CN111196336B - An automatic mooring system for unmanned ships - Google Patents
An automatic mooring system for unmanned ships Download PDFInfo
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- CN111196336B CN111196336B CN202010122954.5A CN202010122954A CN111196336B CN 111196336 B CN111196336 B CN 111196336B CN 202010122954 A CN202010122954 A CN 202010122954A CN 111196336 B CN111196336 B CN 111196336B
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- mooring
- lock tongue
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- 210000002105 tongue Anatomy 0.000 claims 30
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Classifications
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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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
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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
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/02—Fenders integral with waterborne vessels or specially adapted therefor, e.g. fenders forming part of the hull or incorporated in the hull; Rubbing-strakes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
- E02B3/24—Mooring posts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
- E02B3/26—Fenders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides an automatic landing mooring system of an unmanned ship, which comprises a sliding berth frame, a floating type mooring lock, a floating type guide rail, a mooring anti-collision fence, a control box and an on-site controller, wherein the sliding berth frame comprises a sliding rail arranged along a river, a lake and a beach, and the floating type mooring lock is arranged on the sliding rail in a sliding manner; the floating type ship lock is connected with the floating guide rail to form a whole, and comprises a locking device, a positioning device, an electronic compass and a photoelectric detector; the local controller is used for communicating with the unmanned ship according to the coordinate information and the azimuth information collected by the positioning device, the electronic compass and the judgment result of the photoelectric detector, commanding the unmanned ship to finish the accurate landing or offshore action, and simultaneously controlling the locking device to execute the locking or unlocking action with the anti-collision rail of the mooring ship. The invention can rapidly arrange the berth of the unmanned ship, can provide automatic positioning and orientation information of the beach berth, and can realize the functions of automatic accurate tracking, berthing and automatic locking of the unmanned ship.
Description
Technical Field
The invention relates to the field of intelligent control application of unmanned ship systems, in particular to an automatic shore-logging mooring system of an unmanned ship.
Background
The unmanned ship has been developed rapidly in the modern civil technical field, and the unmanned ship platform is used for carrying specialized facility equipment and forming an application combination, so that the unmanned ship can replace manual full-direction all-weather full-coverage river and lake patrol in river and lake water areas, and simultaneously realize multi-objective quantitative monitoring and informatization remote management.
At present, the small unmanned ship mainly adopts manual throwing to finish operations such as water or water outlet, and autonomous sailing is carried out when specific business application is carried out, namely unmanned management is shown when specific operation is carried out, but manual throwing or manual salvage is needed when the operation is started or finished, and unmanned management of automatic offshore, onshore and automatic mooring of the unmanned ship cannot be realized.
Disclosure of Invention
The invention aims to provide an automatic offshore mooring system of an unmanned ship, which can realize unmanned management of automatic offshore, offshore and automatic mooring of the unmanned ship.
The technical scheme adopted by the invention is as follows:
An automatic docking system of an unmanned ship comprises a sliding berth frame, a floating type ship lock, a floating type guide rail, a ship anti-collision fence, a control box and an on-site controller, wherein the sliding berth frame is fixed on a river and lake water area shore to form wharf equipment, and comprises a sliding rail arranged along a river and lake shore, and the floating type ship lock is arranged on the sliding rail in a sliding manner; the floating type ship lock and the floating guide rail are connected to form a whole, the floating guide rail can float on the water surface of the river and the lake, the open end faces to the open water area so as to guide the unmanned ship to advance to a locking area of the floating type ship lock, the floating type ship lock comprises a locking device, a positioning device, an electronic compass and a photoelectric detector, the positioning device and the electronic compass are respectively used for collecting coordinate information and azimuth of the water surface of the river and the lake where the floating type ship lock is located, and the photoelectric detector is used for judging whether the unmanned ship enters or leaves the locking area; the system comprises a floating type dolphin lock, a ship-to-ship anti-collision fence, a photoelectric detector, a local controller, a positioning device, an electronic compass, a positioning device, a ship-to-ship anti-collision fence and a photoelectric detector.
Further, the sliding berth frame also comprises a fixed steel pipe pile and a pile head pin hinge, the pile head is arranged at the top of the fixed steel pipe pile, the fixed steel pipe pile is embedded or knocked deep into a river and lake bank slope to form a fixed base of the beach berth, and the pin hinge is connected with the fixed steel pipe pile through pile head threads.
Further, the sliding track comprises a U-shaped groove support, a sliding rod and a sliding ring, wherein the U-shaped groove support is arranged along a river and lake bank slope, one end of the U-shaped groove support is hinged with a pin, the sliding rod is fixed in the U-shaped groove support, the sliding ring is sleeved on the sliding rod, and the sliding ring is used for being connected with a floating type ship lock.
Further, the floating guide rail comprises two guide rail fixing seats, two guide rails fixedly connected with the guide rail fixing seats and opened at a certain angle, and an elastic rope connected with the two guide rails, wherein the two guide rail fixing seats are respectively hinged at two ends of the floating dolphin lock.
Further, the floating type dolphin lock further comprises a lock box body, the locking device is arranged in the locking device, the locking device comprises a lock tongue, a lock tongue telescopic system and a lock tongue rotating system, the lock tongue telescopic system is used for pushing or pulling the lock tongue to complete stretching or shrinking actions, so that the lock tongue enters a dolphin anti-collision fence or withdraws from the dolphin anti-collision fence, the lock tongue is in a stretching state when locked, and is in a shrinking state when unlocked; the lock tongue rotating system is used for driving the lock tongue to rotate so as to control the lock tongue hook code section to be in a vertical or horizontal state, the lock is in an unlocking state when the lock tongue is vertical, and the lock is in a locking state when the lock tongue is horizontal.
Further, the spring bolt telescopic system comprises a spring bolt telescopic motor, a screw rod, a gear, a rack and a pressing wheel, wherein the spring bolt telescopic motor is in butt joint with the screw rod through a coupler; a transmission gear is sleeved at the corresponding position of each lock tongue in the axial direction of the screw; the transmission gear is in meshed contact with the rack; the pressing wheel is a supporting structure with certain elasticity, and the radius of the gear is in meshed contact coordination with the rack through pressing the rack by the pressing wheel; the gear rotates to drive the rack to extend or retract, the lock tongue is pushed or pulled to extend or retract through the universal joint, and the lock tongue telescopic motor is connected with the local controller.
Further, the lock tongue rotating system comprises a lock tongue rotating motor, a worm, a turbine and a lock tongue, wherein the lock tongue rotating motor is in butt joint with the worm through a coupler; a transmission turbine is sleeved at a corresponding position of each lock tongue in the axial direction of the worm; the turbine is in meshing contact with the worm, the turbine rotates to drive the lock tongue to rotate, and the lock tongue rotating motor is connected with the local controller.
Further, a positioning device is arranged at the top of the lock box body, an electronic compass is arranged in the lock box body, and the positioning device and the electronic compass are connected with the local controller.
Further, the floating type dolphin lock also comprises a combined floating block and lock protection equipment which are arranged on the lock box body, and the water surface elevation of the floating type dolphin lock can be accurately controlled by configuring the volume of the floating block; the lock protection equipment comprises a mounting bracket, a guide cover and a protective cover, wherein the mounting bracket is fixed in a lock box body and used for fixing a mechanical device of a floating type mooring lock, the guide cover and the protective cover are tightly fixed on the lock box body, the guide cover is used for guiding a mooring anti-collision fence of a ship to land, and the protective cover is of an elastic folding structure and used for providing anti-collision protection for a neutral position between adjacent lock bolts.
Further, the local controller comprises an equipment box, a box power supply, a distribution board, a main control board, a wireless communication module, a stepping motor driver and a GPS board, wherein the box power supply is connected with the main control board through the distribution board, the wireless communication module, the stepping motor driver and the GPS board are all connected with the main control board, and the main control board is a core component responsible for commanding and controlling the work of each component of the local controller, realizes the functions of supplying power, communicating, collecting and controlling an automatic shore system of the unmanned ship, is responsible for data collection, instruction analysis and action control, and is responsible for carrying out information exchange with an upper computer of the unmanned ship and a control center of the unmanned ship.
The invention has the following effective effects:
(1) The unmanned ship technology application system is promoted to realize all-weather and whole-process unmanned management, and the unmanned ship can replace the traditional unmanned ship retraction period and operation stopping period at present, and generally needs a manual operation and a manual on-duty humanized management mode. The application of the device has obvious technical benefit for river and lake water areas needing frequent use of unmanned ships, can reduce the labor intensity and the safety risk of wading operation, and effectively improves the operation efficiency;
(2) The unmanned ship wharf scheme capable of being rapidly deployed is particularly suitable for unmanned ship application work in remote river sections and river and lake areas needing repeated or periodic work, and is suitable for actual needs of daily river patrol work of river long-making and lake long-making at the present stage;
(3) The unmanned ship has the characteristics of strong capability of adapting to environment and topography, small structure, convenient deployment and the like, and can support unmanned ship to realize the whole unmanned management of high-precision offshore, unlocking and locking application.
The invention is mainly used for the route control of the remote unmanned small-sized ship entering and exiting the berth, the locking or unlocking control and actions during the landing or the offshore, can rapidly arrange the unmanned ship berth, can provide the automatic positioning and orientation information of the beach berth, can realize the functions of automatic accurate tracking entering and automatic locking of the unmanned ship, and fully meets the unmanned on-duty requirement of the unmanned ship operation management in the dynamically-changed river and lake waters.
Drawings
FIG. 1 is a schematic view of the general structure of the unmanned automatic docking system of the present invention;
FIG. 2 is a schematic cross-sectional view of the berth frame of the present invention;
FIG. 3 is a schematic diagram of the architecture of the local controller of the present invention;
FIG. 4 is a schematic view of the structure of the floating dolphin lock of the present invention;
FIG. 5 is a schematic cross-sectional view of a lock body structure of the present invention;
Fig. 6 is a schematic longitudinal section of the lock body structure of the present invention.
In the figure: 1-bank slope, 2-fixed steel pipe pile, 3-pile head, 4-pin hinge, 5-slide bar, 6-U-shaped groove, 7-guide rail fixing seat, 8-train lock slip ring, 9-steel wire rope, 10-floating ship lock, 11-positioning device, 12-electronic compass, 13-photoelectric detector, 14-ship anti-collision fence, 15-unmanned ship, 16-floating guide rail, 17-equipment box, 18-box electric power supply, 19-distribution board, 20-main control board, 21-wireless communication module, 22-stepping motor driver, 23-differential GPS board, 24-wire harness, 25-combined floating block, 26-lock bolt telescopic motor, 27-lock bolt rotating motor, 28-shaft coupler, 29-shaft coupler, 30-floating block mounting screw, 31-worm, 32-screw rod, 33-lock bolt, 34-gear, 35-turbine, 36-compression wheel, 37-38-guide cover, 39-protective cover, 40-bearing, 41-foam filler, 42-mounting bracket, 43-universal joint, 44-floating block, 45-fixed ring, 46-lock ring, elastic lock ring and 47-elastic lock ring.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings.
The embodiment of the invention provides an automatic shore-backing mooring system for an unmanned ship, which comprises a sliding berth frame, a floating mooring lock, a floating guide rail, a mooring anti-collision fence, a control box and an on-site controller.
The sliding berth frame can be quickly fixed on a river and lake beach to form an unmanned ship berth, provides a shore end fixing facility which can adapt to the height change of the river and lake water level and the plane position change of the water surface shoreline for the floating type ship lock, and is also provided with a sliding rail, so that the floating type ship lock can dynamically adjust the height along with the water level change.
Specifically, as shown in fig. 1, the sliding berth frame comprises a fixed steel pipe pile 2, a pile head 3, a pin hinge 4, a sliding rod 5, a U-shaped groove bracket 6 and a sliding ring 8.
The pile head 3 is arranged at the top of the fixed steel pipe pile 2, so that the pile body can be conveniently knocked and buried, and the jack is arranged at the upper part of the fixed steel pipe pile 2, so that the pile body can be conveniently pulled out mechanically. The fixed steel pipe piles 2 are buried or knocked into the river and lake bank slope 1 to form a fixed base of a beach berth, and meanwhile, the sliding berth frame can be repeatedly or replaceably used on the premise of mechanical auxiliary pulling out, and is convenient for users to rapidly deploy. The sliding berth frame can be integrally pulled out for replacing berthing places, and only the fixed steel pipe piles 2 can be reserved, so that the sliding berth frame can be conveniently and rapidly deployed for the second time.
The pin hinges 4 are connected with the fixed steel pipe piles 2 through the pile heads 3 in a threaded manner, so that the sliding berth frames are convenient to split and combine, and the fixed steel pipe piles 2 which are embedded and installed at different positions of the river and lake shorelines can be matched to form combined sharing.
One end of the U-shaped groove support 6 is hinged with the pin hinge 4, the U-shaped groove support 6 is placed along the river and lake bank slope 1, a sliding rod 5 is fixed in the U-shaped groove support 6, a sliding ring 8 is sleeved on the sliding rod 5, the sliding ring 8 is used for being connected with a floating type ship lock (for example, through a cable), namely, the U-shaped groove support 6, the sliding rod 5 and the sliding ring 8 form a sliding track, and the floating type ship lock is slidingly arranged on the sliding track. The structure cooperation of the slide bar 5 and the slide ring 8 is convenient for the floating type ship lock to dynamically adjust the elevation along with the water level change, and effectively ensures that the locking structure cooperates with the unmanned ship to adapt to the frequent change of the water level of the medium and small rivers and the marginal line of the water area.
The slide bar 5 and the U-shaped groove support 6 are fixedly connected to form a whole, so that the placement angle of the U-shaped groove support 6 can adapt to the complex bank slope topography characteristics of a river, a lake and a beach. The sliding rod 5 is embedded in the middle part of the U-shaped groove bracket 6 (as shown in figure 2), and the purpose of the sliding rod is that the U-shaped groove bracket 6 can provide a protected safety space for the sliding rod 5 to prevent the slip ring 8 from sliding along the sliding rod 5 due to the blocking of mud and weeds on the river and lake beach; rubber embedded anti-collision bars are arranged on two sides of a U-shaped end formed by the cross section of the U-shaped groove bracket 6, so that impact buffering and hull surface protection can be provided.
As shown in fig. 4, the floating guide rail can integrally float on the water surface of the river and the lake, and the open end faces the open water area so as to guide the bow of the unmanned ship to accurately travel to the locking area; the floating guide rail is hinged with the floating dolphin lock, and can provide small-range and small-amplitude guiding correction for the movement direction and stop position of the bow part of the harbor unmanned ship.
Specifically, the floating guide rail comprises two guide rail fixing seats 7, two guide rails 16 fixedly connected with the guide rail fixing seats 7 and opened at a certain angle, and an elastic rope 46 connecting the two guide rails 16, wherein the two guide rail fixing seats 7 are respectively hinged at two ends of the floating type ship lock, and soft foam materials are sleeved outside the guide rails 16 to protect the ship body and effectively support the guide rails to float on the water surface; the elastic cord 46 is used to effectively control the opening angle of the guide rail 16 and at the same time to guide the ship or the dolphin lock in mutually adjusted directions to ensure that the bow of the unmanned ship is directed to the lock body structure.
The floating type ship lock and the floating guide rail are hinged to form a whole, a GPS positioning device and an electronic compass are arranged, the accurate position and the azimuth of the water surface where the lock body structure is positioned can be acquired in real time, a photoelectric detector is arranged, whether the unmanned ship is parked or leaves a locking area can be checked and judged, an automatic mechanical device is arranged in the automatic ship lock, and locking and unlocking actions can be executed according to instructions of an upper computer.
Specifically, the floating type ship lock comprises a lock box body, a locking device, a combined floating block and protective equipment, wherein the combined floating block and the protective equipment are arranged on the lock box body, and the locking device comprises a lock tongue 33, a lock tongue telescopic system and a lock tongue rotating system which are arranged in the lock box body.
As shown in fig. 4 and 5, the latch bolt telescopic system comprises a latch bolt telescopic motor 26, a screw rod 32, a gear 34, a rack 37 and a pinch roller 36; the bolt telescopic system pushes or pulls the bolt 33 to complete the extending or contracting action according to the control instruction of the upper computer, so that the bolt 33 enters the anti-collision fence of the ship or withdraws from the anti-collision fence of the ship, the bolt is in an extending state when the lockset is locked, and the bolt is in a contracting state when the lockset is unlocked. The bolt telescopic motor 26 is in butt joint with the screw rod 32 through the coupler 28; a transmission gear 34 is sleeved at a corresponding position of each lock tongue in the axial direction of the screw 32; the transmission gear 34 is in meshed contact with the rack 37; the pressing wheel 36 is a supporting structure with certain elasticity, and the radius of the gear 34 is in meshed contact coordination with the rack 37 through pressing the rack 37 by the pressing wheel 36; rotation of the gear 34 drives the rack 37 to extend or retract, and the bolt 33 is pushed or pulled to extend or retract through the universal joint 43. Wherein, the spring bolt telescopic motor 26 is a stepping motor, and the extension or contraction stroke of the spring bolt can be accurately controlled by combining the rotation steps of the motor with the radius of the gear 34 and the modulus of the rack 37. The bolt telescopic motor 26 controls each bolt to simultaneously complete the extending or contracting work, thereby ensuring the consistency of the locking and unlocking states of the lockset.
As shown in fig. 6, the latch bolt rotating system comprises a latch bolt rotating motor 27, a worm 31 and a turbine 35; the lock tongue rotating system controls the lock tongue 33 to be in a vertical state or a horizontal state according to the instruction of the upper computer, the lock is in an unlocking state when the lock tongue is vertical, and the lock is in a locking state when the lock tongue is horizontal. The lock tongue rotating motor 27 is in butt joint with the worm 31 through a coupler; a transmission turbine 35 is sleeved at the corresponding position of each lock tongue in the axial direction of the worm 31; the turbine 35 is in meshing contact with the worm 31, and the turbine 35 rotates to drive the lock tongue 33 to rotate, so that the hooking section of the lock tongue 33 is controlled to be in a vertical or horizontal state. Wherein, the lock tongue rotating motor 27 is a stepping motor, the rotating angle of the lock tongue can be precisely controlled by combining the rotating steps of the motor with the radius of the turbine 354 and the modulus of the worm 31, and the lock tongue 33 can be controlled to be in a vertical or horizontal state by controlling the lock tongue 33 to rotate by 90 degrees. The lock tongue rotating motor 27 controls each lock tongue to simultaneously complete the rotating action, thereby ensuring the consistency of the locking and unlocking states of the lockset.
When the unlocking action is executed, the lock tongue 33 is controlled by the lock tongue rotating system to be in a vertical state, and then the lock tongue 33 is controlled by the lock tongue telescopic system to be in a contracted state; when the locking action is executed, the bolt 33 is controlled by the bolt telescopic system to be in an extending state, and then the bolt 33 is controlled by the bolt rotating system to be in a horizontal state. The floating type dolphin lock is provided with a plurality of automatic locks, the plurality of locks are controlled by the same bolt telescopic motor 26 and the same bolt rotating motor 27, the width of a locking area can be properly controlled by adjusting the parallel number of the plurality of locks, and the overall difficulty and the control precision requirement of the unmanned ship in port entering and locking can be reduced, so that the reliability of successful locking is improved.
The lock box body is provided with photoelectric detectors 13 at two ends close to the lock tongue side, and is mainly used for detecting the condition of the ship on shore and off shore, is connected with an on-site controller through signals and power cables, and timely collects and detects whether the ship finishes the state information on shore or off shore. After the photoelectric detector 13 judges that the unmanned ship enters the locking area, the local controller controls the floating type mooring lock to execute locking action; after the photoelectric detector 13 determines that the unmanned ship leaves the unlocking area, the on-site controller controls the floating dolphin lock to execute unlocking action.
A positioning device 11 (such as a GPS antenna) is arranged at the top of the lock box body, so that accurate coordinate information of the water surface of the river and the lake where the floating type dolphin lock is positioned can be conveniently sensed in real time; an electronic compass 12 is arranged in the lock box body, so that the floating direction of the river and lake water surface where the floating type ship lock is positioned can be conveniently sensed in real time. The electronic compass 12 is connected with the local control through a signal and power cable, timely acquires coordinate and direction information through the local control, and can be reported to the unmanned ship control system through a network for adjusting navigation direction and speed and determining a berthing target point before the unmanned ship approaches the shore to the berthing locking area.
The lock protection device comprises a mounting bracket 42, a guide cover 38 and a protection cover 39; the mounting bracket 42 is fixed in the lock box body and is used for fixing the mechanical device and other parts of the floating type dolphin lock; the guide cover 38 and the protection cover 39 are tightly attached to the lock box body and are fixed, the guide cover 38 is used for guiding the offshore ship mooring anti-collision fence to enter the lock bolt grid groove, protection can be provided for the lock bolt part of the lock body structure, the protection cover 39 is of an elastic folding structure, anti-collision protection can be provided for the neutral position between adjacent lock bolts, impact force brought by a ship to the lock is effectively buffered, and therefore the service life of the lock is effectively prolonged.
The combined floating blocks 25 are arranged on two sides of the lock box body, the water surface elevation where the floating type dolphin lock is located can be accurately controlled by configuring the volumes of the floating blocks, the relative position relationship between the lock box body and the ship along the elevation direction can be conveniently regulated and controlled, and the lock body structure and the locking barrier on the ship are ensured to be matched in a coordinated manner.
The lock box body is also provided with a tying locking ring 47 and a shore fixing ring 45 (shown in figure 4), and the tying locking ring 47 is connected with the slip ring 8 through a steel wire rope so as to form connection with a river, a lake and a beach; the shore fixing ring 45 is pulled by a rope shore fast to control the floating direction of the floating type ship lock at a small angle.
The dolphin anti-collision fence 14 is a special lock frame configured by the unmanned ship according to the dolphin locking action and structural characteristics, provides a locking ring and can form a certain protection for the front end of the ship; the ship anti-collision fence 14 is arranged at the ridge line part of the ship bottom of the unmanned ship, the ship anti-collision fence 14 can promote the front anti-collision capability of the unmanned ship, and can be used as a ship locking hook, namely, the ship anti-collision fence 14 is a lock catch which is arranged on the unmanned ship and can be locked by a ship lock, and the lock catch is matched with the lock tongue 33 to realize unlocking and locking.
As shown in fig. 3, the local controller includes an equipment box 17, a box power supply 18, a distribution board 19, a main control board 20, a wireless communication module 21, a stepper motor driver 22, and a GPS board 23. The box power supply 18 is connected with the main control board 20 through the distribution board 19, and the wireless communication module 21, the stepping motor driver 22 and the GPS board 23 are all connected with the main control board 20. The main control board 20 is a core component responsible for commanding and controlling the work of each component of the local controller, is matched with special control software, mainly realizes management functions of power supply, communication, acquisition, control and the like of the unmanned ship automatic shore system, and is internally provided with matched software responsible for data acquisition, instruction analysis and action control and information exchange with the unmanned ship and an upper computer of a control center of the unmanned ship.
The local controller is fixed on the river and lake water surface beach, is connected with sensing terminals such as a floating type dolphin lock positioning device 11, an electronic compass 12, a photoelectric detector 13 and the like through a signal and power cable, and is also connected with a lock tongue telescopic motor 26 and a lock tongue rotary motor 27; the main control board 20 in the local controller collects differential GPS coordinate information of the position of the floating type dolphin lock, where the positioning device 11 is installed, in real time through the built-in GPS board 23, collects azimuth information of the floating type dolphin lock in real time through the electronic compass 12, and controls the mechanical locking device of the unmanned ship to execute unlocking and locking actions in real time through the operation of the lock tongue telescopic motor 26 and the lock tongue rotary motor 27 through the stepping motor driver 22.
The shore-based command center generally controls the unmanned ship to enter and exit the berth, and unified management of the unmanned ship, the on-site controller and the shore-based command system is realized.
The device of the invention mainly comprises the following installation processes:
(1) After determining the dock location to be deployed for unmanned ship automatic application, the fixed steel pipe pile 2 and pile head 3 shown in fig. 1 are knocked as a whole or buried in the river and lake beach, and the location selected by the fixed steel pipe pile 2 should properly consider the relatively stable and relatively steep area of the bank slope and can adapt to the elevation change of the river and lake water level to the greatest extent.
(2) Mounting the pin hinge 4 shown in fig. 1 and the berth frame component shown in fig. 2; the lock body structural components and the floating guide rails of the floating type dolphin lock 10 shown in fig. 4 are connected, and combined floating blocks 25 are preliminarily arranged at two ends of the lock body structure to ensure that the floating type dolphin lock 10 can float on the water surface freely, and after the positioning device 11 shown in fig. 1 is installed, the number of the combined floating blocks 25 is adjusted again to ensure that the water surface elevation where the lock body structure is positioned is matched with the unmanned ship anti-collision fence structure.
(3) The lock body structure of the lock slip ring 8 and the floating type ship lock 10 shown in fig. 1 is connected through a steel wire rope 9; after the on-site controller shown in fig. 3 is installed and fixed on the river, lake and beach safety elevation, the on-site controller is connected with the floating type mooring lock 10 through a wire harness 24; after testing, it was confirmed that floating dolphin lock 10 was powered effectively, and that the control and signal acquisition signals were clear.
(4) And the dismantling process is opposite, but the devices such as the fixed steel pipe pile 2, the sliding berth frame or the floating type dolphin lock 10 can be combined and reserved so as to be convenient for later recycling.
The unmanned ship is locked by the following steps:
(1) The on-site control receives the unmanned ship or the upper computer instruction, confirms that the unmanned ship is subsequently executed to approach the berth on the shore, and confirms that the floating dolphin lock 10 is in an open and closed state and that the lock tongue 33 is vertically downward and in a contracted state.
(2) The local controller collects the position information of the positioning device 11 on the floating dolphin 10 in real time, the azimuth information of the electronic compass 12 in the floating dolphin 10, and monitors and detects the state information of the photoelectric detector 13 in real time. The local controller utilizes the GPS coordinate information of the base station and the GPS information of the floating type dolphin lock 10 to perform real-time joint calculation to form high-precision differential GPS coordinate information; and then, coordinate correction conversion is carried out to generate position coordinates of the central point of the position where the lock tongue 33 is positioned and azimuth data information, and the position coordinates and azimuth data information are reported to the quasi-shore ship in real time.
(3) According to dock berth information reported by the local controller, the unmanned ship intelligently controls the ship to travel along the land according to the rule by the built-in automatic navigation control system, mainly controls the navigation speed, the heading and the bow position coordinates of the ship on the land, and particularly controls the navigation speed strictly within the range of 5m of the boarding dock, and meanwhile, the unmanned ship actively reports the navigation parameters of the ship to the upper computer and the local controller.
(4) After the unmanned ship enters the berthing area, the floating guide rail can properly guide the ship or the ship lock to mutually adjust. After the photoelectric detection sensor 13 confirms that the unmanned ship anti-collision fence 13 enters the locking position, the device and the system execute subsequent actions.
(5) The local controller controls the bolt telescopic motor 26 shown in fig. 4 to start to rotate positively, the shaft coupler 28 drives the screw rod 32 and each gear 34 to rotate, and the rack 37 supports the universal joint 43 and the bolt 33 to extend outwards for a specified length under the interaction of the pressing wheel 36 and the gears 34.
(6) The local controller controls the lock tongue rotating motor 27 shown in fig. 4 to start to rotate positively, the worm 31 is driven to rotate positively through the shaft coupler 29, the worm 31 drives each turbine 35 to rotate positively, the turbines 35 push the lock tongue 33 to rotate 90 degrees from vertical to horizontal, and the universal joint 43 ensures that the rotation of the lock tongue 33 does not influence the telescopic transmission structure of the lock tongue.
The local control confirms that the execution of the shore blocking task is completed, and sends a state instruction to the upper computer, and meanwhile, local detection, coordinate and azimuth acquisition and information reporting strategies are adjusted. The invention performs the task of closing the lock.
The unmanned ship unlocking offshore process and mode are as follows:
(1) And the local control receives the instruction of the unmanned ship or the upper computer, and confirms that the unmanned ship executes the offshore task.
(2) The local controller controls the lock tongue rotating motor 27 shown in fig. 4 to start to reversely rotate, the worm 31 is driven to reversely rotate through the shaft coupler 29, the worm 31 drives each turbine 35 to reversely rotate, the turbines 35 push the lock tongue 33 to rotate 90 degrees from horizontal to vertical, and the universal joint 43 ensures that the rotation of the lock tongue 33 does not influence the telescopic transmission structure of the lock tongue.
(3) The local controller controls the bolt telescopic motor 26 shown in fig. 4 to start to reversely rotate, the shaft coupler 28 drives the screw rod 32 and each gear 34 to rotate, and the rack 37 supports the universal joint 43 and the bolt 33 to retract inwards by a fixed length under the interaction of the pressing wheel 36 and the gears 34.
And the unmanned ship executes the offshore action of the ship according to the instruction of the upper computer. The local controller judges whether the unmanned ship anti-collision fence leaves the locking position according to the real-time feedback information of the photoelectric detector 13. Once the local control confirms that the unlocking task is finished, a state instruction is sent to the upper computer, and photoelectric detection, coordinate and azimuth acquisition and information reporting strategies are adjusted.
The device and the system are part of the whole process operation management equipment of the unmanned ship, the operation management of the device and the unmanned ship is controlled by the command and dispatch software of the upper computer, and the control system can be realized by the prior art.
The invention is mainly used for the route control of the remote unmanned small-sized ship entering and exiting the berth, the locking or unlocking control and actions during the landing or the offshore, can conveniently and rapidly arrange the unmanned ship berth, can provide the automatic positioning and orientation information of the beach berth, can realize the functions of automatic accurate tracking entering and automatic locking of the unmanned ship, and fully meets the unmanned on-duty requirement of the unmanned ship operation management in the dynamically-changed river and lake waters.
The foregoing is merely illustrative embodiments of the present invention, and the present invention is not limited thereto, and any changes or substitutions that may be easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention.
Claims (8)
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| CN113338224B (en) * | 2021-07-28 | 2022-06-14 | 广东海洋大学 | Automatic device of tying ship alongside of unmanned ship |
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