CN110510063A - A kind of unmanned boat berths fixed system - Google Patents
A kind of unmanned boat berths fixed system Download PDFInfo
- Publication number
- CN110510063A CN110510063A CN201910653442.9A CN201910653442A CN110510063A CN 110510063 A CN110510063 A CN 110510063A CN 201910653442 A CN201910653442 A CN 201910653442A CN 110510063 A CN110510063 A CN 110510063A
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- China
- Prior art keywords
- unmanned boat
- bar
- berths
- fixed
- check cable
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Ship Loading And Unloading (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention discloses a kind of unmanned boat and berths fixed system, the fixed part including being located at predetermined berth, and the movable part being mounted on unmanned boat；Movable part includes one being mounted on unmanned boat and blocking bar, block the mounting height that highest point height under bar original state is lower than check cable, when unmanned boat is located between two limit doors by the part that bar is blocked in installation on first of limit door and unmanned boat, blocks bar and stretch out or turn to the mounting height that highest point is higher than check cable.The present invention moves forward and backward space by block that bar and check cable collective effect limit unmanned boat, limit the left and right displacement space of the two columns limit unmanned boat of door, realize the fixation of berthing of unmanned boat, whole device structure is simple, the control module and power plant module carried using unmanned boat, cooperates simple ancillary equipment that can achieve the goal, while ensuring to berth efficiency, cost will not be increased considerably again, and there is wide utilization prospect.
Description
Technical field
The present invention relates to unmanned boat technical field, it is specifically related to a kind of unmanned boat and berths fixed system.
Background technique
Unmanned boat is that one kind may not need remote control, can be existed according to preset task by precise satellite positioning and self-sensor
The Full-automatic water surface robot of surface navigation, english abbreviation USV.Now, many countries have started to develop unmanned boat.Some ships
Perhaps, industry giant even optimistic prediction: only needing decades, and " Ghost Ship " technology of mature will rewrite global transport by sea
Looks.Separately there is people in the industry, it is expected that global unmanned boat is likely to be breached about 10,000,000,000 dollars for market scale 2019 and (is roughly equal to the people
61,800,000,000 yuan of coin).
Compared to traditional ship, unmanned boat is a kind of safer, the easier novel ship of operation.With society to safety,
The requirement of efficiency, return rate etc. is higher and higher, and unmanned boat will necessarily obtain swifter and more violent development.But with unmanned boat developing state
Support or oppose when, the berthing technique development of unmanned boat is very slow, and the people of concern and research is also less, main at present or artificial ginseng
With unmanned boat is docked in designated position, not only inefficiency, but also higher to the technical requirements for the personnel of bringing to, is otherwise easy
Unmanned boat hull is damaged, or even the cargo or electronic component of its carrying can be damaged.
There are also the automatic mooring systems of device on high-end unmanned boat, such as the patent text of Publication No. CN106896815A
A kind of automatic mooring system of unmanned boat disclosed in part and method realize stopping automatically for unmanned boat by the way of image recognition
Pool.A kind of automatic mooring system of unmanned boat and method are disclosed in the patent document of Publication No. CN109285389A, based on super
Sound wave, GPS and camera, the precision that Lai Tigao berths.Nobody is realized to substitute hawser using magnetic force mooring arrangement there are also some
Ship berths.Above scheme, ignores except the shortcomings that each technology itself can exist, and it is more complicated to there is structure, to auxiliary equipment
It is required that high, the problem of working service inconvenience.For civilian or low side scientific research unmanned boat, cost payout and income are obvious not
Symbol, it is not very practical.
Summary of the invention
Goal of the invention: present invention aims in view of the deficiencies of the prior art, providing, a kind of structure is simple, low-cost
Unmanned boat berths fixed system.
Technical solution: unmanned boat of the present invention berths fixed system, the fixed part including being located at predetermined berth, and
The movable part being mounted on unmanned boat；
The fixed part includes two being large enough to hold the limit door that unmanned boat passes through, and the crossbeam of the limit door is to block
Rope, the mounting height of check cable are higher than the hull height of unmanned boat；
The movable part includes a bar that blocks being mounted on unmanned boat, described to block highest point height under bar original state
Degree is lower than the mounting height of the check cable, blocks bar by installation on first of limit door and unmanned boat in the unmanned boat
When part is located between two limit doors, the bar that blocks stretches out or turns to the mounting height that highest point is higher than check cable.
Further preferably technical solution is the present invention, and the check cable is flexible hawser.
Preferably, two columns of the limit door are fixed link, and the fixed link is fixed on the waters in predetermined berth,
The both ends of check cable are mounted on the top of two fixed links.
Preferably, the top of the fixed link is provided with Universal pulley, and the both ends of the check cable bypass described ten thousand respectively
To pulley, and a clump weight is hung respectively.
Preferably, the bar that blocks stretches or rotates under driving device driving, and the driving device is mounted on unmanned boat
On, and be electrically connected with the dynamical system of the unmanned boat.
Preferably, the driving device is electrically connected with the control module of unmanned boat, under the control module control of unmanned boat
It works, bar is blocked described in driving and stretches or rotates.
Preferably, the driving device is located in the middle part of the fore of the unmanned boat.
Preferably, one end end for blocking bar is mounted on the output shaft of driving device, the driving device driving
It is described block bar and turn to be parallel to horizontal plane or perpendicular to horizontal plane.
In the present invention when the unmanned boat to make a return voyage reaches setting position and course is consistent with setting course, i.e., pacify on unmanned boat
When dress blocks the part of bar by first of check cable, bar deformation is blocked in control module control driving device drive, or stretch out or
It turns to height and is higher than check cable, block the activity space of bar and check cable collective effect limitation unmanned boat.When unmanned boat departs
When, bar reset is blocked in control module control driving device drive.
The utility model has the advantages that (1) present invention moves forward and backward space by block that bar and check cable collective effect limit unmanned boat,
The left and right displacement space for limiting the two columns limit unmanned boat of door, realizes the fixation of berthing of unmanned boat, and whole device structure is simple,
The control module and power plant module carried using unmanned boat, is cooperated simple ancillary equipment that can achieve the goal, is ensuring to berth
While efficiency, and cost will not be increased considerably, there is wide utilization prospect；
(2) top of fixed link of the invention is provided with Universal pulley, and the both ends of check cable bypass Universal pulley respectively, and
A clump weight is hung respectively, this structure makes check cable have certain elasticity, plays buffering when blocking bar and check cable contacts
Effect avoids the hard collision of unmanned boat Yu other facilities, offsets bring impact force when unmanned boat berths, it is ensured that unmanned boat is certainly
The safety of body and boat-carrying weight, indirectly reduces the difficulty that unmanned boat berths；
(3) present invention works in practical application, bar manually can be blocked by the control module control of unmanned boat,
Requirement for artificial berthing technique is lower, needs not move through professional training, can also operate；Meanwhile the present invention can also be at nobody
Sensor is installed on ship hull and limit door, after sensor detects that unmanned boat enters berth, control module automatic control is blocked
Bar deformation is hindered, realization is berthed automatically.
Detailed description of the invention
Fig. 1 is that unmanned boat of the invention berths the structural schematic diagram of fixed system；
In figure, 1- fixed link, 2- Universal pulley, 3- check cable, 4- clump weight, 5- driving device, 6- block bar, 7- nobody
Ship.
Specific embodiment
Technical solution of the present invention is described in detail below by attached drawing, but protection scope of the present invention is not limited to
The embodiment.
Embodiment: a kind of unmanned boat berths fixed system, including being located at the fixed part in predetermined berth, and is mounted on nothing
Movable part on people's ship 7.
Fixed part includes the limit door of two groups of same structures, and the distance between two groups of limit doors are according to the length of unmanned boat 7
Degree determines, it is ensured that mooring system has certain operating space and time.
Limit door is inverted U-shaped, and two fixed links 1 are as the column for limiting door, and distance can basis between two fixed links 1
Depending on the performance of 7 control system of unmanned boat.
A Universal pulley 2 is installed on the top of two fixed links 1 respectively, and the both ends of check cable 3 bypass Universal pulley 2 respectively, and
A clump weight 4, crossbeam of the check cable 3 as limit door are hung respectively.Check cable 3 is moved in stress along Impact direction, and
It sets back under the action of clump weight 4, to play buffer function when blocking bar 6 and check cable 3 contacts.
Movable part includes driving device 5 and blocks bar 6.Driving device 5 is mounted in the middle part of the fore of unmanned boat 7, driving
Device 5 and dynamical system, the control module of unmanned boat 7 are electrically connected, and the dynamical system of unmanned boat 7 is that driving device 5 provides
Electric power, control module are that driving device 5 provides enabling signal.
One end end for blocking bar 6 is mounted on the output shaft of driving device 5, is blocked and is parallel to water under 6 original state of bar
Plane, when the unmanned boat 7 to make a return voyage reaches setting position and course is consistent with setting course, i.e., 7 fore of unmanned boat passes through first
When road check cable 3, the control module control drive of driving device 5 is blocked bar 6 and is turned to by being parallel to horizontal plane perpendicular to horizontal plane,
Block the activity space of bar 6 and 3 collective effect of twice check cable limitation unmanned boat 7.When unmanned boat 7 needs to depart, mould is controlled
The block control drive of driving device 5 blocks bar 6 and is parallel to horizontal plane by turning to perpendicular to horizontal plane, unlocks unmanned boat 7, unmanned boat
7 leave berth.
As described above, must not be explained although the present invention has been indicated and described referring to specific preferred embodiment
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
Various changes can be made in the form and details for it.
Claims (8)
- The fixed system 1. a kind of unmanned boat berths, which is characterized in that including the fixed part positioned at predetermined berth, and be mounted on Movable part on unmanned boat；The fixed part includes two being large enough to hold the limit door that unmanned boat passes through, and the crossbeam of the limit door is check cable, is blocked The mounting height for hindering rope is higher than the hull height of unmanned boat；The movable part includes a bar that blocks being mounted on unmanned boat, and described to block highest point height under bar original state low In the mounting height of the check cable, the part of bar is blocked by installation on first of limit door and unmanned boat in the unmanned boat When between two limit doors, the bar that blocks stretches out or turns to the mounting height that highest point is higher than check cable.
- The fixed system 2. unmanned boat according to claim 1 berths, which is characterized in that the check cable is flexible Hawser.
- The fixed system 3. unmanned boat according to claim 2 berths, which is characterized in that two columns of the limit door are solid Fixed pole, the fixed link are fixed on the waters in predetermined berth, and the both ends of check cable are mounted on the top of two fixed links.
- The fixed system 4. unmanned boat according to claim 3 berths, which is characterized in that the top of the fixed link is provided with Universal pulley, the both ends of the check cable bypass the Universal pulley respectively, and hang a clump weight respectively.
- The fixed system 5. unmanned boat according to claim 1 berths, which is characterized in that the bar that blocks drives in driving device Dynamic lower flexible or rotation, the driving device is mounted on unmanned boat, and is electrically connected with the dynamical system of the unmanned boat.
- The fixed system 6. unmanned boat according to claim 5 berths, which is characterized in that the driving device and unmanned boat Control module electrical connection works under the control module control of unmanned boat, and bar is blocked described in driving and stretches or rotates.
- The fixed system 7. unmanned boat according to claim 6 berths, which is characterized in that the driving device is located at the nothing In the middle part of the fore of people's ship.
- The fixed system 8. unmanned boat according to claim 6 berths, which is characterized in that one end end peace for blocking bar Bar is blocked on the output shaft of driving device, described in driving device driving turn to be parallel to horizontal plane or perpendicular to water Plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910653442.9A CN110510063B (en) | 2019-07-19 | 2019-07-19 | Unmanned ship berthing fixing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910653442.9A CN110510063B (en) | 2019-07-19 | 2019-07-19 | Unmanned ship berthing fixing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110510063A true CN110510063A (en) | 2019-11-29 |
| CN110510063B CN110510063B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910653442.9A Active CN110510063B (en) | 2019-07-19 | 2019-07-19 | Unmanned ship berthing fixing system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112509378A (en) * | 2020-11-16 | 2021-03-16 | 安徽科微智能科技有限公司 | Unmanned ship intelligent parking system and control method thereof |
| CN114735134A (en) * | 2022-04-12 | 2022-07-12 | 江苏大学 | Bank self-locking device of unmanned ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114735134A (en) * | 2022-04-12 | 2022-07-12 | 江苏大学 | Bank self-locking device of unmanned ship |
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| Publication number | Publication date |
|---|---|
| CN110510063B (en) | 2023-09-26 |
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