CN214460090U

CN214460090U - Unmanned ship berths pier

Info

Publication number: CN214460090U
Application number: CN202022650610.XU
Authority: CN
Inventors: 王润涛; 张新钊
Original assignee: Anhui Cowis Intelligence Technology Co ltd
Current assignee: Anhui Cowis Intelligence Technology Co ltd
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2021-10-22
Anticipated expiration: 2030-11-16

Abstract

The utility model provides an unmanned ship berths pier, including unmanned ship and pier, the pier includes a plurality of berths and positioner, and each berth all is provided with location mark and mooring rope device, mooring rope device includes at least a set of hawser that sets up on the berth and sets up the gim peg on unmanned ship; the positioning device comprises a plurality of positioning sensors which are uniformly arranged on the wall bodies on the two sides in the berth. The utility model discloses unmanned ship berths the pier, is provided with positioning mark and positioner, makes things convenient for unmanned ship to return to the accurate discernment and the location that the in-process can realize berthing automatically, realizes unmanned and automatic that unmanned ship berths.

Description

Unmanned ship berths pier

Technical Field

The utility model relates to an unmanned ship technical field, concretely relates to unmanned ship wharf of berthing.

Background

In recent years, with the rapid advance of new concepts and new technologies such as internet of things, big data, cloud computing, artificial intelligence and the like, unmanned intelligent operation ships have gradually become more and more for improving the overwater operation efficiency and reducing the personnel safety risk, but for larger unmanned ships, port departure and port return mooring still can be completed by manual operation, and the automation and the unmanned operation of the unmanned ships entering and exiting the wharf are difficult to really realize.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize unmanned ship in and out port unmanned and intelligent operation's unmanned ship pier of berthing.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an unmanned ship-berthing terminal comprising an unmanned ship and a terminal, the terminal comprising:

each berth is provided with a positioning mark and a mooring line device, and the mooring line device comprises at least one group of mooring lines arranged on the berth and fixing bolts arranged on the unmanned ship; and

and the positioning device comprises a plurality of positioning sensors which are uniformly arranged on the wall bodies on the two sides in the berth.

Preferably, the positioning mark is a flashing label with a serial number, and each flashing label has a different flashing frequency.

Preferably, a camera capable of acquiring a berth serial number is arranged at the front end of the bow of the unmanned ship.

Preferably, an automatic turnover device is connected to the cable.

According to the technical scheme provided by the utility model, the utility model discloses unmanned ship berths the pier is provided with positioning mark and positioner, makes things convenient for unmanned ship to return to the accurate discernment and the location that the in-process can realize berthing automatically, realizes unmanned and automatic that unmanned ship berths.

Drawings

Fig. 1 is a schematic top view of the overall structure of the mooring system of the present invention;

FIG. 2 is a schematic side view of the overall structure of the mooring system of the present invention;

FIG. 3 is a schematic view of the structure of the mooring device of the present invention;

in the figure: 1. parking position; 2. positioning a mark; 3. a mooring line device; 31. a cable; 32. a fixing bolt; 4. and a positioning sensor.

Detailed Description

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

The unmanned ship berthing wharf shown in fig. 1 comprises an unmanned ship and a wharf, wherein the wharf comprises a plurality of berths and a positioning device, each berth is provided with a positioning mark and a mooring device, and the mooring device comprises at least one group of mooring ropes arranged on the berths and fixing bolts arranged on the unmanned ship; the positioning device comprises a plurality of positioning sensors which are uniformly arranged on the wall bodies on the two sides in the berth.

Positioning sensor can adopt laser positioning sensor, laser sensor adopts the symmetry mounting means that a transmitter corresponds a receiver, but the multirow installation, under the circumstances of centre unobstructed, the sharp laser that the transmitter launches can shine the receiver, the receiver receives laser rear system and can make the judgement result of centre unobstructed. The distance measuring sensor (such as an infrared sensor, an ultrasonic sensor, a millimeter wave sensor and the like) can also be used for detecting, when no ship stops in the berth, the distance measuring sensor arranged on one side can detect the opposite berth elevation distance, the value is kept unchanged, when the ship drives into the berth, the distance measuring sensor intelligently detects the closer ship side distance, and the distance is smaller than the opposite elevation distance of the berth, so that the system can judge that an obstacle exists in the middle. It should be noted that if multiple rows of sensors work simultaneously, obstacles appear from the entrance to the innermost end in sequence, if the sequence is normal, the ship is judged to enter the berth, and signals given by the sensors at different positions can be used as a judgment basis for the current entering position of the ship. If the sequence given by the sensor signals is abnormal, the sensor fault or the mistaken occlusion of other objects needs to be considered.

The positioning mark of the preferred embodiment adopts the flashing signs with serial numbers, each flashing sign is provided with different flashing frequencies for distinguishing, and the front end of the bow of the unmanned ship is also provided with a camera capable of acquiring the serial number of the berth.

In specific use, the wharf is provided with a control system, and the unmanned ship can send return signals and return information such as the model, state parameters and position information of a ship body to the wharf control system before returning; after receiving the information and the requirements of the unmanned ship, the wharf control system selects an empty berth from the berths meeting the ship type requirements, gives the direction, the longitude and latitude, the peripheral parking position information and the number and the flicker frequency of the flash label to the unmanned ship, and locks the empty berth; after receiving the berth information, the unmanned ship plans a return route and drives to a berth entrance; when the unmanned ship runs to the periphery of the designated berth, sending an arrival signal to a wharf control system; after receiving the signal, the wharf checks whether other unmanned ships stop at present; if other unmanned ships stop, stopping; after confirming that the current unmanned ship berthing operation cannot be influenced, starting a berthing receiving program, starting a positioning sensor and a signboard corresponding to the berthing, and simultaneously sending a receiving signal to the unmanned ship; after receiving the received signal, the unmanned ship drives the ship to the front of the berth entrance, and the direction of the ship body is adjusted to be aligned with the berth; the unmanned ship obtains the flashing light and the flashing frequency of the signboard and initially judges whether the berth information is correct or not; identifying the berth coding serial number through a camera, judging whether the berth coding serial number is consistent with the assigned berth coding serial number, and starting the positioning operation of the unmanned ship when the longitude and latitude position information is consistent with the berth coding serial number; the unmanned ship keeps the course and slowly drives into the berth, and in the driving process, the ship body triggers positioning sensors in the berth in sequence, and the wharf control system senses the specific position of the current position entering the berth at once; when the unmanned ship sequentially triggers the sensor devices at the innermost end, the wharf control system judges that the unmanned ship is parked in place.

The mooring rope in the preferred embodiment is connected with an automatic turnover device, after the unmanned ship is moored in place, the power output with low power is still kept, the bow of the ship is jacked at the inner end of the berth of the wharf, and the mooring rope device at the shore end turns over the annular hard mooring rope on the fixing bolt through the turnover device; after the wharf mooring system detects that the mooring device finishes the operation of turning the mooring rope, a mooring completion signal is sent to the unmanned ship, and the unmanned ship closes the power system after receiving the signal; the fixing pile top is provided with the back hook, can avoid the hawser to drop, if unmanned ship need drive away from the pier, only need open the propeller and slowly support berth front end wall body, control turning device turns over the hawser back to the bank end, can release unmanned ship and drive away from the pier departure port.

The above-mentioned embodiments are only to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.

Claims

1. An unmanned ship-berthing terminal comprising an unmanned ship and a terminal, the terminal comprising:

the system comprises a plurality of berths (1), wherein each berth is provided with a positioning mark (2) and a mooring line device (3), and the mooring line device comprises at least one group of mooring lines (31) arranged on the berths and fixing bolts (32) arranged on the unmanned ship; and

and the positioning device comprises a plurality of positioning sensors (4) which are uniformly arranged on the wall bodies on the two sides in the berth.

2. An unmanned ship mooring terminal according to claim 1, wherein the positioning markers (2) are flashing signs with serial numbers, each flashing sign having a different flashing frequency.

3. The unmanned ship berthing wharf of claim 1, wherein a camera capable of acquiring a berth serial number is arranged at the front end of a bow of the unmanned ship.

4. An unmanned ship mooring terminal according to claim 1, wherein an automatic upender is connected to said cable.