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An active capture docking system for ship berthing

An active, marine technology, applied in shipping equipment, ships, etc., can solve problems such as safety accidents, inconvenience, and the hull easily hits the shore, and achieves a high degree of intelligence.

Active Publication Date: 2022-07-15
SHANGHAI JIAOTONG UNIV
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  • Summary
  • 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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  • An active capture docking system for ship berthing
  • An active capture docking system for ship berthing
  • An active capture docking system for ship berthing

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Embodiment

[0032] An active capture docking system for ship berthing, the system includes an active docking device 100 and a passive docking device 106, the active docking device 100 is arranged on the shore foundation of the berth, and the passive docking device 106 is arranged on the bow of the ship 208, Taking into account the diversity of ship types, the present invention is designed to be suitable for berthing and docking of various types of hulls of different sizes. A method for active capture of feedback target poses.

[0033] like Figure 1 to Figure 3 As shown, the active docking device 100 includes a processor 101, a robotic arm 102, a capture docking structure 103, and a vision guidance structure 104. The robotic arm 102 is a multi-degree-of-freedom motion robotic arm structure, and the fixed end of the robotic arm 102 is fixed on the shore foundation. The free end of the robotic arm 102 fixes the capture docking structure 103 , the vision guidance structure 104 is fixed abov...

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Abstract

The invention relates to an active capture docking system for ship berthing. The system comprises an active docking device and a passive docking device, the active docking device is arranged on the shore foundation of the berth, and the passive docking device is arranged on the ship The bow of the ship, the active docking device includes a processor, a robotic arm, a capture docking structure and a visual guidance structure, the passive docking device includes a fixed structure, an adjustable mechanism and a docked structure, and the docked structure includes When docking the joint and the target, the processor performs vision-guided control of the motion of the robotic arm based on the vision-guided structure and the target, so that the capture docking structure captures the joint and docks, and after the docking is successful, the capture docking structure and the the butt joint locking fit. Compared with the prior art, the system of the invention is stable and reliable, simple in structure and high in intelligence.

Description

technical field [0001] The invention relates to the technical field of automatic ship parking, in particular to an active capture docking system for ship parking. Background technique [0002] When the ship is sailing on the water, when it arrives at the designated port or needs to be berthed at the docking point, it is often necessary to throw the rope carried with 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 hit the shore, which is easy to cause safety accidents. SUMMARY OF THE INVENTION [0004] The purpose of the present invention is to provide an active capture docking system for ship berthing, which is stable, reliable, simple in structure and ...

Claims

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Application Information

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Patent Type & Authority Patents(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 JIAOTONG UNIV
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