CN112009623A - Active capture type docking system for ship berthing - Google Patents
Active capture type docking system for ship berthing Download PDFInfo
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- CN112009623A CN112009623A CN202010881404.1A CN202010881404A CN112009623A CN 112009623 A CN112009623 A CN 112009623A CN 202010881404 A CN202010881404 A CN 202010881404A CN 112009623 A CN112009623 A CN 112009623A
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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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- 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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Abstract
The invention relates to an active capture type docking system for ship berthing, which comprises an active docking device and a passive docking device, wherein the active docking device is arranged on a berth shore base, the passive docking device is arranged at the bow of a ship, the active docking device comprises a processor, a mechanical arm, a capture docking structure and a visual guide structure, the passive docking device comprises a fixed structure, an adjustable mechanism and a docked structure, the docked structure comprises a docking head and a target, during docking, the processor performs visual guide control on the movement of the mechanical arm based on the visual guide structure and the target to enable the capture docking structure to capture and dock the docking head, and after the docking is successful, the capture docking structure is in locking fit with the docking head. Compared with the prior art, the system is stable and reliable, simple in structure and high in intelligent degree.
Description
Technical Field
The invention relates to the technical field of automatic ship berthing, in particular to an active capture type docking system for berthing a ship.
Background
When a ship sails on the water surface, when the ship arrives at a designated port or needs to be berthed at a berthing point midway, a rope carried along with the ship is often required to be thrown to the berthing point, and then an operator at the berthing point ties one end of the rope on a shore pile at the berthing point.
The traditional ship berthing method depends on manpower, and is time-consuming and inconvenient; meanwhile, the ship is fixed by the ropes, so that the ship body is very easy to knock against the bank under the influence of water waves, and safety accidents are easily caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an active capture type docking system for ship berthing, which is stable, reliable, simple in structure and high in intelligence degree.
The purpose of the invention can be realized by the following technical scheme:
an active capture type docking system for berthing a ship comprises an active docking device and a passive docking device, wherein the active docking device is arranged on a berth shore base, the passive docking device is arranged at the bow of the ship,
the active docking device comprises a processor, a mechanical arm, a capturing docking structure and a visual guide structure, wherein the mechanical arm is a multi-degree-of-freedom motion mechanical arm structure, the fixed end of the mechanical arm is fixed on a shore base, the capturing docking structure is fixed at the free end of the mechanical arm, the visual guide structure is fixed above the capturing docking structure and is aligned to the passive docking device, and the mechanical arm, the capturing docking structure and the visual guide structure are all connected to the processor,
the passive docking device comprises a fixed structure, an adjustable mechanism and a docked structure, the docked structure comprises a docking head and a target, the fixed structure is fixed on the bow of the ship, the docking head is fixed on the fixed structure through the adjustable mechanism, the target is fixed above the docking head, the docking head is matched with the capturing docking structure,
during butt joint, the processor controls the mechanical arm to move based on visual guidance of the visual guidance structure and the target, so that the capture butt joint structure captures the butt joint and carries out butt joint, and after the butt joint is successful, the capture butt joint structure is in locking fit with the butt joint.
Preferably, the arm include waist joint, shoulder joint, elbow joint and the wrist joint that connects gradually through the connecting rod, waist joint fix on the shore base, the butt joint structure of catching install on wrist joint's connecting rod, the visual guide structure fixed the upside of catching butt joint structure lean on back department.
Preferably, catch butt joint structure include horn mouth and catch the ring, the horn mouth level fix at the arm free end, the open end of horn mouth is towards boats and ships direction, catch the ring setting in the horn mouth, catch the inside locking structure who is equipped with locking butt joint of ring, locking structure connect the treater.
Preferably, the capturing butt joint structure is provided with an attitude sensor, the attitude sensor is connected with the processor, and the attitude sensor is used for measuring and feeding back the attitude of the capturing butt joint structure, so that the bell mouth of the capturing butt joint structure is always in a horizontal state.
Preferably, the horn mouth open end entry inner wall on be equipped with and be used for detecting the butt joint and get into the infrared correlation sensor of horn mouth, infrared correlation sensor set up multiunit and evenly distributed, infrared correlation sensor all be connected to the treater.
Preferably, the capturing ring comprises a steering engine, a telescopic part, a shaft connecting part, a telescopic connecting part and a compass, the compass is fixed in the bell mouth, a central perpendicular line of the compass is parallel to the central axis of the bell mouth, the compass is provided with a circle of hollowed-out areas, the telescopic part is provided with a plurality of parts and penetrates through the hollowed-out areas, one end of the telescopic part is a clamping end and is positioned on one side of the open end of the bell mouth, the other end of the telescopic part is connected with the shaft connecting part through the telescopic connecting part, the shaft connecting part is connected with the steering engine, the radiuses of the hollowed-out areas on the compass at different positions are different, a force sensor is arranged at the central point of the side surface of the compass on one side of the open end of the bell mouth, the steering engine and the,
when the butt joint is not butted, the steering engine driving telescopic component is located at the large-caliber position of the hollowed area on the compass, the clamping ends of the plurality of telescopic components are far away from each other to form a hollow area, after the butt joint enters the horn mouth and touches the force sensor, the processor controls the steering engine driving telescopic component to move to the small-caliber position of the hollowed area on the compass, and the clamping ends of the plurality of telescopic components are close to each other and clamp the butt joint.
Preferably, the adjustable mechanism comprises a vertical sliding screw rod and a horizontal sliding screw rod, the vertical sliding screw rod is arranged on the fixed structure along the vertical direction, the horizontal sliding screw rod is arranged on the vertical sliding screw rod along the horizontal direction and can move up and down along the vertical sliding screw rod direction, and the butt joint is arranged on the horizontal sliding screw rod and can move horizontally along the horizontal sliding screw rod direction.
Preferably, the vertical sliding screw rod is fixed on the fixed structure through an angle adjusting rod, and the angle adjusting rod is used for adjusting the orientation of the butt joint to enable the butt joint to face the direction of the capture butt joint structure.
Preferably, the butt joint comprises a thin rod, a metal ball and a cone frustum matched with the bell mouth in shape, the cone frustum is horizontally fixed on the adjustable mechanism, the thin rod is horizontally arranged at the front end of the cone frustum, and the metal ball is fixed at the head of the thin rod.
Preferably, the target on be equipped with the sign face, the sign face set up to with butt joint the same orientation, visual guide structure include fisheye camera and active light irradiation spare, fisheye camera and active light irradiation spare orientation the target setting.
Compared with the prior art, the invention has the following advantages:
(1) the docking system can realize the separation tasks of automatic docking and ship driving-off when ships are docked, and replaces the original fixed work of docking ships by manpower, so that the docking task has the characteristics of stability, reliability, convenience and high intelligent degree;
(2) the invention has the function of active capture and realizes almost autonomous docking, thereby not limiting the control of the ship body to be completed by a driver, a remote control system or an unmanned system;
(3) the passive docking system is suitable for small and medium-sized ships, such as yachts, unmanned workboats and the like, the passive docking system is arranged at the bow of a ship body, the height of a docking head can be freely adjusted according to the height of the bow and the distance between the docking head and the water surface, and the design ensures that the embodiment of the invention does not limit the type and the size of the ships and can adopt the embodiment of the invention to carry out docking;
(4) the invention adopts the visual guide structure to carry out target detection and positioning algorithm, and feeds information back to the processor in real time to generate the mechanical arm motion control instruction, and the method can well adapt to the condition that the butt joint moves in a small range under the interference of water flow in the butt joint process.
Drawings
FIG. 1 is a block diagram of the active capture docking system for vessel berthing of the present invention;
FIG. 2 is a schematic diagram of the active capture docking system for vessel berthing of the present invention;
FIG. 3 is a cross-sectional view of a capture dock of the present invention;
fig. 4 is a schematic diagram of the process of docking the capture docking structure and the docked structure according to the present invention.
In the figure, 100 is an active docking device, 102 is a mechanical arm, 103 is a capturing docking structure, 104 is a visual guide structure, 105 is a capturing ring, 106 is a passive docking device, 107 is a fixed structure, 108 is an adjustable mechanism, 109 is a docked structure, 110 is a docking head, 111 is a target, 112 is a motion control command, 113 is a locking command, 114 is a release command, 115 is a pre-docking signal, 116 is a docking signal, 117 is docking head pose information, 200 is a waist joint, 201 is a shoulder joint 201, 202 is an elbow joint, 203 is a wrist joint, 204 is a posture sensor, 205 is a horn mouth, 206 is a fisheye camera, 207 is an active light illuminating piece, 208 is a ship, 209 is a vertical sliding screw rod, 210 is a horizontal sliding screw rod, 211 is a thin rod, 212 is a metal ball, 213 is an infrared correlation sensor, 300 is a steering engine, 301 is a telescopic component 301, 302 is a shaft connecting piece, 303 is a telescopic connecting piece, 304 is a compass and 305 is a force sensor.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
An active capture type docking system for ship berthing comprises an active docking device 100 and a passive docking device 106, wherein the active docking device 100 is arranged on a shore base of a berthing position, the passive docking device 106 is arranged at the bow of a ship 208, the active capture type docking system is designed to be suitable for various types of ships with different sizes to dock and take the interference of water flow fluctuation in the berthing process to the position of the ship into consideration, and the active capture method for feeding back the target position in real time through vision is adopted.
As shown in fig. 1 to 3, the active docking apparatus 100 includes a processor 101, a robot 102, a capture docking structure 103, and a visual guide structure 104, the robot 102 is a multi-degree-of-freedom moving robot structure, a fixed end of the robot 102 is fixed on a shore base, a free end of the robot 102 is fixed with the capture docking structure 103, the visual guide structure 104 is fixed above the capture docking structure 103 and aligned with the passive docking apparatus 106, the robot 102, the capture docking structure 103, and the visual guide structure 104 are all connected to the processor 101,
the passive docking device 106 comprises a fixed structure 107, an adjustable mechanism 108 and a docked structure 109, the docked structure 109 comprises a docking head 110 and a target 111, the fixed structure 107 is fixed at the bow, the docking head 110 is fixed on the fixed structure 107 through the adjustable mechanism 108, the target 111 is fixed above the docking head 110, the docking head 110 is matched with the capturing docking structure 103,
during docking, the processor 101 performs visual guidance based on the visual guidance structure and the target 111 to control the mechanical arm 102 to move, so that the capture docking structure 103 captures the docking head 110 and performs docking, and after the docking is successful, the capture docking structure 103 is in locking fit with the docking head 110.
The active docking device 100 has the following specific structure:
the mechanical arm 102 comprises a waist joint 200, a shoulder joint 201, an elbow joint 202 and a wrist joint 203 which are sequentially connected through a connecting rod, the waist joint 200 is fixed on a shore base, the capture butt joint structure 103 is installed on the connecting rod of the wrist joint 203, and the visual guide structure 104 is fixed at the upper side of the capture butt joint structure 103 at the back. Each joint of the robotic arm 102 is controlled by a stepper motor so that the capture docking structure 103 has multiple degrees of freedom within a certain range of space.
The capture butt joint structure 103 comprises a bell mouth 205 and a capture ring 105, the bell mouth 205 is horizontally fixed at the free end of the mechanical arm 102, the open end of the bell mouth 205 faces the direction of the ship 208, the capture ring 105 is arranged in the bell mouth 205, and a locking structure for locking the butt joint is arranged inside the capture ring 105 and is connected with the processor 101.
The capture docking structure 103 is provided with an attitude sensor 204, the attitude sensor 204 is connected with the processor 101, and the attitude sensor 204 is used for measuring and feeding back the attitude of the capture docking structure 103, so that the bell mouth 205 of the capture docking structure 103 is always in a horizontal state.
Be equipped with on the entry inner wall of horn mouth 205 open end and be used for detecting that butt joint 110 gets into the infrared correlation sensor 213 of horn mouth 205, infrared correlation sensor 213 sets up multiunit and evenly distributed, and infrared correlation sensor 213 all can be connected to treater 101.
The capture ring 105 comprises a steering engine 300, a telescopic component 301, a shaft connecting piece 302, a telescopic connecting piece 303 and a compass 304, wherein the compass 304 is fixed in the bell mouth 205, the perpendicular bisector of the compass 304 is parallel to the central axis of the bell mouth 205, the compass 304 is rigidly fixed with the whole device and does not rotate along with the operation of the steering engine 300, a circle of hollowed-out area is arranged on the compass 304, the telescopic component 301 is provided with a plurality of parts and penetrates through the hollowed-out areas, in the embodiment, 3 telescopic components 301 are arranged, one end of the telescopic component 301 is a clamping end and is positioned on one side of the opening end of the bell mouth 205 of the compass 304, the other end of the telescopic component 301 is connected with the shaft connecting piece 302 through the telescopic connecting piece 303, the shaft connecting piece 302 is connected with the steering engine 300, the radiuses of the hollowed-out areas on the compass 304 are different at different positions, a force sensor, when the butt joint 110 is not butted, the steering engine 300 drives the telescopic component 301 to be located at a large-caliber position of a hollowed-out area on the compass 304, the clamping ends of the telescopic components 301 are far away from each other to form a hollow area, after the butt joint 110 enters a horn mouth and touches the force sensor 305, the processor 101 controls the steering engine 300 to drive the telescopic component 301 to move to a small-caliber position of the hollowed-out area on the compass 304, and the clamping ends of the telescopic components 301 are close to each other and clamp the butt joint 110.
The passive docking device 106 has the following specific structure:
the adjustable mechanism 108 comprises a vertical sliding screw 209 and a horizontal sliding screw 210, the vertical sliding screw 209 is mounted on the fixed structure 107 along the vertical direction, the horizontal sliding screw 210 is mounted on the vertical sliding screw 209 along the horizontal direction and can move up and down along the vertical sliding screw 209, and the butt joint 110 is mounted on the horizontal sliding screw 210 and can move horizontally along the horizontal sliding screw 210.
The vertical sliding screw 209 is fixed to the fixed structure 107 by an angle adjusting lever for adjusting the docking head 110 toward the capture docking structure 103.
The docked structure 109 has a degree of adjustment in height and level. The advantages are that:
to provide the present invention with universality, the passive docking device 106 can be installed at the bow of different sized vessels. If the butt joint 110 is rigidly fixed with the hull and is influenced by different ship bow heights and water level height changes, the butt joint feasibility is directly influenced; if the degree of freedom of adjustment in the height direction is increased as in this example, the docking head 110 can be brought into the capture range of the capture docking structure 103 by the height adjustment. Meanwhile, considering that the hull is generally difficult to move laterally in water, the docked structure 109 is added with a degree of freedom of adjustment in the horizontal direction so that the docking head 110 can be oriented as far as possible towards the active docking device 100 by adjusting its horizontal position. The height and horizontal position of the docking head 110 are adjusted appropriately by the vessel operator before the actual docking is performed.
The butt joint 110 comprises a thin rod 211, a metal ball 212 and a cone frustum matched with the shape of the bell mouth 205, the cone frustum is horizontally fixed on the adjustable mechanism 108, the thin rod 211 is horizontally arranged at the front end of the cone frustum, the metal ball 212 is fixed at the head of the thin rod 211, and the thin rod 211 is made of a carbon fiber rod. After the three telescoping members 301 in the capture ring 105 are fully collapsed, the hollow area in the middle just wraps around the thin rod 211 in the docking head 110.
The target 111 is provided with a mark surface, the mark surface is arranged to face the same direction as the butt joint 110, the visual guidance structure 104 comprises a fisheye camera 206 and an active light irradiation piece 207, and the fisheye camera 206 and the active light irradiation piece 207 are arranged to face the target 111. The mark surface of the target 111 uses an open-source aprilat mark, the target surface faces the front of the ship body, the target 111 is fixed at the rear side of the butted device 109, and it is required to ensure that the target is not touched and the mark surface is not shielded in the butting process. The fisheye camera 206 can be used for capturing scene information with a wide viewing angle as far as possible, and the active light illuminating part 207 can enable the docking system to work in a night environment.
The whole ship berthing process is divided into a capturing process and a docking process, and the following is a work flow of ship berthing and capturing:
after the ship 208 receives the berthing signal, the ship 208 approaches the berth by the self power, the posture of the ship is adjusted, the position of the butted structure 109 is adjusted, after the butt joint 110 enters the capturing range of the inner ring of the active butting device 100, the processor 101 sends out a green light signal, the ship 208 stops all the movements, the mechanical arm 102 starts capturing the movements, and the capturing movements are completely accepted by one side of the active butting device 100, and the specific steps are as follows:
first, the active docking device 100 positions the docking head 110 in real time, specifically: image acquisition by a fish-eye camera 206 in the visual guide structure 104; processing the undistorted fisheye image, and when the target 111 appears in the image, calculating and acquiring a six-degree-of-freedom pose of the target 111 relative to the fisheye camera 206 by using a classical AprilTag algorithm; the relative pose relationship between the docking head 110 and the waist joint 200 of the robot arm 102 can be calculated by the relative pose relationship between the target 111 and the docking head 110 and the relative pose relationship between the fisheye camera 206 and the waist joint 200 of the robot arm 102. To this end, the identification and location of the docking head 110 is accomplished. In this illustrative example, the image acquisition rate of the fish-eye camera 206 is set to 10 hertz.
After the docking head 110 is positioned by the vision guidance structure 104, the docking head pose information 117 is sent to the processor 101; the processor 101 plans a reasonable motion route of the mechanical arm 102, and calculates the angle of rotation of each joint of the mechanical arm 102 in each control period through a D-H method after discretization; and motion control instructions 112 are sent by the processor 101 to the motors of the various joints in the robotic arm 102. It is noted that during the docking process, the processor 101 optimizes the motion path of the robot arm 102 in real time according to the docking head pose information 117 as the pose of the docking head 110 changes in real time.
In this illustrative example, the attitude sensor 204 in the capture docking structure 103 in the active docking apparatus 100 functions to measure the attitude of the capture docking structure 103 in real time, feeding its attitude information back to the processor 101; the processor 101 controls the motors of the wrist joints 203 of the robot arm 102 at each control cycle so that the capture docking structure 103 is always kept horizontal.
During the capturing process, once the docking structure 103 is captured according to the position and posture information 117 of the docking head acquired by the vision guiding structure 104, the mechanical arm 102 is stopped immediately when the docked device 109 is detected to be out of the outer circle capturing range, and the processor 101 sends a red light signal to instruct the ship controller to perform height and horizontal position adjustment of the ship body and the docking head 110 again. After the docking head 110 returns to the inner circle capturing range, the processor 101 sends out a green light signal, and the robot arm 102 continues to perform the capturing motion. In the example of the present description, the outer circle capture range is the capture docking structure 103 maximum capture range; the inner circle capture range is set to two-thirds of the maximum capture range in order to ensure that the docking head 110 does not frequently fall out of the capture range due to water flow disturbances.
The workflow of the active docking device 100 to perform the capture and docking tasks is:
after the docking head 110 enters the capture range of the capture docking structure 103, the visual guidance structure 104 positions the docking head 110, uploads the docking head posture information 117 to the processor 101 in real time, and the processor 101 generates and controls the mechanical arm 102 to perform motion of a capture route; when the processor 101 acquires a signal that the docking head 110 enters the bell mouth 205, the movement of the docking path of the mechanical arm 102 is generated and controlled; when the docking head 110 touches the compass 304, the processor 101 issues a lock instruction 113 to the capture docking structure 103; capture interface 103 locks against mating head 110 via a locking structure inside capture ring 105. Thereby enabling docking of the active docking system 100 with the passive docking system 106.
The following is the work flow of ship berthing and docking:
when the docking head 110 enters the bell mouth 205, that is, enters an accurate docking process, at this time, since the docking head 110 blocks rays from an infrared emitter of the infrared correlation sensor 213 to an infrared receiving end, the infrared correlation sensor 213 in the bell mouth 205 is triggered to transmit the pre-docking signal 115 to the processor 101, the processor 101 acquires information that the docking head 110 has entered the bell mouth 205, and a new motion path for the docking head 110 to go deep into the center of the bell mouth 205 is planned for the mechanical arm 102.
It should be noted that the reason for planning the two motion paths of the robot arm 102 during the precise docking process is to prevent the outside of the bell mouth 205 from hitting the docking head 110.
As shown in fig. 4 by (a) through (b) to (c), the process from the detection of the docking head 110 by the infrared correlation sensor 213 to the slow penetration of the metal ball 212 of the docking head 110 into the bell mouth 205 and finally into the interior of the capture ring 105 is locked. The following is the step of locking the docking head 110 by the catch ring 105:
in the armed state, the three telescoping members 301 in the capture ring 105 are in an expanded state. At this time, the docking head 110 may move all the way to the inside of the bell mouth 205 and the capture ring 105, and when the docking head 110 touches the compass 304, the force sensor 305 on the compass 304 is woken up, and sends the docking signal 116 to the processor 101; the processor 101 sends a locking instruction 113 to the steering engine 300, the steering engine 300 rotates by a certain angle, and the three telescopic parts 301 are driven to rotate and fold inwards through the shaft connecting piece 302 and the telescopic connecting piece 303; eventually, the pin 211 is enveloped and the locking is completed. It should be noted that the telescopic member 301 can be folded inwards due to the different radius of the hollow area on the compass 304; the shaft connecting piece 302 and the telescopic connecting piece 303 can rotate freely, so that the telescopic parts 301 slide to the position with a small radius on the compass 304 while rotating, and the three telescopic parts 301 are folded inwards; at this time, since the metal ball 212 is located between the compass 304 and the telescopic member 301, it can only apply an outward force to the telescopic member 301 along the steering engine axial direction, so that the telescopic member 301 cannot be opened outward, thereby achieving the effect of locking the butt joint 110.
Marine offshore process:
the catch ring 105 should be in a locked state before the vessel is offshore. Processor 101 sends a release instruction 114 to capture ring 105; the steering engine 300 in the capture ring 105 rotates in reverse for a certain angle; the telescoping fasteners 301 move outward releasing the docking head 110; the processor 101 plans a release path for the robot arm 102 and sends motion control instructions 112 to the robot arm 102; the robotic arm 102 receives the motion control command 112 to perform a release motion; the processor 101 triggers a green light signal indicating that the vessel 208 may be offshore.
The active capture type docking system for ship berthing has the characteristics of stability, reliability, simple structure and high intelligent degree. The enveloping type locking structure can well bear the force generated by the ship body due to the interference of water flow; the capture docking structure 103 and the docked structure 109 each have multiple degrees of spatial freedom, which can accommodate the variability caused by differences in the level and hull type.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (10)
1. An active capture docking system for vessel berthing, characterized in that the system comprises an active docking unit (100) and a passive docking unit (106), said active docking unit (100) being arranged on the shore of the berth, said passive docking unit (106) being arranged at the bow of the vessel (208),
the active docking device (100) comprises a processor (101), a mechanical arm (102), a capturing docking structure (103) and a visual guide structure (104), wherein the mechanical arm (102) is a multi-degree-of-freedom motion mechanical arm structure, the fixed end of the mechanical arm (102) is fixed on a shore base, the capturing docking structure (103) is fixed at the free end of the mechanical arm (102), the visual guide structure (104) is fixed above the capturing docking structure (103) and aligned with the passive docking device (106), and the mechanical arm (102), the capturing docking structure (103) and the visual guide structure (104) are all connected to the processor (101),
the passive docking device (106) comprises a fixed structure (107), an adjustable mechanism (108) and a docked structure (109), the docked structure (109) comprises a docking head (110) and a target (111), the fixed structure (107) is fixed at the bow of the ship, the docking head (110) is fixed on the fixed structure (107) through the adjustable mechanism (108), the target (111) is fixed above the docking head (110), and the docking head (110) is matched with the capturing docking structure (103),
during docking, the processor (101) controls the mechanical arm (102) to move based on the visual guide structure and the target (111) in a visual guide mode, so that the capture docking structure (103) captures the docking head (110) and performs docking, and after the docking is successful, the capture docking structure (103) is in locking fit with the docking head (110).
2. An active capture docking system for vessel berthing according to claim 1, characterized in that the robotic arm (102) comprises a waist joint (200), a shoulder joint (201), an elbow joint (202) and a wrist joint (203) connected in series by a connecting rod, the waist joint (200) being fixed to the shore, the capture docking structure (103) being mounted on the connecting rod of the wrist joint (203), the visual guide structure (104) being fixed on the upper back of the capture docking structure (103).
3. An active capture docking system for vessel berthing according to claim 1, characterized in that the capture docking structure (103) comprises a bell (205) and a capture ring (105), the bell (205) is horizontally fixed at the free end of the robot arm (102), the open end of the bell (205) faces the vessel (208), the capture ring (105) is arranged in the bell (205), and a locking structure for locking the docking head is arranged inside the capture ring (105), and the locking structure is connected with the processor (101).
4. An active capture docking system for vessel berthing according to claim 3, characterized in that the capture docking structure (103) is provided with an attitude sensor (204), the attitude sensor (204) is connected to the processor (101), and the attitude sensor (204) is used for measuring and feeding back the attitude of the capture docking structure (103) so that the bell mouth (205) of the capture docking structure (103) is always horizontal.
5. The active capture docking system for vessel berthing according to claim 3, characterized in that the inner wall of the entrance of the open end of the bell mouth (205) is provided with infrared correlation sensors (213) for detecting the entrance of the docking head (110) into the bell mouth (205), the infrared correlation sensors (213) are provided in multiple groups and uniformly distributed, and the infrared correlation sensors (213) are all connected to the processor (101).
6. The active capture type docking system for ship berthing according to claim 3, characterized in that the capture ring (105) comprises a steering engine (300), a telescopic component (301), a shaft connector (302), a telescopic connector (303) and a compass (304), the compass (304) is fixed in the bell mouth (205), the perpendicular bisector of the compass (304) is parallel to the central axis of the bell mouth (205), a circle of hollowed-out area is arranged on the compass (304), the telescopic component (301) is provided with a plurality of parts and penetrates through the hollowed-out area, one end of the telescopic component (301) is a clamping end and is positioned on one side of the opening end of the bell mouth (205) of the compass (304), the other end of the telescopic component (301) is connected with the shaft connector (302) through the telescopic connector (303), and the shaft connector (302) is connected with the steering engine (300), the radiuses of hollow areas on the compass (304) are different at different positions, a force sensor (305) is arranged at the central point of the side surface of the compass (304) on one side of the opening end of the bell mouth (205), the steering engine (300) and the force sensor (305) are both connected to the processor (101),
when the butt joint (110) is not butted, the steering engine (300) drives the telescopic parts (301) to be located at the large-caliber position of the hollowed-out area on the compass (304), the clamping ends of the telescopic parts (301) are far away from each other to form the hollow area, after the butt joint (110) enters a horn mouth and touches the force sensor (305), the processor (101) controls the steering engine (300) to drive the telescopic parts (301) to move to the small-caliber position of the hollowed-out area on the compass (304), and the clamping ends of the telescopic parts (301) are close to each other and clamp the butt joint (110).
7. An active capture docking system for vessel berthing according to claim 1, characterized in that the adjustable mechanism (108) comprises a vertical sliding screw (209) and a horizontal sliding screw (210), the vertical sliding screw (209) being mounted on the fixed structure (107) in the vertical direction, the horizontal sliding screw (210) being mounted on the vertical sliding screw (209) in the horizontal direction and being movable up and down in the direction of the vertical sliding screw (209), the docking head (110) being mounted on the horizontal sliding screw (210) and being movable horizontally in the direction of the horizontal sliding screw (210).
8. Active capture docking system for vessel mooring according to claim 7 characterized in that the vertical sliding screw (209) is fixed to the fixed structure (107) by means of an angle adjustment lever for adjusting the docking head (110) towards the capture docking structure (103).
9. The active capture docking system for vessel berthing according to claim 3, characterized in that the docking head (110) comprises a thin rod (211), a metal ball (212) and a cone frustum matched with the shape of the bell mouth (205), the cone frustum is horizontally fixed on the adjustable mechanism (108), the thin rod (211) is horizontally installed at the front end of the cone frustum, and the metal ball (212) is fixed at the head of the thin rod (211).
10. The active capture docking system for vessel berthing of claim 1, wherein the target (111) is provided with a logo surface disposed in the same orientation as the docking head (110), the visual guide structure (104) comprises a fisheye camera (206) and an active light illuminator (207), the fisheye camera (206) and the active light illuminator (207) being disposed toward the target (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112605937A (en) * | 2020-12-29 | 2021-04-06 | 中北大学 | Docking mechanism and automatic docking device |
| CN112678117A (en) * | 2021-01-15 | 2021-04-20 | 上海海事大学 | Quick mooring and release device for ship |
| CN112937769A (en) * | 2021-03-19 | 2021-06-11 | 中国舰船研究设计中心 | Automatic butt joint device for lifting type boat collecting and releasing device |
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| CN112937769A (en) * | 2021-03-19 | 2021-06-11 | 中国舰船研究设计中心 | Automatic butt joint device for lifting type boat collecting and releasing device |
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|---|---|
| CN112009623B (en) | 2022-07-15 |
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