CN202331093U - Automatic monitoring system for ship mooring position - Google Patents
Automatic monitoring system for ship mooring position Download PDFInfo
- Publication number
- CN202331093U CN202331093U CN2011204376379U CN201120437637U CN202331093U CN 202331093 U CN202331093 U CN 202331093U CN 2011204376379 U CN2011204376379 U CN 2011204376379U CN 201120437637 U CN201120437637 U CN 201120437637U CN 202331093 U CN202331093 U CN 202331093U
- Authority
- CN
- China
- Prior art keywords
- ships
- boats
- control system
- parking place
- monitored control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The utility model discloses an automatic monitoring system for a ship mooring position. The automatic monitoring system comprises two laser displacement sensors for detecting a distance between a moored ship and a dock platform, wherein the two laser displacement sensors are arranged on the dock platform, separately arranged at intervals along a transverse direction parallel to the shore side and used for transmitting a detected ship position signal to a controller for processing and then transmitting to a monitoring terminal. The automatic monitoring system for the ship mooring position can automatically monitor positions of ships working at a port all day long, so that effects of scientific monitoring and automatic alarm are really achieved, damage to an oil conveying arm, which is caused by drift of the ship, environment pollution caused by oil leakage, and other accidents are avoided, and in-shore safety and off-shore safety of the ship are guaranteed; and furthermore, the system is simple in configuration, low in cost, reliable in performance and remarkable in application effect.
Description
Technical field
The utility model belongs to the position monitor technical field, specifically, relates to a kind of supervisory system that is used for the parking place of stopping boats and ships on the port and pier is realized automatic detection.
Background technology
During operation, can the parking place of oil tanker safety work play important effect for oil tanker to mammoth tanker at the port.Because oil tanker is between the harbour alongside time; Often needing harbour is its supply fuel oil, and the harbour oil transfer arm generally all is to adopt to be rigidly connected with being connected of oil tanker, therefore; In case the position of oil tanker drifts about; Just be easy to draw the accident of bad oil transfer arm, not only cause device damage, also can cause serious pollution marine environment.
For a long time, always be the mode that adopts the personal monitoring, rely on to stare at before the personnel's ship of location and lean on, patrol and examine and avoid vessel's position not drift about for the detection of boats and ships stop position.This pure personal monitoring's control mode not only labour intensity is big, and receives the restriction of many-sided condition such as technical ability, sense of responsibility of workman, so safety coefficient is low, is difficult to timely discovery when boats and ships displacement accident occurring, causes the generation of serious accident easily.
Summary of the invention
The purpose of the utility model is to provide a kind of automatic monitored control system of boats and ships parking place, to eliminate the problem that labour intensity is big, safety coefficient is low that personal monitoring's boats and ships parking place is brought, has improved the security of boats and ships operations at the port.
In order to solve the problems of the technologies described above, the utility model adopts following technical scheme to be achieved:
A kind of boats and ships parking place automatic monitored control system; Comprise that two are used to detect the laser displacement sensor of stopping distance between boats and ships and the harbour platform; Two laser displacement sensors are installed on the harbour platform, and along the horizontal direction setting spaced apart that is parallel to the bank; Two laser displacement sensors transfer to detected vessel position signal after one controller handles, and transfer to monitor terminal.
For the transversal displacement amount of stopping boats and ships is monitored; In said system, also comprise an obliquity sensor that is used to detect the oil transfer arm rotational angle; Said obliquity sensor transfers to described controller with detected angle signal; Through after after square controller carries out data computation and handles, transfer to monitor terminal and supply operator on duty's monitoring.
Further, on said harbour platform, established a column, a turning gland is installed on the column, column is rotationally connected through said turning gland and oil transfer arm; On said turning gland, be equipped with one and follow the detection platform that oil transfer arm horizontally rotates, said detection platform connects the measurement axis of obliquity sensor.
Further again, a bracing frame is installed on said column, said obliquity sensor is fixed on the support frame as described above, and be positioned at detection platform directly over, the central shaft of the measurement axis of obliquity sensor through joint pin joint detection platform.
Further again, said detection platform is fixed on the fastener, and said fastener is installed between two joints of turning gland.
In order to improve the accuracy that angle calculates between the hull of stopping boats and ships and the harbour platform, the lateral separation between described two laser displacement sensors apart from more preferably greater than equal to stop boats and ships hull length 1/3 and less than described hull length.
As a kind of preferred design of said monitor terminal, in said monitor terminal, include one and be used to show the display of stopping vessel position information, connect described controller, to show current vessel's position information and drift value to the operator on duty.
Further, in said monitor terminal, also include one be used for when vessel position changes above early warning value, sending alerting signal warning device, connect described controller, in time adjust vessel position to remind ship prelocalization personnel and diversion personnel.
Further again, in said monitor terminal, also include one and be used for the valve control mechanism that the control transfer pump cuts out when vessel position changes above early warning value, connect described controller, to avoid taking place the problem that fuel oil is revealed.
Further; In said monitor terminal, can also further dispose wireless communication module and hand-held mobile terminal; Said wireless communication module and said controller wired connection receive the vessel position signal that controller is exported, and send to described hand-held mobile terminal with wireless mode; Make the operator on duty can grasp current particular location anywhere or anytime, realize round-the-clock uninterrupted monitoring at the harbor launch oceangoing ship.
Compared with prior art; The advantage and the good effect of the utility model are: the boats and ships parking place automatic monitored control system of the utility model can be carried out monitoring automatically in 24 hours to the vessel position of the operation at the port; Really accomplished the science monitoring; Automatically report to the police, avoided because the oil transfer arm that the boats and ships drift causes damages and the generation of the accidents such as environmental pollution that fuel leakage causes, that has guaranteed boats and ships leans on offshore safety.In addition, this system configuration is simple, and cost is low, dependable performance, and effect is remarkable.
After the detailed description in conjunction with advantages the utility model embodiment, other characteristics of the utility model and advantage will become clearer.
Description of drawings
Fig. 1 is the overall architecture synoptic diagram of a kind of embodiment of the boats and ships parking place automatic monitored control system that proposes of the utility model;
Fig. 2 is the mounting structure synoptic diagram of obliquity sensor among Fig. 1.
Embodiment
Describe in detail below in conjunction with the embodiment of accompanying drawing the utility model.
Embodiment one, present embodiment for guarantee boats and ships at the port job safety, designed a kind of automatic monitored control system of stopping vessel position information that is used for monitoring, mainly comprise controller, monitor terminal and two laser displacement sensors 1,2, referring to shown in Figure 1.Wherein, two laser displacement sensors 1,2 can specifically be installed on the harbour platform, and along the direction setting spaced apart that is parallel to harbour platform bank.Here, for describe clear for the purpose of, the direction that will be parallel to harbour platform bank is defined as laterally, i.e. X-direction; Vertical with the direction on harbour platform bank and be defined as vertically away from the direction on bank, i.e. Y direction is like the coordinate of Fig. 1 mark.Utilize two laser displacement sensors 1,2 to detect the distance of stopping between boats and ships 8 and the harbour platform; And then detected vessel position signal is transferred to controller handle; Stop the relative position between boats and ships 8 and the harbour platform and generate video data or processing procedure such as analog image such as the conversion of signal format and according to the vessel position calculated signals that receives, and then the operator on duty, pilot and the location personnel that transfer on the monitor terminal confession harbour monitor in real time.
Laying described two laser displacement sensors at 1,2 o'clock, the Y axial coordinate of two laser displacement sensors 1,2 can equate, also can not wait.In order to calculate for simplicity; Present embodiment preferably is laid in the position equal apart from the bank of harbour platform with two laser displacement sensors 1,2; At this moment; If when equating, show that then the hull of stopping boats and ships 8 is parallel with the bank of harbour platform through two laser displacement sensor 1,2 detected boats and ships lengthwise positions; If do not wait through two laser displacement sensor 1,2 detected boats and ships lengthwise positions; The bank that then shows the hull of stopping boats and ships 8 and harbour platform is not parallel, and its ship bank angle can obtain according to the difference of detected two boats and ships lengthwise positions and two laser displacement sensors 1, distance computation between 2.When detected boats and ships lengthwise position or ship bank angle surpass predefined early warning value; Controller can be reported to the police through monitor terminal; To remind operator on duty, pilot or location personnel to note, in time adjust the stop position of boats and ships 8, to guarantee the safety of boats and ships 8 operation at the port.
In order to improve the accuracy that ship bank angle calculates; Described two laser displacement sensors 1, the lateral separation between 2 distance more preferably greater than equal to stop boats and ships 8 hull length 1/3 and less than described hull length, promptly utilize a laser displacement sensor 1 to measure the fore-and-aft distance of fore apart from the bank; Utilize the fore-and-aft distance on another one laser displacement sensor 2 surveying vessel back range offshore limits, so not only can grasp fore exactly, whether stern is in the scope of safety zone apart from the position on bank, and for calculating ship bank angle, precision is higher.Certainly, also need combine the physical length comprehensive consideration of harbour platform to confirm.As a kind of preferred design of present embodiment, be mammoth tanker for the boats and ships 8 of operation at the port, two laser displacement sensors 1, the lateral separation between 2 apart from decision design at 30-130 rice, to satisfy the requirement of computational accuracy.
Can find out by top description, utilize two laser displacement sensors 1,2 to realize the lengthwise position of stopping boats and ships 8 and harbour platform bank detecting, then can't monitor for the lateral drift amount of stopping boats and ships 8.At this moment; When 4 pairs of stop boats and ships of the oil pump station on utilizing the harbour platform 8 carry out the fuel oil supply; Because boats and ships 8 are rigidly connected with oil transfer arm 5 employings of oil pump station 4; If the lateral drift amount of boats and ships 8 is excessive, then can cause damage to oil transfer arm 5, the fuel oil that is leaked by oil transfer arm 5 also can cause severe contamination to the marine site, bank.In order to address this problem, present embodiment also is provided with an obliquity sensor 3 in boats and ships parking place automatic monitored control system, as shown in Figure 1, detects the transversal displacement of stopping boats and ships 8 through the rotational angle that detects oil transfer arm 5.The concrete installation site of said obliquity sensor 3 can be with reference to shown in Figure 2; Because oil transfer arm 5 all is to be installed on the column 6 through turning gland 7 usually; Column 6 is established on the harbour platform, can realize that through turning gland 7 oil transfer arm 5 rotates relative to column 6 in the horizontal direction with on the vertical direction.Said turning gland 7 comprises two joint 7-1,7-2, and the first joint 7-1 connects oil transfer arm 5, the second joint 7-2 and is fixed on the column 6.On turning gland 7, install one and can follow the detection platform 11 that oil transfer arm 5 horizontally rotates; Specifically can be fixed on the fastener 10; Said fastener 10 is installed between two the joint 7-1,7-2 of turning gland 7, to realize detection platform 11 installing and fixing on turning gland 7.A bracing frame 9 is installed on column 6; As shown in Figure 2; Support frame as described above 9 extends to the top of detection platform 11; Said obliquity sensor 3 is installed on the bracing frame 9, and make obliquity sensor 3 just be positioned at detection platform 11 directly over, can the measurement axis of obliquity sensor 3 and the central shaft of detection platform 11 be coupled together through joint pin 12 then.When the lateral drift occurred level of following boats and ships 8 when oil transfer arm 5 rotated, detection platform 11 was also followed oil transfer arm 5 and is together rotated, and then the measurement axis that drives obliquity sensor 3 rotates thereupon, and realization oil transfer arm 5 horizontally rotates the real-time detection of angle.To transfer to the controller at rear through the obliquity sensor 3 detected anglecs of rotation, said controller combines the brachium of oil transfer arm 5 can calculate the lateral drift distance of stopping boats and ships 8.When the lateral drift distance of stopping boats and ships 8 exceeds early warning value, just can utilize the monitor terminal output alarm, in time adjust the position of boats and ships 8, the damage of avoiding boats and ships 8 excessive drift that oil transfer arm 5 is caused to remind operator on duty, location personnel or pilot.
In the present embodiment, said controller can adopt programmable logic controller (PLC) PLC to carry out system design, preferably is connected with an obliquity sensor 3 with two laser displacement sensors 1,2 through optical cable, receives the detection signal of each sensor feedback.
Can adopt multiple establishment form for the design of monitor terminal, present embodiment only proposes a kind of preferred design.As shown in Figure 1, in the monitor terminal of present embodiment, be designed with display or computing machine, connect described controller, be used for showing longitudinal position information, ship bank angle and the lateral drift amount etc. of current stop boats and ships 8 to the operator on duty.For the purpose of intuitive display, can utilize software programming operating systems such as VB, in each parameter amount of demonstration, can further simulate the relative position picture of stopping boats and ships 8 and harbour platform, to show the human oriented design of this system.
For the stop position at boats and ships 8 changes, and can in time remind the related work personnel to note when surpassing early warning value, present embodiment also is designed with a warning device in said monitor terminal, connect described controller.Said controller takes place to drift about in the vertical and horizontal position of stopping boats and ships 8 when exceeding early warning value, and the output steering order is carried out sound and light alarm to warning device to control it, reminds ship prelocalization personnel and diversion personnel in time to adjust vessel position.Meanwhile, can also the steering order of controller output be transferred to valve control mechanism simultaneously, close, and then reach and avoid because oil transfer arm 5 damages the fuel leakage problem that causes with the control transfer pump.
In order to make the related work personnel can grasp current concrete stop position at harbor launch oceangoing ship 8 anywhere or anytime, present embodiment also further disposes wireless communication module and hand-held mobile terminal in said monitor terminal, referring to shown in Figure 1.Said wireless communication module and described controller are carried out wired connection; Receive the vessel position signal of controller output; And send to described hand-held mobile terminal with wireless mode, the related work personnel utilize said hand-held mobile terminal can at the port boats and ships realize round-the-clock uninterrupted monitoring.
The utility model is through combine laser ranging technique and angular detection technology dexterously; Completion is to the actual time safety monitoring of boats and ships parking place between the operational period of port; No matter boats and ships take place vertically or lateral drift, can both before having an accident, carry out timely early warning.Can take into account simultaneously boats and ships and lean on (leaving) pool speed, the isoparametric observing and controlling of ship bank angle, in time remind pilot and location personnel to accomplish that boats and ships lean on from safety.
Certainly; The above only is a kind of preferred implementation of the utility model; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; Can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (10)
1. boats and ships parking place automatic monitored control system; It is characterized in that: comprise that two are used to detect the laser displacement sensor of stopping distance between boats and ships and the harbour platform; Two laser displacement sensors are installed on the harbour platform, and along the horizontal direction setting spaced apart that is parallel to the bank; Two laser displacement sensors transfer to detected vessel position signal after one controller handles, and transfer to monitor terminal.
2. boats and ships parking place automatic monitored control system according to claim 1; It is characterized in that: in said system, also comprise an obliquity sensor that is used to detect the oil transfer arm rotational angle, said obliquity sensor transfers to described controller with detected angle signal.
3. boats and ships parking place automatic monitored control system according to claim 2 is characterized in that: on said harbour platform, established a column, a turning gland is installed on the column, column is rotationally connected through said turning gland and oil transfer arm; On said turning gland, be equipped with one and follow the detection platform that oil transfer arm horizontally rotates, said detection platform connects the measurement axis of obliquity sensor.
4. boats and ships parking place automatic monitored control system according to claim 3; It is characterized in that: a bracing frame is installed on said column; Said obliquity sensor is fixed on the support frame as described above; And be positioned at detection platform directly over, the central shaft of the measurement axis of obliquity sensor through joint pin joint detection platform.
5. boats and ships parking place automatic monitored control system according to claim 4 is characterized in that: said detection platform is fixed on the fastener, and said fastener is installed between two joints of turning gland.
6. boats and ships parking place automatic monitored control system according to claim 1 is characterized in that: lateral separation between described two laser displacement sensors distance more than or equal to stop boats and ships hull length 1/3 and less than described hull length.
7. according to each described boats and ships parking place automatic monitored control system in the claim 1 to 6, it is characterized in that: in said monitor terminal, include one and be used to show the display of stopping vessel position information, connect described controller.
8. boats and ships parking place automatic monitored control system according to claim 7 is characterized in that: in said monitor terminal, also include one be used for when vessel position changes above early warning value, sending alerting signal warning device, connect described controller.
9. boats and ships parking place automatic monitored control system according to claim 7; It is characterized in that: in said monitor terminal, also include one and be used for the valve control mechanism that the control transfer pump cuts out when vessel position changes above early warning value, connect described controller.
10. boats and ships parking place automatic monitored control system according to claim 7; It is characterized in that: in said monitor terminal, also include wireless communication module and hand-held mobile terminal; Said wireless communication module and said controller wired connection; Receive the vessel position signal of controller output, and send to described hand-held mobile terminal with wireless mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204376379U CN202331093U (en) | 2011-11-08 | 2011-11-08 | Automatic monitoring system for ship mooring position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204376379U CN202331093U (en) | 2011-11-08 | 2011-11-08 | Automatic monitoring system for ship mooring position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202331093U true CN202331093U (en) | 2012-07-11 |
Family
ID=46443068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204376379U Expired - Fee Related CN202331093U (en) | 2011-11-08 | 2011-11-08 | Automatic monitoring system for ship mooring position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202331093U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102768544A (en) * | 2012-08-02 | 2012-11-07 | 中国神华能源股份有限公司 | Method and equipment for controlling chute of ship loader |
| CN103956076A (en) * | 2014-05-12 | 2014-07-30 | 中交机电工程局有限公司 | Intelligent berthing auxiliary system |
| CN104764428A (en) * | 2015-03-31 | 2015-07-08 | 舟山实华原油码头有限公司 | Longitudinal ship drifting detection device |
| CN104880186A (en) * | 2015-05-08 | 2015-09-02 | 宁波通亿物联技术有限公司 | Method and device for detecting offshore distance of ship |
| CN105204411A (en) * | 2015-08-11 | 2015-12-30 | 上海交通大学 | Berthing assist system and method based on binocular stereoscopic vision |
| CN105425229A (en) * | 2015-11-02 | 2016-03-23 | 上海中船船舶设计技术国家工程研究中心有限公司 | Anti-collision monitoring device for lighter aboard ship |
| CN106094676A (en) * | 2016-05-30 | 2016-11-09 | 大连海事大学 | A kind of vessel position monitoring system |
| CN112050740A (en) * | 2020-09-03 | 2020-12-08 | 交通运输部天津水运工程科学研究所 | Mooring safety monitoring and early warning system |
| CN113433933A (en) * | 2021-04-16 | 2021-09-24 | 安徽中科合鼎科技发展有限公司 | Autonomous cruising method of intelligent water surface cleaning unmanned ship |
| CN113587979A (en) * | 2021-07-06 | 2021-11-02 | 上海永乾科技工程有限公司 | Portable berthing auxiliary monitoring system |
| CN114014037A (en) * | 2021-11-17 | 2022-02-08 | 安徽海螺信息技术工程有限责任公司 | Intelligent cement loading and unloading monitoring system for wharf |
| CN114241691A (en) * | 2022-02-19 | 2022-03-25 | 深圳市帝景光电科技有限公司 | Remote control dimming alarm system and method and terminal equipment |
-
2011
- 2011-11-08 CN CN2011204376379U patent/CN202331093U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102768544B (en) * | 2012-08-02 | 2015-01-21 | 中国神华能源股份有限公司 | Method and equipment for controlling chute of ship loader |
| CN102768544A (en) * | 2012-08-02 | 2012-11-07 | 中国神华能源股份有限公司 | Method and equipment for controlling chute of ship loader |
| CN103956076A (en) * | 2014-05-12 | 2014-07-30 | 中交机电工程局有限公司 | Intelligent berthing auxiliary system |
| CN103956076B (en) * | 2014-05-12 | 2016-03-02 | 中交机电工程局有限公司 | Intelligence alongside backup system |
| CN104764428B (en) * | 2015-03-31 | 2017-09-12 | 舟山实华原油码头有限公司 | Ship longitudinal drift detection means |
| CN104764428A (en) * | 2015-03-31 | 2015-07-08 | 舟山实华原油码头有限公司 | Longitudinal ship drifting detection device |
| CN104880186A (en) * | 2015-05-08 | 2015-09-02 | 宁波通亿物联技术有限公司 | Method and device for detecting offshore distance of ship |
| CN104880186B (en) * | 2015-05-08 | 2018-04-13 | 宁波通亿物联技术有限公司 | The detection method and device of ship offshore distance |
| CN105204411B (en) * | 2015-08-11 | 2018-04-17 | 上海交通大学 | A kind of ship berthing auxiliary system and method based on binocular stereo vision |
| CN105204411A (en) * | 2015-08-11 | 2015-12-30 | 上海交通大学 | Berthing assist system and method based on binocular stereoscopic vision |
| CN105425229B (en) * | 2015-11-02 | 2017-11-24 | 上海中船船舶设计技术国家工程研究中心有限公司 | A kind of lighter aboard ship anti-collision monitoring device |
| CN105425229A (en) * | 2015-11-02 | 2016-03-23 | 上海中船船舶设计技术国家工程研究中心有限公司 | Anti-collision monitoring device for lighter aboard ship |
| CN106094676A (en) * | 2016-05-30 | 2016-11-09 | 大连海事大学 | A kind of vessel position monitoring system |
| CN112050740A (en) * | 2020-09-03 | 2020-12-08 | 交通运输部天津水运工程科学研究所 | Mooring safety monitoring and early warning system |
| CN113433933A (en) * | 2021-04-16 | 2021-09-24 | 安徽中科合鼎科技发展有限公司 | Autonomous cruising method of intelligent water surface cleaning unmanned ship |
| CN113587979A (en) * | 2021-07-06 | 2021-11-02 | 上海永乾科技工程有限公司 | Portable berthing auxiliary monitoring system |
| CN114014037A (en) * | 2021-11-17 | 2022-02-08 | 安徽海螺信息技术工程有限责任公司 | Intelligent cement loading and unloading monitoring system for wharf |
| CN114014037B (en) * | 2021-11-17 | 2023-08-29 | 安徽海螺信息技术工程有限责任公司 | Intelligent cement loading and unloading monitoring system for wharf |
| CN114241691A (en) * | 2022-02-19 | 2022-03-25 | 深圳市帝景光电科技有限公司 | Remote control dimming alarm system and method and terminal equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202331093U (en) | Automatic monitoring system for ship mooring position | |
| JP6969047B2 (en) | Automatic ship maneuvering system | |
| WO2013154337A1 (en) | Method and system for static and dynamic positioning or controlling motion of marine structure | |
| CN102236327A (en) | Laser berthing monitoring system for ship | |
| US20160252907A1 (en) | Apparatus and method | |
| CN107065878A (en) | A kind of automatic docking system of ship and method | |
| CN111285259A (en) | System for multiple shore bridges for monitoring floating state and stability of container ship during mooring loading and unloading | |
| CN103754335A (en) | Ship draught and attitude robust real-time measurement system and method thereof | |
| CN104527932A (en) | Side-by-side mooring system applied to floating LNG gasification storage device | |
| CN207216386U (en) | Dynamic positioning rocking bar control system and ship | |
| CN108443639A (en) | Detecting robot of pipe control system | |
| CN213069195U (en) | Ship berthing auxiliary system based on Beidou positioning system | |
| JP5555874B2 (en) | Fender monitoring device | |
| CN101788356B (en) | Method for monitoring anchor position and anchor line status of floating-crane anchor winch | |
| CN107128456A (en) | Shipping anti-collision early warning system based on FPGA | |
| CN103544792B (en) | Target monitoring system | |
| CN203102613U (en) | Monitoring and management system for preventing collision between cross-sea bridge and vessel | |
| CN110091962B (en) | Monitoring method of 30 ten thousand-ton-level large-scale tanker berthing monitoring device based on virtual wall | |
| CN103745617A (en) | Assistant berthing monitoring system | |
| CN204917725U (en) | Extra -large -size crane barge displacement monitoring devices that turns | |
| CN204606138U (en) | A kind of side by side mooring system being applied to floating LNG gasification storage device | |
| KR20090002676U (en) | Monitoring system for loading vessel | |
| CN206805294U (en) | A kind of automatic docking system of ship | |
| CN102582800A (en) | Floating state controller of joint-load device for land and sea connection transportation and working method thereof | |
| CN201272474Y (en) | Wireless remote control shipping draft observation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120711 Termination date: 20121108 |