CN207216386U - Dynamic positioning rocking bar control system and ship - Google Patents
Dynamic positioning rocking bar control system and ship Download PDFInfo
- Publication number
- CN207216386U CN207216386U CN201721309505.1U CN201721309505U CN207216386U CN 207216386 U CN207216386 U CN 207216386U CN 201721309505 U CN201721309505 U CN 201721309505U CN 207216386 U CN207216386 U CN 207216386U
- Authority
- CN
- China
- Prior art keywords
- ship
- dynamic positioning
- information
- rocking bar
- controller
- 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.)
- Active
Links
Landscapes
- Navigation (AREA)
Abstract
The utility model provides a kind of dynamic positioning rocking bar control system and ship, is related to technical field of ships, dynamic positioning rocking bar control system includes controller；Controller can obtain wind speed information, wind direction information, the bow of ship to information and the positional information of ship, and can respectively control and apply to the moment of torsion of each propeller of ship to information and the positional information of ship according to the bow of wind speed information, wind direction information, ship, with control the bow of ship to.The dynamic positioning system of the dynamic positioning rocking bar control system and ship is separate, in the case of the dynamic positioning system failure of ship, control applies to the moment of torsion of each propeller respectively, so as to avoid the ship in the dynamic positioning system failure of ship that unsceptered accident occurs, the security of ship can be effectively improved；In addition, installing the dynamic positioning rocking bar control system on the ship for be not equipped with dynamic positioning system, driver can be aided in realize that bow to control, reduces labor intensity in key operation.
Description
Technical field
Technical field of ships is the utility model is related to, more particularly, to a kind of dynamic positioning rocking bar control system, Yi Jiyi
Ship of the kind with the dynamic positioning rocking bar control system.
Background technology
Dynamic positioning is exactly ship without the help of mooring system, and utilizes ship itself various kinds of sensors and reference by location system
Statistics calculates the motion state and change in location of ship, and the size of the perturbed force such as extraneous wind-force, wave, ocean current and direction,
After complicated real-time calculating is carried out using electronic computer, control marine propeller produces appropriate thrust and torque, to offset
Perturbed force so that ship keep accommodation and bow to.Dynamic positioning technology greatly improves the operation of ship in the application of ship
Precision, manipulation precision and convenience are improved, the standard registration of deep water construction ship is had been changed at present, as deepwater drilling is put down
Platform, deep water pipe laying barge and deep water geological survey ship etc..
Dynamic positioning system is made up of parts such as accommodation instrument, electronic computer, controlling organization and propellers.During work, electricity
Sub- computer can automatically send control signal, change the operating of propeller according to the accommodation numerical value that accommodation instrument is determined at any time
The spiral shell square in direction, rotating speed or blade, to adjust accommodation.Some dynamic positioning systems, it can also be sent in advance according to the change of wind-force
Signal offsets the influence of wind-force.
But due to the intervention of electronic computer controlling organization so that dynamic positioning system turns into key issue safely, its
The potential risk of operation is also being gradually increased.When electronic computer controlling organization breaks down, dynamic positioning system can be triggered to lose
Effect, can now cause ship unsceptered or even crash, the security of ship is relatively low.
Utility model content
The dynamic positioning rocking bar control system that the present embodiment provides, it is relatively low to solve the security of ship of the prior art
Technical problem.
Dynamic positioning rocking bar control system provided by the utility model, including controller；
The controller can obtain wind speed information, wind direction information, the bow of ship to information and the positional information of ship, and
Application can be controlled respectively to ship to information and the positional information of ship according to the bow of the wind speed information, wind direction information, ship
The moment of torsion of each propeller of oceangoing ship, with control the bow of ship to.
The dynamic positioning system of the dynamic positioning rocking bar control system and ship is separate, and the power of ship can be determined
Position system carries out safe supplement, in the case of the dynamic positioning system failure of ship, the control of dynamic positioning rocking bar control system
Device processed can obtain wind speed information, wind direction information, the bow of ship to information and the positional information of ship, and by controller
Mathematical modeling is calculated, and control respectively applies to the moment of torsion of each propeller of ship, so as to avoid the power in ship from determining
Unsceptered accident occurs for ship during the thrashing of position, can effectively improve the security of ship.
Further, the dynamic positioning rocking bar control system also includes wind speed wind direction sensor；
The wind speed wind direction sensor is connected with the controller, and the wind speed wind direction sensor is used to detect wind speed information
And wind direction information, and the wind speed information and wind direction information can be transmitted to the controller.
Further, the dynamic positioning rocking bar control system also includes gyro compass；
The gyro compass is connected with the controller, and the bow that the gyro compass is used to detect ship can incite somebody to action to information
The bow of the ship is to information transfer to the controller.
Further, the dynamic positioning rocking bar control system also includes multiple propeller control units；
Multiple propeller control units correspond to control and applied to the moment of torsion of each propeller respectively；
Each propeller control unit includes acquisition module and propeller control module, the controller, described
Acquisition module and the propeller control module are sequentially connected；
The acquisition module can gather the running state information and trip information of propeller, and can be by propeller
Running state information and trip information transmit to controller；
The control instruction that the controller is sent is transmitted to the propeller control module by the acquisition module, described
Propeller control module applies to the moment of torsion of corresponding propeller according to control instruction control.
Further, the dynamic positioning rocking bar control system also includes manual operator；
The manual operator is connected with the controller, and the manual operator is provided with rocking arm, and the rocking arm can control ship
Reach, rear shifting or sidesway, and the headway of ship can be controlled.
Further, the manual operator is provided with display screen, the display screen can show wind speed information, wind direction information,
The bow of ship is to information, the positional information of ship, the running state information of propeller and trip information.
The purpose of this utility model, which also resides in, provides a kind of ship, including dynamic positioning rocking bar described in the utility model behaviour
Control system.
Further, the ship also includes dynamic positioning system；
When the dynamic positioning system fails, the dynamic positioning rocking bar control system be used to controlling the bow of ship to.
Further, the dynamic positioning system includes DGPS；
The DGPS is connected with the controller, and when dynamic positioning system fails, the difference is complete
Ball alignment system can transmit the positional information of ship to the controller.
Dynamic positioning rocking bar control system provided by the utility model, including controller；The controller can obtain wind
Fast information, wind direction information, the bow of ship can be believed to information and the positional information of ship according to the wind speed information, wind direction
Breath, the bow of ship are controlled and applied to the moment of torsion of each propeller of ship respectively to information and the positional information of ship, with control
The bow of ship to.The dynamic positioning system of the dynamic positioning rocking bar control system and ship is separate, and ship can be moved
Power alignment system carries out safe supplement, in the case of the dynamic positioning system failure of ship, dynamic positioning rocking bar control system
Controller can obtain wind speed information, wind direction information, the bow of ship and pass through controller to information and the positional information of ship
Interior mathematical modeling is calculated, and control respectively applies to the moment of torsion of each propeller of ship, so as to avoid in the dynamic of ship
Unsceptered accident occurs for ship when power alignment system fails, and can effectively improve the security of ship.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the dynamic positioning rocking bar control system that the utility model embodiment provides；
Fig. 2 is the knot of the propeller control unit in the dynamic positioning rocking bar control system that the utility model embodiment provides
Structure schematic diagram；
Fig. 3 is the structural representation of the manual operator in the dynamic positioning rocking bar control system that the utility model embodiment provides
Figure；
Fig. 4 is the structural representation for the ship that the utility model embodiment provides.
Icon：1- controllers；2- acquisition modules；3- manual operators；31- rocking arms；32- display screens；4- wind speed and directions
Sensor；5- gyro compasses；6- DGPSs；7- propeller control modules；8- dynamic positioning systems.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, such as occur term " " center ", " on ", " under ", " left side ",
" right side ", " vertical ", " level ", " interior ", " outer " etc., orientation or position relationship indicated by it be based on orientation shown in the drawings or
Position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicates or imply signified device or member
Part must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, such as occur term " first ", " second ", be only used for describe purpose, and it is not intended that instruction or imply relative importance.
Wherein, term " first position " is two different positions with " second place ".
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The utility model provides a kind of dynamic positioning rocking bar control system and ship, and multiple embodiments are given below to this
The dynamic positioning rocking bar control system and ship that utility model provides are described in detail.
Embodiment 1
The dynamic positioning rocking bar control system that the present embodiment provides, as shown in Figure 1 to Figure 3, including controller 1；Controller 1
Wind speed information, wind direction information, the bow of ship can be obtained to information and the positional information of ship, and can be believed according to the wind speed
Breath, wind direction information, the bow of ship are controlled and applied to the torsion of each propeller of ship respectively to information and the positional information of ship
Square, with control the bow of ship to.Wherein, controller 1 obtains wind speed information, wind direction information, the bow of ship to information and ship
It after positional information, can be calculated according to above-mentioned data by the mathematical modeling in controller 1, pushed away so as to apply to each
Entering the suitable moment of torsion of device, controller 1 controls the moment of torsion for each propeller for being value ship according to result of calculation respectively, so as to
Control ship bow to.
The dynamic positioning system 8 of the dynamic positioning rocking bar control system and ship is separate, can be to the power of ship
Alignment system 8 carries out safe supplement, in the case where the dynamic positioning system 8 of ship fails, dynamic positioning rocking bar control system
Controller 1 can obtain wind speed information, wind direction information, the bow of ship and pass through control to information and the positional information of ship
Mathematical modeling in device 1 is calculated, and control respectively applies to the moment of torsion of each propeller of ship, solves wind effect of shoving
It is lower artificial be difficult control ship bow to the problem of, the especially ship with dynamic positioning system 8, its propeller is relatively more, complete
Quan Shoucao is difficult to stablize bow to so as to avoid the ship in the failure of dynamic positioning system 8 of ship that unsceptered accident, Neng Gouyou occurs
Effect improves the security of ship.
In addition, the dynamic positioning rocking bar behaviour described in the present embodiment is installed on the ship of dynamic positioning system 8 is not equipped with
Control system, it can also realize that bow to control, aids in driver in key operation, subtracted using the dynamic positioning rocking bar control system
Light work intensity.
Specifically, dynamic positioning rocking bar control system includes wind speed wind direction sensor 4；Wind speed wind direction sensor 4 and control
Device 1 connects, and wind speed wind direction sensor 4 is used to detect wind speed information and wind direction information, and can be by wind speed information and wind direction information
Transmit to the controller 1.
Wherein, controller 1 is provided with COM and ethernet communication interface, wind speed wind direction sensor 4 and control
Device 1 can be connected by COM, can also be connected by ethernet communication interface.
Also, dynamic positioning rocking bar control system also includes gyro compass 5；Gyro compass 5 is connected with controller 1, and gyro compass 5 is used
In detection ship bow to information, and can be by the bow of ship to information transfer to the controller 1.
Gyro compass 5 can be connected with controller 1 by COM, can also be connected by ethernet communication interface
Connect.
Meanwhile dynamic positioning rocking bar control system also includes position sensor；Position sensor is connected with controller 1, position
The positional information that sensor is used to detect ship is put, and the positional information of ship can be transmitted to the controller 1.
Position sensor can be connected with controller 1 by COM, can also pass through ethernet communication interface
Connection.
In the present embodiment, position sensor is (the English full name of DGPS 6：Differential Global
Positioning System, english abbreviation：DGPS), DGPS 6 belongs to absolute position reference system.Utilize
DGPS 6 makes controller 1 only gather the positional information of absolute position reference system, without gathering other relative ginsengs
The positional information of test system.
Preferably, on the ship provided with dynamic positioning system 8, dynamic positioning system 8 includes difference global positioning system
System 6, the controller 1 of dynamic positioning rocking bar control system is connected with the DGPS 6, is lost in dynamic positioning system 8
During effect, DGPS 6 can transmit the positional information of ship to controller 1.
Specifically, dynamic positioning system 8 is provided with DGPS 6, in the normal work of dynamic positioning system 8
When, the DGPS 6 can obtain the positional information of ship and the positional information of ship is delivered into dynamic positioning
In system 8.The DGPS 6 is connected with the controller 1 of dynamic positioning rocking bar control system, in dynamic positioning system
During 8 failure, the DGPS 6 still is able to obtain the positional information of ship, now, the DGPS 6
The positional information of the ship detected is delivered in the controller 1 in dynamic positioning rocking bar control system, and dynamic positioning is shaken
Therefore bar control system can obtain the positional information of ship, dynamic positioning system 8 shares with dynamic positioning rocking bar control system
One DGPS 6 can be cost-effective.
It is highly preferred that dynamic positioning system 8 and the signaling interface mode of DGPS 6 and dynamic positioning rocking bar
Control system is different from the signaling interface mode of DGPS 6, can ensure when dynamic positioning system 8 fails
The positional information of ship can be transmitted between dynamic positioning rocking bar control system and DGPS 6.
After ensureing that dynamic positioning system 8 fails, DGPS 6 still is able to normal work, and difference global is fixed
Position system 6 is in parallel with the first power supply and second source, and diode is provided between second source and second source, and diode is used
Keep apart in by the first power supply and second source, prevent short-circuit between the first power supply and second source.In dynamic positioning system 8 just
Often during work, the first power supply is that DGPS 6 is powered, when dynamic positioning system 8 fails, if the first power supply
Break down, can now change to second source and be powered into DGPS 6, ensure DGPS 6
Normal operation.
Further, dynamic positioning rocking bar control system also includes multiple propeller control units；Multiple propeller controls
Unit corresponds to control and applied to the moment of torsion of each propeller respectively；Each propeller control unit includes acquisition module 2 and pushed away
Enter device control module 7, controller 1, acquisition module 2 and propeller control module 7 are sequentially connected；Acquisition module 2 can be gathered and pushed away
Enter the running state information and trip information of device, and the running state information of propeller and trip information can be passed
Transport to controller 1；The control instruction that controller 1 is sent is transmitted to propeller control module 7, propeller control by acquisition module 2
Molding block 7 applies to the moment of torsion of corresponding propeller according to control instruction control.
Wherein, acquisition module 2 has the input and output port of switching value and analog quantity, and controller 1 is sent to propeller
Start, the instruction of operation can pass through the transmitting switch signal of acquisition module 2 to propeller control module 7, propeller control module 7
According to the opening and closing of instruction control propeller；The instruction that controller 1 sends adjustment operation moment of torsion to propeller can be by gathering mould
Block 2 transmits analog output signal to propeller control module 7, propeller control module 7 and the moment of torsion of propeller is controlled according to instruction.
The input channel of acquisition module 2 can gather the working condition and operation power signal of propeller.
Further, dynamic positioning rocking bar control system also includes manual operator 3；Manual operator 3 is connected with controller 1, hand behaviour
Device 3 is provided with rocking arm 31, and rocking arm 31 can control ship reach, rear shifting or sidesway, and can control the headway of ship.
Manual operator 3 can be connected with controller 1 by COM, can also be connected by ethernet communication interface
Connect.
Ship reach, rear shifting or sidesway can be controlled using manual operator 3, and the headway of ship can be controlled, can
Vessel position is finely adjusted.And need, at relatively lower speeds with suitable bow to during operation, to utilize in ship
The operating ship of manual operator 3 navigates by water along suitable bow to suitable speed.
Further, manual operator 3 is provided with display screen 32, and display screen 32 can show wind speed information, wind direction information, ship
Bow to information, the positional information of ship, the running state information of propeller and trip information, be easy to driver to monitor ship
Oceangoing ship running status.
The dynamic positioning rocking bar control system and the dynamic positioning system 8 of ship that the present embodiment provides are separate, can
Safe supplement is carried out to the dynamic positioning system 8 of ship, in the case where the dynamic positioning system 8 of ship fails, dynamic positioning
The controller 1 of rocking bar control system can obtain wind speed information, wind direction information, the bow of ship to be believed to the position of information and ship
Breath, and calculated by the mathematical modeling in controller 1, control respectively applies to the moment of torsion of each propeller of ship, solution
Determined shove wind effect it is lower artificial be difficult control ship bow to the problem of, the especially ship with dynamic positioning system 8, it is pushed away
It is relatively more to enter device, complete hand behaviour is difficult stable bow to so as to avoid the ship in the failure of dynamic positioning system 8 of ship from losing
Position accident, the security of ship can be effectively improved.In addition, this reality is installed on the ship of dynamic positioning system 8 is not equipped with
The dynamic positioning rocking bar control system described in example is applied, bow can also be realized using the dynamic positioning rocking bar control system to control,
Driver is aided in key operation, is reduced labor intensity.
Embodiment 2
The ship that the present embodiment provides, including the dynamic positioning rocking bar control system described in embodiment 1.
As a kind of embodiment, dynamic positioning system 8 is not provided with ship, in key operation, driver can profit
With dynamic positioning rocking bar control system, auxiliary driver realizes bow to control, mitigates the labor intensity of driver.
As another embodiment, as shown in figure 4, ship is provided with dynamic positioning system 8, in dynamic positioning system 8
During failure, dynamic positioning rocking bar control system be used to controlling the bow of ship to.
Further, dynamic positioning system 8 includes DGPS 6；DGPS 6 and controller
1 connection, when dynamic positioning system 8 fails, DGPS 6 can transmit the positional information of ship to the control
Device 1 processed.Also, dynamic positioning system 8 and the signaling interface mode of DGPS 6 are with the manipulation of dynamic positioning rocking bar
System is different from the signaling interface mode of DGPS 6, can ensure that power is determined when dynamic positioning system 8 fails
The positional information of ship can be transmitted between position rocking bar control system and DGPS 6.Dynamic positioning system 8 is with moving
Power positioning rocking bar control system shares a DGPS 6 can be cost-effective.
After ensureing that dynamic positioning system 8 fails, point global positioning system 6 still is able to normal work, difference global positioning
System 6 is in parallel with the first power supply and second source, and diode is provided between second source and second source, and diode is used for
First power supply and second source are kept apart, prevented short-circuit between the first power supply and second source.It is normal in dynamic positioning system 8
During work, the first power supply is that DGPS 6 is powered, when dynamic positioning system 8 fails, if the first power supply is also sent out
Raw failure, can now change to second source and be powered into DGPS 6, ensure DGPS 6 just
Often operation.
The ship that the present embodiment provides, when being not provided with dynamic positioning system 8 on ship, can be shaken using dynamic positioning
Bar control system realizes that bow to control, aids in driver in key operation, reduced labor intensity；Determine on ship provided with power
During the system 8 of position, dynamic positioning rocking bar control system can carry out safe supplement to the dynamic positioning system 8 of ship, in ship
In the case that dynamic positioning system 8 fails, the controller 1 of dynamic positioning rocking bar control system can obtain wind speed information, wind direction
Information, the bow of ship are calculated to information and the positional information of ship, and by the mathematical modeling in controller 1, are controlled respectively
System applies to the moment of torsion of each propeller of ship, the wind effect that solves the problems, such as to shove it is lower it is artificial be difficult control ship bow to,
Especially there is the ship of dynamic positioning system 8, its propeller is relatively more, and complete hand behaviour is difficult stable bow to so as to avoid
Unsceptered accident occurs for ship when the dynamic positioning system 8 of ship fails, and can effectively improve the security of ship.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (9)
1. a kind of dynamic positioning rocking bar control system, it is characterised in that including controller；
The controller can obtain wind speed information, wind direction information, the bow of ship to information and the positional information of ship, and can
Application is controlled to ship according to the bow of the wind speed information, wind direction information, ship respectively to information and the positional information of ship
The moment of torsion of each propeller, with control the bow of ship to.
2. dynamic positioning rocking bar control system according to claim 1, it is characterised in that the dynamic positioning rocking bar manipulation
System also includes wind speed wind direction sensor；
The wind speed wind direction sensor is connected with the controller, and the wind speed wind direction sensor is used to detect wind speed information and wind
To information, and the wind speed information and wind direction information can be transmitted to the controller.
3. dynamic positioning rocking bar control system according to claim 1, it is characterised in that the dynamic positioning rocking bar manipulation
System also includes gyro compass；
The gyro compass is connected with the controller, and the gyro compass is used to detect the bow of ship to information, and can will described in
The bow of ship is to information transfer to the controller.
4. dynamic positioning rocking bar control system according to claim 1, it is characterised in that the dynamic positioning rocking bar manipulation
System also includes multiple propeller control units；
Multiple propeller control units correspond to control and applied to the moment of torsion of each propeller respectively；
Each propeller control unit includes acquisition module and propeller control module, the controller, the collection
Module and the propeller control module are sequentially connected；
The acquisition module can gather the running state information and trip information of propeller, and can be by the fortune of propeller
Row status information and trip information are transmitted to controller；
The control instruction that the controller is sent is transmitted to the propeller control module, the propulsion by the acquisition module
Device control module applies to the moment of torsion of corresponding propeller according to control instruction control.
5. the dynamic positioning rocking bar control system according to any one of claim 1-4, it is characterised in that the power
Positioning rocking bar control system also includes manual operator；
The manual operator is connected with the controller, and the manual operator is provided with rocking arm, the rocking arm can control ship reach,
Shifting or sidesway afterwards, and the headway of ship can be controlled.
6. dynamic positioning rocking bar control system according to claim 5, it is characterised in that the manual operator is provided with display
Screen, the display screen can show wind speed information, wind direction information, the bow of ship to information, the positional information of ship, propeller
Running state information and trip information.
7. a kind of ship, it is characterised in that including the dynamic positioning rocking bar control system any one of claim 1-6.
8. ship according to claim 7, it is characterised in that the ship also includes dynamic positioning system；
When the dynamic positioning system fails, the dynamic positioning rocking bar control system be used to controlling the bow of ship to.
9. ship according to claim 8, it is characterised in that the dynamic positioning system includes difference global positioning system
System；
The DGPS is connected with the controller, and when dynamic positioning system fails, the difference global is determined
Position system can transmit the positional information of ship to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721309505.1U CN207216386U (en) | 2017-10-11 | 2017-10-11 | Dynamic positioning rocking bar control system and ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721309505.1U CN207216386U (en) | 2017-10-11 | 2017-10-11 | Dynamic positioning rocking bar control system and ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207216386U true CN207216386U (en) | 2018-04-10 |
Family
ID=61821059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721309505.1U Active CN207216386U (en) | 2017-10-11 | 2017-10-11 | Dynamic positioning rocking bar control system and ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207216386U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110196439A (en) * | 2019-05-13 | 2019-09-03 | 自然资源部第一海洋研究所 | A kind of dynamic positioning system based on Beidou differential signal |
| CN110294074A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A kind of scientific investigation ship with Beidou differential signal dynamic positioning system |
| CN111638385A (en) * | 2020-05-29 | 2020-09-08 | 南京俊禄科技有限公司 | Anemoscope and wind direction detection method |
-
2017
- 2017-10-11 CN CN201721309505.1U patent/CN207216386U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110196439A (en) * | 2019-05-13 | 2019-09-03 | 自然资源部第一海洋研究所 | A kind of dynamic positioning system based on Beidou differential signal |
| CN110294074A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A kind of scientific investigation ship with Beidou differential signal dynamic positioning system |
| CN111638385A (en) * | 2020-05-29 | 2020-09-08 | 南京俊禄科技有限公司 | Anemoscope and wind direction detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102589531B (en) | Underwater topography measurement boat as well as manufacturing method and measurement method | |
| CN207216386U (en) | Dynamic positioning rocking bar control system and ship | |
| CN202331093U (en) | Automatic monitoring system for ship mooring position | |
| CN108181908A (en) | A kind of unmanned boat system for inland river environmental monitoring | |
| CN107908119B (en) | Management system for real-time monitoring of navigation performance of commercial ships | |
| US20160252907A1 (en) | Apparatus and method | |
| CN111221336B (en) | Ship end auxiliary leaning and off-berthing system | |
| CN103399576A (en) | Salvage life craft dynamic positioning control system, positioning control method and salvage life craft distance measurement tracking method | |
| CN108639301A (en) | A kind of light-duty shipboard ship ship end control system, tele-control system and automatic control system | |
| CN102323820A (en) | An intelligent rudder system and its control method | |
| CN205581642U (en) | Unmanned ship self -adaptation steering engine control system based on STM32 | |
| CN106444767B (en) | A linkage and combined autonomous navigation unmanned ship control system based on APM and I7 smart chip | |
| CN104615141A (en) | Control system of small autonomous underwater vehicle | |
| CN108549396A (en) | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 | |
| CN102393624A (en) | Dredge dynamic positioning control system based on ring network redundant structure | |
| CN109062231A (en) | Unmanned submarine autonomous cruise system and its cruise method | |
| CN106200653B (en) | A kind of track automatic control device peculiar to vessel | |
| CN203588074U (en) | Control system of small-scale autonomous underwater robot | |
| CN110632920A (en) | A method for controlling an unmanned ship | |
| CN107097924B (en) | A kind of on-line automatic control device of lake and reservoir operation ship antithesis deflecting side paddle | |
| WO2023226485A1 (en) | Autonomous navigation control system for unmanned ship | |
| Sauzé et al. | Moop: A miniature sailing robot platform | |
| CN205785296U (en) | A kind of Intelligent unattended water area monitoring platform | |
| CN110196439A (en) | A kind of dynamic positioning system based on Beidou differential signal | |
| CN108469731A (en) | A kind of wave glider malfunction monitoring and robust control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |