CN211663406U - Unmanned ship automatic berthing system based on big data - Google Patents
Unmanned ship automatic berthing system based on big data Download PDFInfo
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- CN211663406U CN211663406U CN202020237790.6U CN202020237790U CN211663406U CN 211663406 U CN211663406 U CN 211663406U CN 202020237790 U CN202020237790 U CN 202020237790U CN 211663406 U CN211663406 U CN 211663406U
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- unmanned ship
- big data
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- hawser
- rope
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Abstract
The utility model discloses an automatic berthing system of unmanned ship based on big data, anchor device on the unmanned ship hull, hawser jettison device and wharf hawser receiving arrangement and positioner, anchor device includes the line wheel base, the line wheel base rotates and is connected with the shaft, the circumference outer wall of shaft has cup jointed the hawser, the one end that the line wheel base was kept away from to the hawser is provided with the fluke, the bow and the stern of unmanned ship hull all are provided with the hawser stopper, the hawser jettison device includes the base, the articulated first telescopic link that is provided with in top of base, the bottom of first telescopic link evenly is provided with first wire loop and second wire loop, a lateral wall that the base is close to the ship board outside rotates and is connected with the rope shaft, the circumference outer wall of rope shaft has cup jointed the hawser, the one end that the hawser stretches out the second. The utility model discloses can carry out the pier when berthing the operation in the unmanned ship that lacks personnel, through reasonable mechanical design, accomplish unmanned operation of berthing.
Description
Technical Field
The utility model relates to a hull berthing technical field, in particular to automatic berthing system of unmanned ship based on big data.
Background
With the development of science and technology, unmanned equipment gradually begins to be widely applied to production and life of people, wherein unmanned ships have great practical application in the fields of environment detection, water body sampling, climate observation and the like, and can be controlled through remote operation.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic berthing system of unmanned ship based on big data, main aim at can carry out the pier when berthing the operation at unmanned ship that lacks personnel, through reasonable mechanical design, accomplish unmanned berthing operation.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an automatic system of berthing of unmanned ship based on big data, includes unmanned ship hull and pier, the bow and the stern of unmanned ship hull all are provided with the device of throwing the anchor, the ship board of the left and right sides of unmanned ship hull all is provided with hawser throwing device, the one end lateral wall that the waters is pressed close to the pier is provided with hawser receiving arrangement, the top of pier is provided with positioner.
Preferably, the anchoring device comprises a wire wheel base, the wire wheel base is rotatably connected with a wheel shaft, an anchor rope is sleeved on the outer wall of the circumference of the wheel shaft, an anchor hook is arranged at one end, far away from the wire wheel base, of the anchor rope, and anchor hook limiting blocks are arranged at the bow and the stern of the unmanned ship body.
Preferably, the device is thrown out to hawser includes the base, the articulated first telescopic link that is provided with in top of base, the segmentation bottom that first telescopic link is connected with the base evenly is provided with first wire loop, the flexible segmentation bottom that the base was kept away from to first telescopic link is provided with the second wire loop, a lateral wall that the base is close to the ship board outside rotates and is connected with the fag end, the circumference outer wall of fag end has cup jointed the hawser, and the hawser passes first wire loop and second wire loop respectively, the one end that the hawser stretches out the second wire loop is provided with the stopper.
Preferably, the cable receiving device comprises an outer frame body, wherein second telescopic rods are arranged on two opposite side walls of an inner frame of the outer frame body, and cross rods are arranged at telescopic ends of the second telescopic rods.
Preferably, positioner includes the pole setting, the lateral wall that the waters is pressed close to the pole setting is provided with the infrared ray and connects the device.
Preferably, the wheel shaft and the rope shaft are both connected with a motor which has a self-locking function and can rotate forward and backward.
Preferably, the transverse grooves are formed in two opposite side walls, which are not located at the same position, of the inner frame of the outer frame body and the second telescopic rod, and the transverse rods are lapped between the two groups of transverse grooves.
Preferably, the side wall of the ship body of the unmanned ship is provided with a reflecting plate for reflecting infrared rays emitted by the infrared ray emitting and receiving device.
Preferably, the distance between two adjacent groups of the cable receiving devices is equal, and each group of the positioning devices is positioned between two adjacent groups of the cable receiving devices.
Preferably, the distance between the two groups of the cable throwing devices on the side of the ship on the same side is equal to a positive integral multiple of the distance between the two adjacent groups of the cable receiving devices.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses a carry out reasonable repacking to the berth point of pier, installed hawser receiving arrangement additional, throw out the device through the hawser with unmanned ship hull and cooperate, unmanned manual use hawser when accomplishing the berth carries out the berth operation to unmanned ship, has alleviateed operator's burden greatly.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the anchoring device of the present invention;
fig. 3 is a schematic structural view of the cable throwing device of the present invention;
fig. 4 is a top view of the cable receiving device of the present invention;
fig. 5 is a cross-sectional view of a cable receiving device of the present invention;
fig. 6 is a schematic structural diagram of the positioning device of the present invention.
In the figure: 1-unmanned ship hull; 2-a wharf; 3-anchoring means; 301-reel base; 302-an axle; 303-anchor line; 304-anchor hook; 305-anchor hook limiting block; 4-a cable throwing-out device; 401-a base; 402-a first telescoping pole; 403-a first wire loop; 404-a second wire loop; 405-a rope shaft; 406-a cable; 407-a limiting block; 5-a cable receiving device; 501-outer frame body; 502-a second telescoping rod; 503-a cross-bar; 504-transverse grooves; 6-a positioning device; 601-erecting a rod; 602-an infrared transceiver; 7-reflecting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
As shown in fig. 1-6, an unmanned ship automatic berthing system based on big data comprises an unmanned ship body 1 and a wharf 2, wherein both the bow and the stern of the unmanned ship body 1 are provided with anchoring devices 3, each anchoring device 3 comprises a reel base 301, each reel base 301 is rotatably connected with a wheel shaft 302, the outer circumferential wall of each wheel shaft 302 is sleeved with an anchor rope 303, one end of each anchor rope 303, far away from the reel base 301, is provided with an anchor hook 304, both the bow and the stern of the unmanned ship body 1 are provided with anchor hook limiting blocks 305, each of the ship boards on the left side and the right side of the unmanned ship body 1 is provided with a cable throwing device 4, each cable throwing device 4 comprises a base 401, the top of the base 401 is hinged with a first telescopic rod 402, the bottom of the section, connected with the base 401, of the first telescopic rod 402 is uniformly provided with a first line ring 403, the bottom of the telescopic section, far away from the base 401, a rope shaft 405 is rotatably connected to one side wall of the base 401 close to the outer side of the ship board, the wheel shaft 302 and the rope shaft 405 are both connected with a motor which has a self-locking function and can rotate forward and backward, a cable 406 is sleeved on the circumferential outer wall of the rope shaft 405, the cable 406 respectively passes through a first wire loop 403 and a second wire loop 404, a limiting block 407 is arranged at one end of the cable 406 extending out of the second wire loop 404, a cable receiving device 5 is arranged at one end side wall of the wharf 2 close to the water area, the cable receiving device 5 comprises an outer frame body 501, a second telescopic rod 502 is arranged at two opposite side walls of an inner frame of the outer frame body 501, a cross bar 503 is arranged at the telescopic end of the second telescopic rod 502, two opposite side walls of the outer frame body 501 and the second telescopic rod 502 which are not at the same position are respectively provided with a cross groove 504, the cross bar 503 is lapped, the side wall that pole setting 601 is pressed close to the waters is provided with infrared ray and receives and send out device 602, and the ship side lateral wall of unmanned ship hull 1 is provided with reflecting plate 7 that has the infrared ray that reflection infrared ray received and send out device 602 and send out, and adjacent two sets of the distance between hawser receiving device 5 equals, and every group positioner 6 all is located between adjacent two sets of hawser receiving device 5, and the homonymy ship side is two sets of the distance between the hawser jettison device 4 equals the positive integral multiple of distance between adjacent two sets of hawser receiving device 5.
In a specific application of this embodiment, when the unmanned ship is berthing, the infrared transceiver 602 on the column 601 emits infrared rays when the unmanned ship body 1 approaches the quay 2, and when the reflective plate 7 of the unmanned ship body 1 is facing the infrared transceiver 602 so that the infrared transceiver 602 receives the reflected infrared rays, the unmanned ship body 1 is controlled to remain stationary, and the main operation is to rotate the wheel shaft 302 by starting the self-locking motor with forward and reverse rotation function connected to the wheel shaft 302, to release the anchor rope 303, to make the two sets of anchor hooks 305 at the bow and the stern enter water under the action of gravity and insert the water bottom to fix the unmanned ship body 1, and then to extend the first telescopic rod 402, to make the stopper 407 move to a position right above the outer frame 501 of the cable receiving device 5 of the quay 2, to ensure that the second telescopic rod 502 is located at the shortest position, starting a motor which is connected with the rope shaft 405 and has a self-locking function and can rotate in the positive and negative directions to enable the rope shaft 405 to rotate, prevent the cable 406 from being pulled out, enable the limiting block 407 to penetrate through the outer frame body 501, then extend the second telescopic rod 502, enable the cross rod 503 to move in the transverse groove 504 of the outer frame body 501 in the opposite direction, and accordingly clamp the limiting block 407, and finish the mooring of the unmanned ship body 1.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An automatic berthing system of unmanned ship based on big data, includes unmanned ship hull (1) and pier (2), its characterized in that: the anchor throwing device is characterized in that the bow and the stern of the unmanned ship body (1) are provided with anchor throwing devices (3), the side boards of the left side and the right side of the unmanned ship body (1) are provided with cable throwing devices (4), one end side wall of the wharf (2) close to a water area is provided with a cable receiving device (5), and the top of the wharf (2) is provided with a positioning device (6).
2. The big data based unmanned ship automatic berthing system of claim 1, characterized in that: the anchoring device (3) comprises a wire wheel base (301), the wire wheel base (301) is rotatably connected with a wheel shaft (302), an anchor rope (303) is sleeved on the outer wall of the circumference of the wheel shaft (302), one end, far away from the wire wheel base (301), of the anchor rope (303) is provided with an anchor hook (304), and anchor hook limiting blocks (305) are arranged at the bow and the stern of the unmanned ship body (1).
3. The big data based unmanned ship automatic berthing system of claim 1, characterized in that: the mooring rope throwing device (4) comprises a base (401), a first telescopic rod (402) is hinged to the top of the base (401), a first wire ring (403) is uniformly arranged at the bottom of a section of the first telescopic rod (402) connected with the base (401), a second wire ring (404) is arranged at the bottom of a telescopic section of the first telescopic rod (402) far away from the base (401), a rope shaft (405) is rotatably connected to one side wall of the base (401) close to the outer side of a ship board, a mooring rope (406) is sleeved on the outer circumferential wall of the rope shaft (405), the mooring rope (406) penetrates through the first wire ring (403) and the second wire ring (404) respectively, and a limiting block (407) is arranged at one end, extending out of the second wire ring (404), of the mooring rope (406).
4. The big data based unmanned ship automatic berthing system of claim 1, characterized in that: the mooring rope receiving device (5) comprises an outer frame body (501), two opposite side walls of an inner frame of the outer frame body (501) are respectively provided with a second telescopic rod (502), and the telescopic end of each second telescopic rod (502) is provided with a cross rod (503).
5. The big data based unmanned ship automatic berthing system of claim 1, characterized in that: positioner (6) include pole setting (601), a lateral wall that pole setting (601) are pressed close to the waters is provided with the infrared ray and send out device (602).
6. The big data based unmanned ship automatic berthing system of claim 2, characterized in that: the wheel shaft (302) and the rope shaft (405) are both connected with a motor which has a self-locking function and can rotate forward and backward.
7. The big data based unmanned ship automatic berthing system of claim 4, characterized in that: the transverse grooves (504) are formed in two opposite side walls, at the same position, of the inner frame of the outer frame body (501) and the second telescopic rod (502), and the transverse rods (503) are connected between the two groups of transverse grooves (504) in an overlapping mode.
8. The big data based unmanned ship automatic berthing system of claim 7, characterized in that: the side wall of the ship board of the unmanned ship body (1) is provided with a reflecting plate (7) which reflects infrared rays emitted by the infrared ray receiving and emitting device (602).
9. The big data based unmanned ship automatic berthing system of claim 7, characterized in that: the distances between the two adjacent groups of cable receiving devices (5) are equal, and each group of positioning devices (6) is positioned between the two adjacent groups of cable receiving devices (5).
10. The big data based unmanned ship automatic berthing system of claim 7, characterized in that: the distance between the two groups of the cable throwing devices (4) on the same side ship board is equal to the positive integral multiple of the distance between the two adjacent groups of the cable receiving devices (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020237790.6U CN211663406U (en) | 2020-03-02 | 2020-03-02 | Unmanned ship automatic berthing system based on big data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020237790.6U CN211663406U (en) | 2020-03-02 | 2020-03-02 | Unmanned ship automatic berthing system based on big data |
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| Publication Number | Publication Date |
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| CN211663406U true CN211663406U (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020237790.6U Expired - Fee Related CN211663406U (en) | 2020-03-02 | 2020-03-02 | Unmanned ship automatic berthing system based on big data |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261476A (en) * | 2022-02-24 | 2022-04-01 | 鲁东大学 | Automatic berthing system of unmanned ship |
| CN115195952A (en) * | 2022-09-15 | 2022-10-18 | 山东省水利科学研究院 | Water conservancy exploration equipment |
-
2020
- 2020-03-02 CN CN202020237790.6U patent/CN211663406U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11731738B1 (en) | 2022-02-04 | 2023-08-22 | Ludong University | Automatic berthing system for unmanned ship |
| CN114261476A (en) * | 2022-02-24 | 2022-04-01 | 鲁东大学 | Automatic berthing system of unmanned ship |
| CN115195952A (en) * | 2022-09-15 | 2022-10-18 | 山东省水利科学研究院 | Water conservancy exploration equipment |
| CN115195952B (en) * | 2022-09-15 | 2022-12-27 | 山东省水利科学研究院 | Water conservancy exploration equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220223 Address after: No. 258-8, Zhongyang Road, Xuanwu District, Nanjing, Jiangsu 210000 Patentee after: Nanjing Huihai Transportation Technology Co.,Ltd. Address before: 309 Gezhi Road, Jiangning District, Nanjing City, Jiangsu Province Patentee before: JIANGSU MARITIME INSTITUTE |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201013 |
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| CF01 | Termination of patent right due to non-payment of annual fee |