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Active capture docking system for ship berthing

An active and marine technology, applied to shipping equipment, ships, etc., can solve problems such as safety accidents, time-consuming, inconvenient, etc., and achieve a high degree of intelligence

Active Publication Date: 2020-12-01
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The above-mentioned traditional ship berthing method relies on manpower, which is time-consuming and inconvenient; at the same time, the ship is fixed by ropes, and the hull is very easy to bump into the shore under the influence of water waves, which may easily cause safety accidents

Method used

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  • Active capture docking system for ship berthing
  • Active capture docking system for ship berthing
  • Active capture docking system for ship berthing

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Embodiment

[0032] An active capture docking system for berthing ships, the system includes an active docking device 100 and a passive docking device 106, the active docking device 100 is arranged on the shore of a berth, and the passive docking device 106 is arranged on the bow of a ship 208, Taking into account the diversity of ship types, the present invention is designed to be suitable for berthing and docking with multiple types of hulls of different sizes. Considering the interference of water flow fluctuations on the hull posture during berthing, the present invention adopts a visual real-time A method for active capture of feedback object poses.

[0033] Such as Figure 1 ~ Figure 3 As shown, the active docking device 100 includes a processor 101, a robotic arm 102, a capturing docking structure 103, and a visual guidance structure 104. The robotic arm 102 is a multi-degree-of-freedom moving robotic arm structure, and the fixed end of the robotic arm 102 is fixed on the shore. Th...

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Abstract

The invention relates to an active capture type docking system for ship berthing. The system comprises an active docking device and a passive docking device, the active docking device is arranged on ashore base of the parking position; the passive butt joint device is arranged on the bow of a ship. The active docking device comprises a processor, a mechanical arm, a capturing docking structure and a visual guiding structure. The passive docking device comprises a fixing structure, an adjustable mechanism and a butted structure. The butted structure comprises a butt joint and a target. Duringbutting, the processor performs visual guidance based on the visual guidance structure and the target to control the mechanical arm to move, so that the capturing butting structure captures the butt joint and performs butting, and after butting succeeds, the capturing butting structure is in locking fit with the butt joint. Compared with the prior art, the system is stable, reliable, simple in structure and high in intelligent degree.

Description

technical field [0001] The invention relates to the technical field of automatic berthing, in particular to an active capture docking system for berthing ships. Background technique [0002] When a ship sails on the water, when it arrives at a designated port or needs to berth at a docking point halfway, it is often necessary to throw the rope carried by the ship to the docking point, and then the staff at the docking point tie one end of the rope to the docking point. point on the shore pile. [0003] The above-mentioned traditional ship berthing method relies on manpower, which is time-consuming and inconvenient. At the same time, the ship is fixed by ropes. Under the influence of water waves, the hull is very easy to bump into the shore, which is likely to cause safety accidents. Contents of the invention [0004] The object of the present invention is to provide a stable, reliable, simple in structure and highly intelligent active capture docking system for berthing s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B21/00E02B3/20
CPCB63B21/00E02B3/20
Inventor 张卫东金宇杰林斌韩鹏杨子恒
Owner SHANGHAI JIAO TONG UNIV
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