CN110254648B - Control system for assisting ship to enter and exit port by utilizing DP - Google Patents
Control system for assisting ship to enter and exit port by utilizing DP Download PDFInfo
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- CN110254648B CN110254648B CN201910400280.8A CN201910400280A CN110254648B CN 110254648 B CN110254648 B CN 110254648B CN 201910400280 A CN201910400280 A CN 201910400280A CN 110254648 B CN110254648 B CN 110254648B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- 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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
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- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
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- 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
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
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- 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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/024—Handle-bars; Posts for supporting handle-bars, e.g. adjustable posts
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- 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
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control system for assisting ships to enter and exit ports by utilizing DP, which comprises a measuring part, a control part, a power part and a thruster part, wherein the control part comprises a controller, a manual control unit and an automatic control unit which are respectively connected with the controller and used for driving the ships to sail, and a computer software system, a laser positioning system which is connected with the control part through wireless signals and used for monitoring the approaching distance of the ships in real time is arranged on the ports or the wharfs, when the actual ship position parameters reach the preset distance parameters for automatically controlling the ships to shift, a signal for driving the ships to automatically shift is sent to the automatic control unit, and meanwhile, a signal for stopping manual operation is sent to the manual control unit, so that the ships are controlled to automatically and stably stop to a preset stop point. According to the invention, through real-time signal feedback, the accurate control of the main propeller and the side propeller can be realized, and the accuracy of the final stop position of the ship is realized.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to a control system for assisting ships to enter and exit ports by utilizing DP.
Background
The ship needs to be tied and disembarked when arriving at a port, and the work has certain risk and belongs to the key operation of the ship. The existing ships are berthed, some need pilotage to command, some need have the captain completion of rich experience, do not have a unified mode of berthing, and in the automobile industry, the berthing of car is monitored through the ultrasonic wave, accomplish the berthing through left and right sight glass, but boats and ships are bigger than the car, and the mode of berthing of car only can apply to closely, its peripheral berthing environment is simple, and the distance that boats and ships berth is far away from the pier, can't reach the requirement through this kind of mode similar to car, and the boats and ships need still consider the stormy waves stream in the process of berthing, such as the wind speed of wind, the velocity of flow of water etc.. The traditional ship is usually a good craft for a captain to use, the position of a ship is set in advance, the mooring angle is found, the speed of the ship is controlled, and the ship can be smoothly leaned on the wharf by matching a vehicle, a rudder, a tugboat, a side push, an anchor, a mooring rope and the like. At present most boats and ships are still the captain to control, it is bow, the stern is more close to the pier in turn to lean on the pier when leaning on the pier, the corotation of control screw that does not stop, the reversal, and the direction of operation rudder, make bow, the stern be close to the pier respectively, remove the back many times, do final berth by inertia, practically all boats and ships all rely on the inertia of boats and ships in aqueous to certain meaning, and the intervention that relies on the rudder realizes, large-scale boats and ships, the port that the position is not good, boats and ships are berthhed and need spend considerable time. Moreover, the requirements on the experience of the operator who parks the ship are extremely high, and the mooring scheme is greatly influenced by the experience of the captain and the water diversion, particularly under the condition of poor meteorological conditions. If the technology of the captain is not in place, the captain is not familiar with the conditions of hydrology, weather and the like of the port, although the tug is used for assisting towing during berthing, the command is improper, and the collision between the bow and the loading and unloading bridge crane of the wharf occurs during berthing of the ship. Although some anti-collision cushions are arranged in front of the wharf berth, the inertia force of the ship is far greater than that of an automobile on the land, the braking performance is still poor, and when the ship is berthed, the ship still has huge impact force when contacting the wharf due to improper speed control, so that serious consequences are caused. Particularly, when sea conditions are poor, some accidents that ships collide with wharfs also occur at sea.
With the increasing application of intellectualization to various industries, ship intellectualization also becomes an innovative subject in the fields of current ships and shipping, and how to realize the automatic berthing wharf of the ship is one of the key technologies. In the prior art of ship intellectualization, the unmanned control technology of unmanned ships is still more advanced, although some mechanical arms are used for grabbing the berthing mode, the manual operation is still not enough to participate when the ships are berthed on the shore, and when the ships are berthed on the shore, the mooring ropes are generally required to be manually operated and berthed. CN 207529224U discloses an automatic mooring system for a ship, which adopts cameras in all directions to transmit the real-time situation of the dock docking edge to a control system, the control system adjusts the running track of a propulsion system according to the relevant parameters corresponding to the dock situation, so as to realize the automatic mooring function, CN 107672745 a discloses an automatic mooring device for a ship and a ship, wherein the automatic mooring device for a ship comprises a fixed column, a mooring component, a driving device and a controller, and the fixed column has a forward step; the mooring component comprises an installation cylinder and a plurality of clamping jaws, one ends of the clamping jaws are arranged at the front end of the installation cylinder in a turnover mode and are provided with clamping positions close to each other and tripping positions far away from each other, when the clamping jaws are located at the clamping positions, the clamping jaws are used for clamping the step parts of the fixed columns so that the mooring component is fixed with the fixed columns, and when the clamping jaws are located at the tripping positions, the clamping jaws are used for tripping the fixed columns; the driving device is arranged on the mounting cylinder and drives the jaws to turn over so that the jaws can be switched between the clamping position and the tripping position; the controller is electrically connected with the driving device and controls the driving device to operate. CN 204825794U is an automatic berthing device for ships. Mainly solves the technical problems of long time, high cost, low efficiency and low safety when the ship is berthed. The wharf berth is characterized in that a front electromagnet, a middle electromagnet and a rear electromagnet which are distributed in sequence are arranged on the wharf berth, the wharf berth further comprises a control mechanism for controlling the front electromagnet, the middle electromagnet and the rear electromagnet to be electrified or powered off, and the front electromagnet, the middle electromagnet and the rear electromagnet are respectively matched with the head part, the middle part and the tail part of a ship in a magnetic attraction mode. The electromagnet can generate strong magnetism only by switching on the power supply of the electromagnet, and the ship body is attracted to lean against the wharf by the magnetism.
The above patent describes the prior art related to automatic berthing, and it can be known from the above disclosed technology that, because the influence of wind speed, water flow and wind wave on the ship is the biggest when the ship is berthed, and the wind speed, water flow and wind wave change in real time, in this case, no matter whether signal detection, magnetic control or claw assistance is adopted, neither can realize the fast, safe and stable accurate control when the ship is berthed, nor can completely separate from manual operation to realize automatic port entry and exit, which becomes a big problem that the fast, safe and stable port entry and exit of the ship are restricted at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a control system which can realize manual and automatic matching control and ensure that ships can fast, safely and stably enter and exit ports and can assist the ships in and out of the ports by utilizing DP.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control system for assisting ships in entering and leaving ports by utilizing DP comprises a measuring part, a control part, a power part and a thruster part, wherein the thruster part comprises a main thruster and a side thruster, the measuring part comprises an electric compass used for collecting ship heading signals, an anemoscope used for collecting wind direction and wind speed signals of the environment where the ships are located, and a differential global positioning system used for receiving satellite positioning signals, the control part comprises a controller, a manual control unit and an automatic control unit which are respectively connected with the controller and used for driving the ships to sail, and a computer software system which is respectively connected with the controller and used for processing information collected by the measuring part and outputting control instructions to the thruster part to realize preset ship heading control, positioning control or motion control, and a laser positioning system which is connected with the control part through wireless signals and used for monitoring the approaching distance of the ships in real time is arranged on a port or a wharf A position system, when the ship drives into the berthing area, presetting a ship position coordinate parameter of a berthing point and a distance parameter for automatically controlling the ship to shift, starting a manual control unit and controlling the ship to fast sail towards the direction of the ship berthing point, when the ship sails to be close to a wharf, a measuring part sends an actual ship position signal of the ship to a controller, simultaneously a laser positioning system sends a signal of the actual parameter of the distance of the ship gradually close to the wharf to the controller, the controller sends a signal for driving the ship to automatically shift to the automatic control unit through signal comparison, when the actual ship position parameter reaches the preset distance parameter for automatically controlling the ship to shift, and simultaneously sends a signal for stopping the manual control to the manual control unit, and sends a starting signal to a main propeller and/or a side propeller by combining with real-time information of wind, wave and flow received by the measuring part to change the position or heading of the ship, and on the premise of balancing the disturbance force and the disturbance torque acting on the ship, controlling the ship to automatically and stably stop to a preset stop point.
In the above control system for assisting the ship to enter or exit the port by using the DP, the plurality of laser positioning systems are sequentially arranged at the dock or the port along the ship docking direction.
After the controller sends a signal for driving the ship to automatically shift to the automatic control unit, the computer software system continuously compares real-time data signals such as wind, wave and flow transmitted by the measuring part with ship position coordinate parameters of a preset stop point through the comparator, and after a vector external force or an error value which acts on the ship and changes in real time is obtained, the controller continuously operates according to the vector external force or the error value and a set index to automatically calculate and generate a sailing track reaching a set place, and simultaneously sends a propulsion instruction to the main propeller and the side propellers so that the vector resultant thrust generated by each propeller changes along with the change of the vector external force to enable the thrust and the external force of the ship to be in a balanced state and accurately move at a low speed according to the preset track.
The control system for assisting the ship to enter and exit port by utilizing the DP is characterized in that the manual control unit comprises a manual operating lever for realizing the front-back, left-right and instant displacement of the ship, the manual operating lever is in signal connection with the controller through the displacement simulation input unit, the control system further comprises an automatic control mode switching module for sending a pause signal to the automatic control unit when the manual operating lever inputs the displacement signal into the displacement simulation input unit and sending a signal to the controller, and the manual control mode switching module is in signal connection with the controller.
The automatic control unit comprises a mobile parameter input module which is in signal connection with the controller, and the automatic control system further comprises a manual control mode switching module which sends a signal to the controller when the mobile parameter is input into the parameter input module, the controller sends a pause signal to the manual control unit, and the manual control mode switching module is in signal connection with the controller.
According to the control system for assisting the ship to enter and exit the harbor by utilizing the DP, the compass collects ship heading signals and then sends the ship heading signals to the controller, and the computer software system generates control signals through comparison between the actual heading and the set heading and outputs the control signals to the propeller to enable the propeller to act, so that the deviation between the actual heading and the set heading of the ship is kept to be minimum, and heading control is performed.
The control system for assisting the ship to enter and exit port by utilizing DP has the advantages that: the invention adopts a control mode of remotely and manually controlling the navigation of the ship, automatically and stably approaching to the shore in a close range, can improve the ship speed during the remote navigation, effectively shortens the ship approaching time, adopts the assistance of a dynamic positioning system for the close-range approaching to the shore, can realize the accuracy of the position and the direction of the ship, can effectively ensure that the ship is stably close to the wharf under the influence of wind, wave and flow, overcomes the problem that a differential global positioning system cannot control the automatic approaching of the ship when the signal is unstable through the auxiliary positioning of a laser positioning system, ensures more accurate and safe control, can detect the actual distance parameters of the bow and the stern of the ship when the bow and the stern are close to the wharf through the real-time signal feedback, can realize the accurate control of a main propeller and a side propeller, and realizes the accuracy of the final ship stopping position.
Drawings
FIG. 1 is a schematic view of the automatic port entry of the present invention;
FIG. 2 is a block diagram of the circuit configuration of the present invention;
FIG. 3 is a schematic diagram of the main and side thrusters of the vessel.
Detailed Description
The invention is further explained in detail with reference to the drawings and the specific embodiments;
as shown in fig. 1, 2 and 3, a control system for assisting a ship to enter and exit a port by using a DP comprises a measuring part, a control part, a power part and a thruster part, wherein the thruster part comprises a main thruster and a side thruster, the measuring part comprises an electric compass for collecting a heading signal of the ship, an anemoscope for collecting an environmental wind direction and an wind speed signal of the ship, and a differential global positioning system for receiving a satellite positioning signal. The control part comprises a controller, and a manual control unit and an automatic control unit which are respectively connected with the controller and used for driving the ship to sail. The manual control unit comprises a manual control lever for realizing the front-back, left-right and instant displacement of the ship, the manual control lever is in signal connection with the controller through the displacement analog input unit, the automatic control mode switching module also comprises an automatic control mode switching module which sends a pause signal to the automatic control unit when the manual control lever inputs a displacement signal into the displacement analog input unit and sends a signal to the controller, and the manual control mode switching module is in signal connection with the controller. The automatic control unit comprises a mobile parameter input module, the mobile parameter input module is in signal connection with the controller, the automatic control unit further comprises a manual control mode switching module which sends a signal to the controller when the mobile parameter is input to the parameter input module, the controller sends a pause signal to the manual control unit, and the manual control mode switching module is in signal connection with the controller.
The invention also comprises a computer software system which is respectively connected with the controller and is used for processing the information collected by the measuring part and outputting the control instruction to the thruster part so as to realize the preset ship heading control, positioning control or motion control, and a plurality of laser positioning systems which are connected with the control part through wireless signals and are used for monitoring the gradually approaching distance of the ship in real time are arranged on the port or the port.
After the controller sends a signal for driving the ship to automatically shift to the automatic control unit, the computer software system continuously compares real-time data signals such as wind, wave and flow transmitted by the measuring part with ship position coordinate parameters of a preset stop point through the comparator, after a vector external force or an error value which changes on the ship in real time is obtained, the controller continuously calculates according to the vector external force or the error value and a set index, automatically calculates and generates a sailing track reaching a set place, and simultaneously sends a propulsion instruction to the main propeller and the side propellers, so that the vector resultant thrust generated by each propeller changes along with the change of the vector external force, the thrust and the external force of the ship are in a balanced state, and the ship accurately moves at a low speed according to the preset track.
When a ship enters a berthing area, presetting a ship position coordinate parameter of a berthing point and a distance parameter for automatically controlling the ship to shift, starting a manual control unit and controlling the ship to fast sail towards the direction of the ship berthing point, when the ship sails to be close to a wharf, sending an actual ship position signal of the ship to a controller by a measuring part, sending a signal for driving the ship to automatically shift to the automatic control unit by a laser positioning system, sending a signal for stopping the manual control to the manual control unit by the controller through signal comparison, sending a starting signal to a main propeller and/or a side propeller to change the position or heading of the ship when the actual ship reaches the preset distance parameter for automatically controlling the ship to shift by combining with real-time information of wind, wave and flow received by the measuring part, and on the premise of balancing the disturbance force and the disturbance torque acting on the ship, controlling the ship to automatically and stably stop to a preset stop point. The electric compass collects ship heading signals and then sends the signals to the controller, and the computer software system generates control signals through comparison between the actual heading and the set heading and outputs the control signals to the propeller to enable the propeller to act, so that the minimum deviation between the actual heading and the set heading of the ship is kept, and heading control is carried out.
The technical scheme describes a control system and a control method for the ship entering the port, and certainly, when the ship leaves the port, the direction to be driven out can be preset according to the final destination and the course, and the safe ship leaving the port is realized by adopting a mode of firstly automatically and then manually controlling the ship according to the preset direction.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should understand that they can make various changes, modifications, additions and substitutions within the spirit and scope of the present invention.
Claims (6)
1. The utility model provides an utilize DP to assist boats and ships control system of business turn over harbor, includes measurement portion, control section, power part and thruster portion, and the thruster portion includes main propeller and side propeller, its characterized in that: the measuring part comprises an electric compass used for collecting ship heading signals, an anemorumbometer used for collecting wind direction and wind speed signals of the environment where the ship is located, and a differential global positioning system used for receiving satellite positioning signals, the control part comprises a controller, a manual control unit and an automatic control unit which are respectively connected with the controller and used for driving the ship to sail, and a computer software system which is respectively connected with the controller and used for processing the information collected by the measuring part and outputting a control instruction to the thruster part so as to realize preset ship heading control, positioning control or motion control, a laser positioning system which is connected with the control part through wireless signals and used for monitoring the approaching distance of the ship in real time is arranged on a port or a wharf, and when the ship drives into a berthing area, ship position coordinate parameters of a berthing point and distance parameters for automatically controlling the displacement of the ship are preset, starting the manual control unit and controlling the ship to fast sail towards the ship stop point, when the ship sails to approach the wharf, the measuring part sends the actual ship position signal of the ship to the controller, meanwhile, the laser positioning system sends a signal of an actual parameter of the distance between the ship and the wharf to the controller, the controller compares the signals, when the actual ship position parameter reaches the preset distance parameter for automatically controlling the ship to shift, a signal for driving the ship to automatically shift is sent to the automatic control unit, meanwhile, a signal for stopping manual operation is sent to the manual control unit, and the real-time information of wind, wave and flow received by the measuring part is combined, sending a start signal to the main thruster and/or the lateral thruster, changing the position or heading of the vessel, and on the premise of balancing the disturbance force and the disturbance torque acting on the ship, controlling the ship to automatically and stably stop to a preset stop point.
2. The control system for assisting port entry and exit of ships by DP as claimed in claim 1, wherein: the laser positioning system is sequentially arranged on a wharf or a port along the ship berthing direction.
3. The control system for assisting port entry and exit of ships by DP as claimed in claim 1, wherein: after the controller sends a signal for driving the ship to automatically shift to the automatic control unit, the computer software system continuously compares real-time data signals such as wind, wave and flow transmitted by the measuring part with ship position coordinate parameters of a preset stop point through the comparator, after a vector external force or an error value which changes on the ship in real time is obtained, the controller continuously calculates according to the vector external force or the error value and a set index, automatically calculates and generates a navigation track reaching a set place, and simultaneously sends a propulsion instruction to the main propeller and the side propellers, so that the vector resultant thrust generated by each propeller changes along with the change of the vector external force, the thrust of the ship and the external force are in a balanced state, and the ship accurately moves at a low speed according to the preset track.
4. The control system for assisting port entry and exit of ships by DP as claimed in claim 1, wherein: the manual control unit comprises a manual control lever for realizing the front-back, left-right and instant displacement of the ship, the manual control lever is in signal connection with the controller through the displacement analog input unit, the automatic control mode switching module also comprises an automatic control mode switching module for sending a pause signal to the automatic control unit when the manual control lever inputs a displacement signal into the displacement analog input unit and sending a signal to the controller, and the manual control mode switching module is in signal connection with the controller.
5. The control system for assisting port entry and exit of ships by DP as claimed in claim 1, wherein: the automatic control unit comprises a mobile parameter input module, the mobile parameter input module is in signal connection with the controller, the automatic control unit further comprises a manual control mode switching module which sends a signal to the controller when the mobile parameter is input to the parameter input module, the controller sends a pause signal to the manual control unit, and the manual control mode switching module is in signal connection with the controller.
6. The control system for assisting port entry and exit of ships by DP as claimed in claim 1, wherein: the electric compass collects ship heading signals and then sends the ship heading signals to the controller, and the computer software system generates control signals through comparison between the actual heading and the set heading and outputs the control signals to the propeller to enable the propeller to act, so that the minimum deviation between the actual heading and the set heading of the ship is kept, and heading control is carried out.
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| CN201910400280.8A CN110254648B (en) | 2019-05-13 | 2019-05-13 | Control system for assisting ship to enter and exit port by utilizing DP |
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| JP7437129B2 (en) * | 2019-10-07 | 2024-02-22 | 川崎重工業株式会社 | Ship maneuvering support system |
| US20220404833A1 (en) | 2020-03-11 | 2022-12-22 | Boundary Layer Technologies Inc. | Lift from vessel formation |
| WO2021183163A1 (en) * | 2020-03-11 | 2021-09-16 | Boundary Layer Technologies Inc. | Lift from vessel formation |
| CN117246451B (en) * | 2023-09-12 | 2024-05-17 | 青岛无疆技术有限公司 | Anchor monitoring device for auxiliary monitoring and electronic anchor positioning method |
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| CN208621962U (en) * | 2018-09-04 | 2019-03-19 | 青岛中邦智能技术有限公司 | A kind of distribution unmanned boat monitoring system |
| CN109533997B (en) * | 2018-11-16 | 2020-06-30 | 大连大学 | Intelligent management system for automatic wharf ship entering and exiting port |
| CN109625188A (en) * | 2018-12-17 | 2019-04-16 | 国家***第海洋研究所 | A method of the scientific investigation ship retrievable buoys with dynamic positioning function |
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2019
- 2019-05-13 CN CN201910400280.8A patent/CN110254648B/en not_active Expired - Fee Related
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