |
| CN112631283A (en) | Control system and control method for water-air amphibious unmanned aircraft | |
| EP3696078B1 (en) | A method and system for piloting an unmanned surface vessel | |
| CN109263814B (en) | Multifunctional autonomous cruise ship system on water surface | |
| CN116946324B (en) | Motor direct-drive propulsion system with rudder function | |
| CN205239854U (en) | Unrestrained unmanned ship of developments anti -wind | |
| CN212556702U (en) | Unmanned ship capable of being connected autonomously | |
| CN113086139A (en) | Unmanned hydrofoil aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |