CN111196336A - Automatic shore-approaching ship tying system for unmanned ship - Google Patents
Automatic shore-approaching ship tying system for unmanned ship Download PDFInfo
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- CN111196336A CN111196336A CN202010122954.5A CN202010122954A CN111196336A CN 111196336 A CN111196336 A CN 111196336A CN 202010122954 A CN202010122954 A CN 202010122954A CN 111196336 A CN111196336 A CN 111196336A
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- lock
- mooring
- ship
- bolt
- floating
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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
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- 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
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- 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
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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
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
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- 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
Abstract
The invention provides an automatic landing system of an unmanned ship, which comprises a sliding type parking frame, a floating type landing lock, a floating type guide rail, a landing anti-collision fence, a control box and a site controller, wherein the sliding type parking frame comprises a sliding rail arranged along a river and lake beach, and the floating type landing lock is arranged on the sliding rail in a sliding manner; the floating type mooring lock and the floating type guide rail are connected to form a whole, and the floating type mooring lock comprises a locking device, a positioning device, an electronic compass and a photoelectric detector; the in-situ controller is used for communicating with the unmanned ship according to coordinate information and azimuth information acquired by the positioning device, the electronic compass and a judgment result of the photoelectric detector, commanding the unmanned ship to finish accurate in-shore or off-shore actions, and simultaneously controlling the locking device to execute locking or unlocking actions with the mooring anti-collision fence. The invention can rapidly lay the berth of the unmanned ship, can provide the automatic positioning and orientation information of the berth of the beach, and can realize the automatic and accurate tracking berth entering and automatic locking functions 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 docking and mooring system for an unmanned ship.
Background
China has a plurality of rivers, lakes and reservoirs, developed water systems and a plurality of lakes and reservoirs. In recent years, the phenomena of water ecological spaces such as reclaimed lakes, encroaching river and lake water areas, shorelines and the like sometimes occur; the total discharge amount of urban sewage is continuously increased, and the problem of water pollution is increasingly prominent; the eutrophication of the water body is continuously intensified, and the water environment quality is obviously reduced; the water ecological environment in the river and lake management protection range is seriously damaged, the health and life of some rivers and lakes are seriously threatened, and the current situation of water safety management in China is very severe. In order to increase the protection and management on the ecological environment of rivers and lakes, the nation has completely put forward the implementation opinions of the growth of rivers and lakes, the daily inspection and monitoring work on the water areas of rivers and lakes needs to be strengthened all over the country, and the field management work is very heavy.
The unmanned ship is rapidly developed in the technical field of modern civilian use, and the unmanned ship platform is used for carrying specialized facility equipment and forming an application combination, so that the unmanned ship can replace manpower to undertake all-around, all-weather and all-coverage river and lake patrol of river and lake water areas, and meanwhile, multi-target and quantitative monitoring and informatization remote management are realized.
At present, a small unmanned ship mainly adopts a manual throwing mode to finish water-like or water-out operation, and autonomous navigation is carried out when specific services are applied, namely, unmanned management is shown during specific operation, but the unmanned ship needs manual throwing or manual fishing when the operation is started or finished, and the unmanned management of automatic offshore, shore-approaching and automatic ship tying of the unmanned ship cannot be realized.
Disclosure of Invention
The invention aims to provide an automatic offshore and onshore mooring system for an unmanned ship, which can realize unmanned management of automatic offshore and onshore mooring of the unmanned ship.
The technical solution adopted by the invention is as follows:
an automatic landing system of an unmanned ship comprises a sliding type parking frame, a floating type landing lock, a floating type guide rail, a landing anti-collision fence, a control box and a site controller, wherein the sliding type parking frame is fixed on a river and lake water area shore base to form a wharf device and comprises a sliding rail arranged along a river and lake beach, and the floating type landing lock is arranged on the sliding rail in a sliding manner; the floating type mooring lock is connected with the floating type guide rail to form a whole, the floating type guide rail can integrally float on the water surface of rivers and lakes, the open end faces an open water area to guide the bow of the unmanned ship to move to a locking area of the floating type mooring lock, the floating type mooring 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 acquiring coordinate information and directions of the water surface of the rivers and lakes where the floating type mooring lock is located, and the photoelectric detector is used for judging whether the unmanned ship only moves into or leaves the locking area; the ship-tying anti-collision fence is a special lock frame configured by an unmanned ship according to the actions and structural characteristics of a ship-tying lock, the in-situ controller is used for communicating with the unmanned ship according to coordinate information and azimuth information acquired by a positioning device and an electronic compass which are configured on a floating ship-tying lock, commanding the unmanned ship to finish the action of going to the shore or off the shore, and controlling a locking device to lock or unlock the ship-tying anti-collision fence according to the judgment result of a photoelectric detector.
Furthermore, the sliding parking frame further comprises a fixed steel pipe pile and a pile head pin hinge, the top of the fixed steel pipe pile is provided with a pile head, the fixed steel pipe pile is embedded or knocked to deeply penetrate into a river and lake bank slope to form a fixing base of the beach parking position, and the pin hinge is connected with the fixed steel pipe pile through a pile head screw thread.
Furthermore, the sliding track comprises a U-shaped groove support, a sliding rod and a sliding ring, the U-shaped groove support is placed along a river and lake bank slope, one end of the U-shaped groove support is hinged with the 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 the floating type ship mooring lock.
Furthermore, the floating guide rail comprises two guide rail fixing seats, two guide rails which are fixedly connected with the guide rail fixing seats and are opened at a certain angle, and an elastic rope for connecting the two guide rails, wherein the two guide rail fixing seats are respectively hinged at two ends of the floating mooring lock.
Furthermore, the floating type mooring 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 or exits from the mooring anti-collision fence, the lock tongue is in a stretching state when the lock is locked, and the lock tongue is in a shrinking state when the lock is unlocked; the lock bolt rotating system is used for driving the lock bolt to rotate, so that the lock bolt hook code section is controlled to be in a vertical or horizontal state, the lock is in an unlocking state when the lock bolt is vertical, and the lock is in a locking state when the lock bolt is horizontal.
Furthermore, the spring bolt telescopic system comprises a spring bolt telescopic motor, a screw rod, a gear, a rack and a pinch roller, wherein the spring bolt telescopic motor is in butt joint with the screw rod through a coupler; a transmission gear is sleeved at the position corresponding to each lock tongue in the axial direction of the screw; the transmission gear is meshed and contacted with the rack; the pressing wheel is a supporting structure with certain elasticity, and the pressing wheel enables the radius of the gear and the meshing contact of the rack to be coordinated through pressing the rack; the gear rotates to drive the rack to extend or retract, the bolt is pushed or pulled to extend or retract through the universal joint, and the bolt extension motor is connected with the local controller.
Furthermore, 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 the position corresponding to each lock tongue in the axial direction of the worm; the worm wheel is in meshed contact with the worm, the worm wheel rotates to drive the lock tongue to rotate, and the lock tongue rotating motor is connected with the local controller.
Furthermore, 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 a local controller.
Furthermore, the floating type mooring lock also comprises a combined floating block and a lock protection device which are arranged on the lock box body, and the water surface elevation of the floating type mooring lock can be accurately controlled by configuring the volume of the floating block; the lock protection equipment comprises a mounting support, a guide cover and a protection cover, wherein the mounting support is fixed in a lock box body and used for fixing a mechanical device of the floating type mooring lock, the guide cover and the protection cover are tightly attached to the lock box body and fixed, the guide cover is used for guiding the shore-approaching ship mooring collision avoidance fence to enter the lock tongue grid groove, and the protection cover is of an elastic folding structure and used for providing anti-impact protection for the neutral position between adjacent lock tongues.
Further, the controller in situ includes the equipment box, case electric power, the distribution panel, the main control board, wireless communication module, step motor driver, the GPS board, case electric power passes through the distribution panel and is connected with the main control board, wireless communication module, step motor driver, the GPS board all is connected with the main control board, the main control board is the core component who is responsible for each part work of command control controller in situ, realize the power supply to the automatic system of logging in to unmanned ship, the communication, gather, control function, be responsible for data acquisition, the instruction is analytic, motion control, and be responsible for carrying out information exchange with unmanned ship and unmanned ship control center's host computer.
The invention has the following effective effects:
(1) the unmanned ship technology application system is promoted to realize all-weather and full-process unmanned management, and the unmanned management mode which generally needs manual operation and manual operation on the basis of the traditional unmanned ship retraction time period and the operation stopping time period at the present stage can be replaced. The device has obvious technical benefits for river and lake water areas where unmanned ships need to be frequently used, can reduce the labor intensity of workers and the safety risk of wading operation, and effectively improves the operation efficiency;
(2) the scheme of the unmanned ship wharf capable of being deployed rapidly is provided, is particularly suitable for the application work of unmanned ships in remote river reach and river and lake areas needing repeated or regular work, and is suitable for the actual needs of daily river patrol work of current river growth and lake growth;
(3) the unmanned ship has the characteristics of strong capability of adapting to environmental terrain, small structure, convenient deployment and the like, and can support the unmanned ship to realize the whole process unmanned management of high-precision landing, unlocking and offshore and berthing 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 action when the small-sized ship is in shore or off shore, can quickly lay the berth of the unmanned ship, can provide the automatic positioning and orientation information of the berth of the shore, can realize the automatic accurate tracking berth entering and automatic locking functions of the unmanned ship, and fully meets the unattended requirement of the operation management of the unmanned ship in the dynamically changed river and lake water area.
Drawings
FIG. 1 is a schematic diagram of the general structure of the unmanned ship automatic landing system;
FIG. 2 is a cross-sectional view of the docking cradle of the present invention;
FIG. 3 is a schematic diagram of the construction of the local controller of the present invention;
FIG. 4 is a schematic view of the floating dolphin lock of the present invention;
figure 5 is a cross-sectional schematic view of the lock body structure of the present invention;
figure 6 is a longitudinal sectional view 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-locking slide ring, 9-steel wire rope, 10-floating ship-tying lock, 11-positioning device, 12-electronic compass, 13-photoelectric detector, 14-ship-tying 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-bolt telescopic motor, 27-bolt rotary motor, 28-shaft coupler, 29-shaft coupler, 30-floating block mounting screw, 31-worm, 32-screw, 33-bolt, 34-gear, 35-turbine, 36-pressing wheel, 37-rack, 38-guide cover, 39-protective cover, 40-bearing, 41-foam filling, 42-mounting bracket, 43-universal joint, 44-floating block fixing cap, 45-shore fixing ring, 46-elastic rope, 47-tie lock ring.
Detailed Description
The technical solution 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 berthing and mooring system for an unmanned ship, which comprises a sliding parking frame, a floating mooring lock, a floating guide rail, a mooring anti-collision fence, a control box and a local controller.
The sliding berthing frame can be quickly fixed on a river and lake beach to form berthing of the unmanned ship, a shore end fixing facility which can adapt to the change of the water level height of the river and the lake and the change of the plane position of a water surface shoreline is provided for the floating mooring lock, and a sliding track is further arranged on the floating mooring lock, so that the floating mooring lock can dynamically adjust the elevation along with the change of the water level.
Specifically, as shown in fig. 1, the sliding parking frame includes a fixed steel pipe pile 2, a pile head 3, a pin hinge 4, a sliding rod 5, a U-shaped groove support 6, and a sliding ring 8.
The top of the fixed steel pipe pile 2 is provided with a pile head 3, which is convenient for knocking and burying the pile body, and the upper part of the fixed steel pipe pile 2 is provided with a jack, which is convenient for mechanically pulling out the pile body. The fixed steel pipe pile 2 is buried or knocked to deeply penetrate into a river and lake bank slope 1 to form a fixed base of a beach berth, and meanwhile, on the premise of mechanical assistance in pulling out, the sliding berth frame can be used repeatedly or at a replacement part, and is convenient for a user to deploy quickly. The sliding parking frame can be integrally pulled out for replacing parking places, and only the fixed steel pipe pile 2 can be reserved for facilitating secondary rapid deployment of the sliding parking frame.
The pin hinges 4 are in threaded connection with the fixed steel pipe piles 2 through pile heads 3, so that the sliding parking frame can be conveniently detached and combined, and the fixed steel pipe piles 2 which are pre-embedded and installed at different positions of a river and lake shoreline can be matched to form combination and sharing.
One end of a U-shaped groove support 6 is hinged to a pin hinge 4, the U-shaped groove support 6 is placed along a 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, and the sliding ring 8 is used for being connected with a floating type ship tying lock (for example, connected through a cable), namely the sliding rail is formed by the U-shaped groove support 6, the sliding rod 5 and the sliding ring 8, and the floating type ship tying lock is arranged on the sliding rail in a sliding mode. The sliding rod 5 and the sliding ring 8 are matched in structure, so that the floating type mooring lock can dynamically adjust the elevation along with the change of the water level, and the locking structure and the unmanned ship can be effectively ensured to adapt to the frequent changes of the water level of medium and small rivers and the boundary line of the water area.
The slide bar 5 and the U-shaped groove support 6 are fixedly connected to form a whole body so as to ensure that the installation angle of the U-shaped groove support 6 can adapt to the complex slope topographic characteristics of the river and lake shoals. The slide bar 5 is inlaid in the middle of the U-shaped groove support 6 (as shown in fig. 2), and the purpose of the slide bar is that the U-shaped groove support 6 can provide a protected safe space for the slide bar 5, so that the slide ring 8 is prevented from being influenced by soft mud and weed retardation of a river and lake beach; rubber embedded sleeve anti-collision rods are arranged on two sides of a U-shaped end formed by the cross section of the U-shaped groove support 6, so that collision buffering and ship surface protection are facilitated.
As shown in fig. 4, the floating guide rail can float on the water surface of rivers and lakes as a whole, and the open end faces to the open water area, so that the bow of the unmanned ship can be guided to accurately advance to the locking area; the floating guide rail is hinged with the floating mooring lock, and can provide small-range and small-amplitude guide correction for the movement direction and the 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 which are fixedly connected with the guide rail fixing seats 7 and are opened at a certain angle, and an elastic rope 46 for connecting the two guide rails 16, wherein the two guide rail fixing seats 7 are respectively hinged to two ends of the floating mooring lock, and a soft foam material is sleeved outside the guide rails 16 so as 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 can be guided to the ship or the direction of mutual adjustment of the ship-mooring locks to ensure that the bow of the unmanned ship points to the lock body structure.
The floating type mooring lock is hinged with the floating type guide rail to form a whole, a GPS positioning device and an electronic compass are arranged, the accurate position and the direction of the water surface where the lock body structure is located can be collected in real time, a photoelectric detector is arranged, whether the unmanned ship only enters or leaves a locking area can be verified and judged, an automatic mechanical device is arranged in the lock, and locking and unlocking actions can be executed according to instructions of an upper computer.
The floating type mooring lock comprises a lock box body, a locking device, a combined floating block and a protective device, wherein the combined floating block and the protective device 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 bolt retracting system includes a bolt retracting motor 26, a screw 32, a gear 34, a rack 37 and a pinch roller 36; the bolt telescopic system pushes or pulls the bolt 33 to complete stretching or shrinking actions according to the control instruction of the upper computer, so that the bolt 33 enters or exits from the ship-tying anti-collision fence, the bolt is in a stretching state when the lock is locked, and the bolt is in a shrinking state when the lock is unlocked. The bolt telescopic motor 26 is in butt joint with the screw 32 through a coupler 28; a transmission gear 34 is sleeved at the position corresponding to each lock tongue in the axial direction of the screw 32; the pinion 34 is in meshing contact with the rack 37; the pressing wheel 36 is a supporting structure with certain elasticity, and the pressing wheel 36 presses the rack 37 to enable the radius of the gear 34 and the rack 37 to be meshed, contacted and coordinated; the rotation of the gear 34 drives the rack 37 to extend or retract, and the universal joint 42 pushes or pulls the bolt 33 to extend or retract. The bolt extension motor 26 is a stepping motor, and the number of rotation steps of the motor can accurately control the extension or retraction stroke of the bolt by combining the radius of the gear 34 and the modulus of the rack 37. The bolt extension motor 26 controls each bolt to simultaneously complete extension or retraction, thereby ensuring the consistency of the locking and unlocking states of the lock.
As shown in fig. 6, the latch bolt rotating system includes a latch bolt rotating motor 27, a worm 31, and a worm wheel 35; the lock bolt rotating system controls the lock bolt 33 to be in a vertical or horizontal state according to an instruction of an upper computer, the lock is in an unlocking state when the lock bolt is vertical, and the lock is in a locking state when the lock bolt is horizontal. The bolt rotating motor 27 is in butt joint with the worm 31 through a coupler; a transmission turbine 35 is sleeved at the position corresponding to each lock tongue in the axial direction of the worm 31; the worm wheel 35 is in meshed contact with the worm 31, and the worm wheel 35 rotates to drive the bolt 33 to rotate, so that the hook code section of the bolt 33 is controlled to be in a vertical or horizontal state. The bolt rotating motor 27 is a stepping motor, the rotating angle of the bolt can be accurately controlled by combining the rotating steps of the motor with the radius of the worm wheel 354 and the modulus of the worm 31, and the bolt 33 can be controlled to rotate 90 degrees, so that the bolt 33 can be controlled to be in a vertical state or a horizontal state. The bolt rotating motor 27 controls each bolt to complete the rotation action at the same time, thereby ensuring the consistency of the locking and unlocking states of the lockset.
When the unlocking action is executed, the bolt rotating system controls the bolt 33 to be in a vertical state, and then the bolt stretching system controls the bolt 33 to be in a contracted state; when the locking action is executed, the bolt extension system controls the bolt 33 to be in the extending state, and then the bolt rotation system controls the bolt 33 to be in the horizontal state. The floating type mooring lock is provided with a multi-link automatic lock, the multi-link automatic lock is 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 number of the multi-link parallel locks, the overall difficulty and the control precision requirement of the unmanned ship in port locking can be reduced, and the reliability of successful locking is improved.
The two ends of the lock box body close to the bolt are provided with photoelectric detectors 13 which are mainly used for detecting the landing and offshore conditions of ships, are connected with a local controller through signals and power cables, and timely collect and detect whether the ships finish the landing or offshore state information. After the photoelectric detector 13 judges that the unmanned ship only enters the parking locking area, the in-situ controller controls the floating type ship-tying lock to execute locking action; after the photoelectric detector 13 judges that the unmanned ship leaves the locking area, the local controller controls the floating type ship-tying lock to execute unlocking action.
The top of the lock box body is provided with a positioning device 11 (such as a GPS antenna) which is convenient for sensing the accurate coordinate information of the river and lake water surface where the floating type mooring lock is positioned in real time; an electronic compass 12 is arranged in the lock box body, so that the floating direction of the lock of the floating type mooring boat on the water surface of the river or lake can be sensed in real time. The electronic compass 12 is connected with a local control through a signal and a power cable, collects coordinate and direction information in time through the local control, and reports the coordinate and the direction information to the unmanned ship control system through a network, so that the unmanned ship can adjust the navigation direction and speed and determine a parking target point position before the unmanned ship is landed into a parking locking area.
The lockset 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 parts such as a mechanical device of the floating type mooring lock; guide cover 38 and protection casing 39 are hugged closely the tool to lock box and are fixed, and guide cover 38 is used for guiding the anti-collision fence of the ship of logging on the shore to advance to stay in the spring bolt check groove, can provide the protection for lock body structure spring bolt position, and protection casing 39 is elasticity beta structure, can provide the protecting against shock protection for the neutral position between the adjacent spring bolt, effectively cushions the impact that the ship brought for the tool to lock to effectively improve the tool to lock life-span.
The combined floating blocks 25 are arranged on the two sides of the lock box body, the water surface elevation where the floating type mooring lock is located can be accurately controlled by configuring the volumes of the floating blocks, the relative position relation between the lock box body and a ship along the elevation direction is convenient to regulate and control, and the lock body structure is guaranteed to be matched with a locking fence on the ship in a coordinated mode.
The lock box body is also provided with a locking ring 47 and a shore fixing ring 45 (shown in figure 4), and the locking ring 47 is connected with the sliding ring 8 through a steel wire rope so as to form connection with a river and lake beach; the shore fixing ring 45 can control the floating direction of the floating type mooring lock at a small angle through pulling of the mooring cable.
The mooring anti-collision fence 14 is a special lock frame configured by the unmanned ship according to the action and the structural characteristics of a mooring lock, provides a locking ring and can form certain protection for the front end of the ship; the ship-tying anti-collision fence 14 is installed at the ridge line position at the bottom of the bow of the unmanned ship, the ship-tying anti-collision fence 14 can improve the front anti-collision capacity of the unmanned ship and can be used as a ship body locking hook code, namely, the ship-tying anti-collision fence 14 is a lock catch which is arranged on the unmanned ship and can be locked by a ship-tying lock, and 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 electric power supply 18, a distribution board 19, a main control board 20, a wireless communication module 21, a stepping motor driver 22, and a GPS board 23. The box power supply 18 is connected with a main control board 20 through a 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, and is matched with special control software to mainly realize the management functions of power supply, communication, acquisition, control and the like of the unmanned ship automatic landing system, and the built-in matching software is responsible for data acquisition, instruction analysis and action control and is responsible for information exchange with the unmanned ship and an upper computer of an unmanned ship control center.
The site controller is fixed on a water surface beach of a river or lake, is connected with sensing terminals such as a positioning device 11, an electronic compass 12, a photoelectric detector 13 and the like on the floating mooring lock through signal and power cables, and is also connected with a bolt telescopic motor 26 and a bolt rotating motor 27; the main control board 20 in the local controller collects the difference GPS coordinate information of the position of the positioning device 11 on the floating type ship lock in real time through the built-in GPS board 23, collects the orientation information of the floating type ship lock in real time through the electronic compass 12, and controls the mechanical locking device of the unmanned ship to carry out unlocking and locking actions in real time through operating the bolt telescopic motor 26 and the bolt rotating 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 the unified management of the unmanned ship, the local controller and the shore-based command system is realized.
The main installation process of the device of the invention is as follows:
(1) after a wharf site to be deployed for automatic application of the unmanned ship is determined, the fixed steel pipe pile 2 and the pile head 3 shown in fig. 1 are knocked or buried in rivers and lake beaches as a whole, and the selected site of the fixed steel pipe pile 2 properly considers a relatively stable and relatively steep area of a bank slope and can adapt to the elevation change of river and lake water levels to the maximum extent.
(2) Mounting the pin hinge 4 shown in fig. 1 and the parking frame part shown in fig. 2; the lock body structure parts and the floating guide rails of the floating type mooring lock 10 shown in fig. 4 are connected, combined floating blocks 25 are preliminarily arranged at two ends of the lock body structure to ensure that the floating type mooring 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 to ensure that the water surface elevation of the lock body structure is adapted to the unmanned ship collision fence structure.
(3) The lock body structures of the mooring slide ring 8 and the floating mooring lock 10 shown in the figure 1 are connected through a steel wire rope 9; after the site controller shown in FIG. 3 is installed and fixed with the river and lake beach safety elevation, the site controller is connected with the floating type mooring lock 10 through a wire harness 24; after the test, the floating type mooring lock 10 is confirmed to be effective in power supply and smooth in signal acquisition and control.
(4) And the dismantling process is reversed, but the devices such as the fixed steel pipe pile 2, the sliding berthing frame or the floating mooring lock 10 and the like can be combined and reserved so as to be conveniently recycled at the later stage.
The process and the mode of locking the unmanned ship in the shore are as follows:
(1) the in-situ controller receives the instruction of the unmanned ship or the upper computer, confirms that the unmanned ship is in the shore to enter the berth task subsequently, confirms that the floating type mooring lock 10 is in the opening and closing state and the bolt 33 is in the vertical downward and contraction state.
(2) The local controller collects the position information of the positioning device 11 on the floating type mooring lock 10 and the azimuth information of the electronic compass 12 in the floating type mooring lock 10 in real time, and monitors and detects the state information of the photoelectric detector 13 in real time. The in-situ controller utilizes the GPS coordinate information of the base station and the GPS information of the floating type ship lock 10 to carry out real-time combined calculation to form high-precision differential GPS coordinate information; and then generating position coordinates and azimuth angle data information of the central point of the position where the bolt 33 is located through coordinate correction and conversion, and reporting to the ship to be landed in real time.
(3) The unmanned ship intelligently controls the ship to run alongside according to the rules according to the berth information of the wharf reported by the local controller and a built-in automatic navigation control system, mainly controls the speed, the course and the position coordinates of the bow of the ship, particularly strictly controls the speed within 5m of the berthing wharf, and simultaneously actively reports the navigation parameters of the ship to the upper computer and the local controller.
(4) After the unmanned ship drives into the docking area, the floating guide rails can properly guide the ship or the ship-mooring lock to be mutually adjusted in direction. After the photoelectric detection sensor 13 confirms that the unmanned ship collision avoidance column 13 enters the locking position, the device and the system execute subsequent actions.
(5) The controller controls the bolt extension motor 26 shown in fig. 4 to start to rotate in the forward direction, the screw 32 and each gear 34 are driven to rotate through the coupling 28, and the rack 37 supports the universal joint 43 and the bolt 33 to extend to the outside by a designated length under the interaction of the pinch roller 36 and the gear 34.
(6) The controller controls the bolt rotating motor 27 shown in fig. 4 to start to rotate in the forward direction, the worm 31 is driven to rotate in the forward direction through the coupling 29, the worm 31 drives each worm wheel 35 to rotate in the forward direction, the worm wheels 35 drive the bolts 33 to rotate 90 degrees from the vertical direction to the horizontal direction, and the universal joint 43 ensures that the bolts 33 can rotate without influencing the bolt telescopic transmission structure.
And (4) controlling to confirm the completion of the execution of the shore locking task in situ, sending a state instruction to the upper computer, and adjusting the strategies of in-situ detection, coordinate and azimuth angle acquisition and information reporting. The invention performs the task of locking.
The unmanned ship unlocking offshore process and mode are as follows:
(1) and (4) the local control receives the instruction of the unmanned ship or the upper computer, and confirms that the unmanned ship executes the offshore task in the subsequent process.
(2) The controller controls the bolt rotating motor 27 shown in fig. 4 to start reverse rotation, the worm 31 is driven to rotate reversely through the coupling 29, the worm 31 drives each worm wheel 35 to rotate reversely, the worm wheels 35 drive the bolts 33 to rotate 90 degrees from horizontal to vertical, and the universal joint 43 ensures that the bolts 33 do not influence the bolt telescopic transmission structure when rotating.
(3) The controller controls the deadbolt retracting motor 26 shown in fig. 4 to start rotating in the reverse direction, and drives the screw 32 and each gear 34 to rotate through the coupling 28, and the rack 37 retracts the support universal joint 43 and the deadbolt 33 inward by a certain length under the interaction of the pinch roller 36 and the gear 34.
And the unmanned ship executes the ship offshore action according to the upper computer instruction. And the in-situ controller judges whether the collision-prevention fence of the unmanned ship leaves the locking position according to the real-time feedback information of the photoelectric detector 13. Once the unlocking task is controlled and confirmed to be executed in situ, a state instruction is sent to the upper computer immediately, and meanwhile, photoelectric detection, coordinate and azimuth angle acquisition and information reporting strategies are adjusted.
The device and the system are part of the unmanned ship whole-process operation management equipment, the operation management of the device and the unmanned ship is controlled by the upper computer commanding and dispatching software, and the control system can be realized by means of 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 action when the small-sized ship is in shore or off shore, can conveniently and quickly lay the berth of the unmanned ship, can provide the automatic positioning and orientation information of the berth of the beach, can realize the automatic accurate tracking berth entering and automatic locking functions of the unmanned ship, and fully meets the unattended requirement of the operation management of the unmanned ship in the dynamically changed river and lake water area.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides an automatic system of going to shore of unmanned ship which characterized in that: the device comprises a sliding berth frame, a floating mooring lock, a floating guide rail, a mooring anti-collision fence, a control box and a site controller, wherein the sliding berth frame is fixed on a river and lake water area shore base to form wharf equipment and comprises a sliding rail arranged along a river and lake beach, and the floating mooring lock is arranged on the sliding rail in a sliding manner; the floating type mooring lock is connected with the floating type guide rail to form a whole, the floating type guide rail can integrally float on the water surface of rivers and lakes, the open end faces an open water area to guide the bow of the unmanned ship to move to a locking area of the floating type mooring lock, the floating type mooring lock comprises a locking device, a positioning device (11), an electronic compass (12) and a photoelectric detector (13), the positioning device (11) and the electronic compass (12) are respectively used for collecting coordinate information and directions of the water surface of the rivers and lakes where the floating type mooring lock is located, and the photoelectric detector (13) is used for judging whether the unmanned ship only enters or leaves the locking area; the ship-tying anti-collision fence is a special lock frame configured by an unmanned ship according to the actions and structural characteristics of a ship-tying lock, the in-situ controller is used for communicating with the unmanned ship according to coordinate information and azimuth information acquired by a positioning device (11) and an electronic compass (12) configured on the floating ship-tying lock, commanding the unmanned ship to finish the action of going to the shore or the shore, and controlling a locking device to lock or unlock the ship-tying anti-collision fence according to the judgment result of a photoelectric detector.
2. The unmanned marine vessel automatic shore mooring system of claim 1, wherein: the sliding type parking frame further comprises a fixed steel pipe pile (2) and a pile head (3) pin hinge (4), the pile head (3) is arranged at the top of the fixed steel pipe pile (2), the fixed steel pipe pile (2) is buried or knocked to penetrate into a river and lake bank slope (1) to form a fixed base of a beach parking position, and the pin hinge (4) is in threaded connection with the fixed steel pipe pile (2) through the pile head (3).
3. The unmanned marine vessel automatic shore mooring system of claim 2, wherein: the sliding track comprises a U-shaped groove support (6), a sliding rod (5) and a sliding ring (8), the U-shaped groove support (6) is placed along a river and lake bank slope (1), one end of the U-shaped groove support (6) is hinged to a pin hinge (4), the sliding rod (5) is fixed in the U-shaped groove support (6), the sliding ring (8) is sleeved on the sliding rod (5), and the sliding ring (8) is used for being connected with a floating type ship tying lock.
4. The unmanned marine vessel automatic shore mooring system of claim 1, wherein: the floating guide rail comprises two guide rail fixing seats (7), two guide rails (16) which are fixedly connected with the guide rail fixing seats (7) and are opened at a certain angle, and an elastic rope (46) for connecting the two guide rails (16), wherein the two guide rail fixing seats (7) are respectively hinged to two ends of the floating mooring lock.
5. The unmanned marine vessel automatic shore mooring system of claim 1, wherein: the floating type mooring lock further comprises a lock box body, the locking device is arranged in the locking device, the locking device comprises a lock tongue (33), 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 (33) to complete extending or retracting actions, so that the lock tongue (33) enters or exits from the mooring anti-collision fence, the lock tongue is in an extending state when the lock is locked, and the lock tongue is in a retracting state when the lock is unlocked; the lock bolt rotating system is used for driving a lock bolt (33) to rotate, so that the hook code section of the lock bolt (33) is controlled to be in a vertical or horizontal state, the lock is in an unlocking state when the lock bolt (33) is vertical, and the lock is in a locking state when the lock bolt (33) is horizontal.
6. The unmanned marine vessel automatic shore mooring system of claim 5, wherein: the bolt telescoping system comprises a bolt telescoping motor (26), a screw rod (32), a gear (34), a rack (37) and a pinch roller (36), wherein the bolt telescoping motor (26) is in butt joint with the screw rod (32) through a coupler (28); a transmission gear (34) is sleeved at the position corresponding to each lock tongue in the axial direction of the screw rod (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 pressing wheel (36) enables the radius of the gear (34) and the rack (37) to be meshed, contacted and coordinated through the pressing rack (37); the gear (34) rotates to drive the rack (37) to extend or retract, the bolt (33) is pushed or pulled to extend or retract through the universal joint (42), and the bolt extension motor (26) is connected with a local controller.
7. The unmanned marine vessel automatic shore mooring system of claim 5, wherein: the lock tongue rotating system comprises a lock tongue rotating motor (27), a worm (31), a turbine (35) and a lock tongue (33), wherein 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 position corresponding to each lock tongue in the axial direction of the worm (31); the worm wheel (35) is in meshed contact with the worm (31), the worm wheel (35) rotates to drive the bolt (33) to rotate, and the bolt rotating motor (27) is connected with a local controller.
8. The unmanned marine vessel automatic shore mooring system of claim 5, wherein: the top of the lock box body is provided with a positioning device (11), an electronic compass (12) is arranged in the lock box body, and the positioning device (11) and the electronic compass (12) are connected with a local controller.
9. The unmanned marine vessel automatic shore mooring system of claim 5, wherein: the floating type mooring lock also comprises a combined floating block and a lockset protection device which are arranged on the lockset box body, and the water surface elevation of the floating type mooring lock can be accurately controlled by configuring the volume of the floating block; the lock protection equipment comprises an installation support (42), a guide cover (38) and a protection cover (39), wherein the installation support (42) is fixed in a lock box body and used for fixing a mechanical device of the floating type mooring lock, the guide cover (38) and the protection cover (39) are tightly attached to the lock box body and fixed, the guide cover (38) is used for guiding the shore-approaching ship mooring anti-collision fence to enter a parking lock tongue grid groove, and the protection cover (39) is of an elastic folding structure and used for providing anti-collision protection for a neutral position between adjacent lock tongues.
10. The unmanned marine vessel automatic shore mooring system of claim 1, wherein: the site controller comprises an equipment box (17), a box electric power source (8), a distribution board (19), a main control board (20), a wireless communication module (21), a stepping motor driver (22) and a GPS board (23), wherein the box electric power source (18) is connected with the main control board (20) through the distribution board (19), the wireless communication module (21), the stepping motor driver (22) and the GPS board (23) are 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 site controller, the power supply, communication, collection and control functions of the unmanned ship automatic landing system are realized, and the site controller is responsible for data acquisition, instruction analysis and action control and is responsible for carrying out information exchange with an unmanned ship and an upper computer of an unmanned ship control center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122954.5A CN111196336A (en) | 2020-02-27 | 2020-02-27 | Automatic shore-approaching ship tying system for unmanned ship |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122954.5A CN111196336A (en) | 2020-02-27 | 2020-02-27 | Automatic shore-approaching ship tying system for unmanned ship |
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| CN111196336A true CN111196336A (en) | 2020-05-26 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112591015A (en) * | 2020-12-25 | 2021-04-02 | 宁波大学 | Protective device for intercepting large-scale moving object on water surface |
| CN113338224A (en) * | 2021-07-28 | 2021-09-03 | 广东海洋大学 | Automatic shore-approaching ship tying device for unmanned ship |
| CN113581373A (en) * | 2021-07-30 | 2021-11-02 | 哈尔滨工程大学 | Automatic hooking and unhooking device between ships |
| RU221649U1 (en) * | 2023-09-29 | 2023-11-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Государственный университет морского и речного флота имени адмирала С.О.Макарова" | MOORING DEVICE OF LOCK CHAMBER |
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2020
- 2020-02-27 CN CN202010122954.5A patent/CN111196336A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112591015A (en) * | 2020-12-25 | 2021-04-02 | 宁波大学 | Protective device for intercepting large-scale moving object on water surface |
| CN112591015B (en) * | 2020-12-25 | 2022-03-18 | 宁波大学 | Protective device for intercepting large-scale moving object on water surface |
| CN113338224A (en) * | 2021-07-28 | 2021-09-03 | 广东海洋大学 | Automatic shore-approaching ship tying device for unmanned ship |
| CN113338224B (en) * | 2021-07-28 | 2022-06-14 | 广东海洋大学 | Automatic device of tying ship alongside of unmanned ship |
| CN113581373A (en) * | 2021-07-30 | 2021-11-02 | 哈尔滨工程大学 | Automatic hooking and unhooking device between ships |
| CN113581373B (en) * | 2021-07-30 | 2022-06-17 | 哈尔滨工程大学 | Automatic hooking and unhooking device between ships |
| RU221649U1 (en) * | 2023-09-29 | 2023-11-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Государственный университет морского и речного флота имени адмирала С.О.Макарова" | MOORING DEVICE OF LOCK CHAMBER |
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