A multifunctional marine intelligent landing device and control method

Abstract

The present application provides a multifunctional marine intelligent landing device and a control method. The multifunctional marine intelligent landing device includes a boarding platform and a landing cone. The landing cone has an expanded state and a folded state. The landing cone includes a universal joint, and an outer arm and an inner arm of a sphere hinged to the universal joint. The landing plate is hinged to the inner arm, and the outer arm can be detachably connected to the landing plate to form the expanded state of the landing cone; the outer arm, the inner arm and the landing plate can also be folded to a position close to the boarding platform to form the folded state of the landing cone. In the expanded state, the landing plate is suitable for supporting downward to the landing point, and in the folded state, the outer arm is suitable for connecting to the landing point in the direction away from the boarding platform. The control method controls the landing device to land in an expanded state or a folded state according to the position of the landing point, and monitors the landing process through sensors and other devices. The present application realizes the multifunctionality and intelligence of the marine landing device.

Description

Technical Field

[0001] The present application relates to the technical field of ship equipment, and in particular to a multifunctional marine intelligent landing device and a control method. Background Art

[0002] There is often a need to exchange personnel and goods between ships and land, offshore platforms or other ships. The embarkation platform is a passageway used to connect ships with land, offshore platforms or other ships. The commonly used embarkation platform landing device generally uses two small hydraulic cylinders to apply constant tension to the gangway ladder transfer point to fix the end of the gangway. When there is a height difference between the landing site of the embarkation platform and the ship, it is difficult to form a safe passage between the embarkation platform and the landing site, making it difficult for the ship to ensure the personal safety of the platform construction personnel under such working conditions.

[0003] To this end, the invention patent application with publication number CN105539744A provides an active compensating offshore platform boarding device, which connects the springboard base and the seat frame through a hydraulic lifting mechanism, and controls the hydraulic lifting mechanism through a control device to actively compensate for the ship's lifting and lowering caused by waves.

[0004] However, the above technical solution still has the following shortcomings:

[0005] 1. The active compensation system is complex and costly, and will generate high energy consumption if used for a long time, so it has a small scope of application;

[0006] 2. It only provides a landing method of touching the landing point from top to bottom, and has poor adaptability to the relative position between the landing point and the embarkation platform;

[0007] 3. The engagement process between the landing device and the landing point is not intelligent, and the safety of the landing process and the comfort of the operator are poor. Summary of the invention

[0008] In view of the above defects in the prior art, the purpose of the present application is to provide a landing device with simple structure, low cost, two landing modes, good adaptability to the landing point, and intelligent landing process.

[0009] In order to achieve the above objectives, the present application provides a multifunctional offshore intelligent landing device and a control method.

[0010] The multifunctional offshore intelligent landing device is suitable for being erected between a vehicle and a landing point, and comprises: a boarding platform having a connecting end and a landing end, wherein the connecting end is suitable for being movably connected to the vehicle; a landing cone installed at the landing end, wherein the landing cone comprises a landing plate and a connecting assembly, wherein the connecting assembly is connected between the landing plate and the boarding platform; the landing cone has an extended state and a retracted state, wherein in the extended state, there is a first preset distance between the landing plate and the boarding platform, and the landing plate is suitable for being supported to the landing point; in the retracted state, the landing plate is overlapped with the boarding platform, and the connecting assembly or the landing plate is suitable for being connected to the landing point.

[0011] Preferably, the connecting assembly includes a universal hinge and an outer arm, the universal hinge has a base and a rotating body, the rotating body is universally rotatably arranged on the base, and the base is fixed to the bottom surface of the landing end; the landing plate has a first end and a second end, the first end is connected to the rotating body; the outer arm has a third end and a fourth end, the third end is hinged to the rotating body, when the landing cone is in the extended state, the fourth end is detachably connected to the second end, when the landing cone is in the folded state, the fourth end is suitable for being detached from the second end and being located at a position beyond the landing end in the length direction of the boarding platform; the multifunctional offshore intelligent landing device also includes a first driver for driving the outer arm to rotate around the third end.

[0012] Preferably, the connecting assembly further comprises an inner arm having a fifth end and a sixth end, the fifth end being hinged to the rotating body, and the sixth end being hinged to the first end; the landing cone further comprises a second drive for driving the landing plate to rotate around the first end.

[0013] Preferably, the multifunctional offshore intelligent landing device also includes a third driver for driving the inner arm to rotate around the fifth end.

[0014] Preferably, the fourth end has a first clamping member hingedly arranged, and the second end has a second clamping member matched with the first clamping member.

[0015] Preferably, the first drive comprises a first rope reel and a first rope, the first rope reel is fixed to the boarding platform, and the free end of the first rope is connected to the outer arm; the second drive is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the rotating body, and the other end is hinged to the landing board, and the hinge position is located between the first end and the second end; the third drive comprises a second rope reel and a second rope, the second rope reel is fixed to the boarding platform, and the free end of the second rope is connected to the inner arm.

[0016] Preferably, the outer arm includes a first arm, a second arm and at least one first connecting member, the first arm and the second arm respectively have the third end and the fourth end, the two third ends are hinged to the rotating body away from each other, and the two ends of the first connecting member are respectively fixedly connected to the first arm and the second arm so that the two fourth ends are away from each other; the number of the first drivers is one, and the first rope is connected to one first connecting member, or the number of the first drivers is two, and two first ropes are respectively connected to the first arm and the second arm.

[0017] Preferably, the inner arm includes a third arm, a fourth arm and at least one second connecting member, the third arm and the fourth arm respectively have the fifth end and the sixth end, the two fifth ends are hinged to the rotating body away from each other, and the two ends of the second connecting member are respectively fixedly connected to the third arm and the fourth arm so that the two sixth ends are away from each other.

[0018] Preferably, the landing pad is provided with a first rangefinder and a first pressure sensor, which are respectively used to measure the distance and pressure between the landing pad and the landing point; the fourth end is provided with a second rangefinder and a second pressure sensor, which are respectively used to measure the distance and pressure between the fourth end and the landing pad.

[0019] Preferably, there are multiple first rangefinders and multiple first pressure sensors, which are evenly and alternately arranged on the landing board; a magnet is provided at the connection between the fourth end and the second end, and a ferromagnetic material is provided at the second end to match the magnet; the multifunctional offshore intelligent landing device also includes a video monitoring device, which is provided at the landing end and is used to obtain image information of the landing point and / or the landing cone; the multifunctional offshore intelligent landing device also includes a controller, which is used to monitor one or more of the first rangefinder, the second rangefinder, the first pressure sensor, the second pressure sensor, the first driver, the second driver, the third driver, and the video monitoring device.

[0020] The control method provided in the present application is used to control any of the aforementioned multifunctional offshore intelligent landing devices, including the steps of: controlling the landing device to land in the deployed state or the folded state according to the relative position of the landing point and the boarding platform.

[0021] Preferably, the operator obtains the relative position of the landing point and the embarkation platform based on the video monitoring device of the multifunctional offshore intelligent landing device.

[0022] Preferably, the operator monitors the landing process of the deployed landing cone based on the measurement data of the video monitoring device and the first rangefinder and the first pressure sensor of the multifunctional offshore intelligent landing device.

[0023] Preferably, the operator monitors the landing process of the landing cone in the folded state according to the measurement data of the video monitoring device and the second rangefinder and the second pressure sensor of the multifunctional offshore intelligent landing device.

[0024] The ship provided in the present application has a hull, including any one of the aforementioned multifunctional offshore intelligent landing devices, and the connecting end is movably connected to the hull.

[0025] The technical effects of this application are:

[0026] 1. The two landing modes of downward contact with the landing point and forward contact with the landing point can be realized by the unfolded state and folded state of the landing cone, which realizes the multifunctionality of the landing device of the embarkation platform and improves the adaptability to the landing point;

[0027] 2. The landing cone can be automatically adjusted in angle by means of a universal joint, which has a simple structure, low cost, no need for control and good reliability;

[0028] 3. Through the arrangement of the first drive, the second drive and the third drive, the deployment and folding of the landing cone can be realized in a simple manner, which is low in cost and easy to control;

[0029] 4. By setting the folded state, the landing cone can take up less space when not in use, making it easy to store;

[0030] 5. Through the setting of the first rangefinder and the first pressure sensor, the landing process of the landing cone can be intelligently controlled, and the landing status can be monitored in real time, so that the safety of the landing process and the comfort of the operator are better;

[0031] 6. Through the arrangement of the second rangefinder and the second pressure sensor, the engagement process of the outer arm and the landing plate, as well as the engagement and landing process of the outer arm and the landing point can be intelligently controlled and monitored in real time;

[0032] 7. By means of the magnet arranged at the fourth end, the engagement of the outer arm and the landing plate, and the engagement of the outer arm and the landing point are smoother, more reliable and easier to disengage;

[0033] 8. Through the setting of video monitoring device, the operator can obtain the image information of the landing point and landing cone in real time, so as to improve the safety of the landing process and the operating comfort of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0035] Figure 1 is a side view schematic diagram of the multifunctional marine intelligent landing device of the first embodiment and the second embodiment;

[0036] Figure 2 is a side view schematic diagram of the landing cone in the deployed state of the first embodiment and the second embodiment;

[0037] Figure 3 is a side view schematic diagram of the landing cone in the folded state of the first embodiment and the second embodiment;

[0038] Figure 4 is a front view schematic diagram of the landing cone of the first embodiment and the second embodiment;

[0039] Figure 5 is a schematic top view of the landing cone of Embodiment 1 and Embodiment 2;

[0040] Figure 6 is a bottom view schematic diagram of the rotating body of the first embodiment and the second embodiment;

[0041] Description of Figure Numbers:

[0042] 1. Boarding platform, 2. Rotating body, 3. Landing plate, 4. Outer arm, 5. First drive, 6. Inner arm, 7. Second drive, 8. Third drive, 9. First pressure sensor, 10. First rangefinder, 11. Second pressure sensor, 12. Second rangefinder, 13. Video monitoring device, 14. Landing cone, 201. First ear plate, 301. First end, 302. Second end, 303. Second ear plate, 401. Third end, 402. Fourth end, 403. First arm, 404. Second arm, 405. First connecting piece, 501. First rope reel, 502. First rope, 601. Fifth end, 602. Sixth end, 603. Third arm, 604. Fourth arm, 605. Second connecting piece, 801. Second rope reel, 802. Second rope. DETAILED DESCRIPTION

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0044] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0045] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0046] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0048] Embodiment 1: A multifunctional marine intelligent landing device.

[0049] The multifunctional offshore intelligent landing device of this embodiment is used to be installed between a vehicle and a landing point, and includes a embarkation platform 1, wherein the embarkation platform 1 has a connection end and a landing end, wherein the connection end is suitable for being movably connected to the vehicle. Figures 1 to 3 As shown, this embodiment also includes a landing cone 14, which is installed to the landing end. The landing cone 14 includes a landing plate 3, an outer arm 4, an inner arm 6, a second driver 7 and a universal hinge composed of a base and a rotating body 2 universally connected to the base (for the sake of simplicity, only the rotating body 2 is schematically shown in the figure). The universal hinge, the outer arm 4 and the inner arm 6 constitute a connecting assembly between the landing plate 3 and the boarding platform 1. The landing plate 3 has a first end 301 and a second end 302, the outer arm 4 has a third end 401 and a fourth end 402, and the inner arm 6 has a fifth end 601 and a sixth end 602; the third end 401 and the fifth end 601 are respectively hinged to the rotating body 2, and the sixth end 602 is hinged to the first end 301. The fourth end 402 has a first clamping member that is hingedly arranged, and the second end 302 is provided with a second clamping member that matches the first clamping member.

[0050] The landing cone 14 has an extended state and a retracted state. Figure 2The landing cone 14 is shown in the unfolded state. In the unfolded state, the landing plate 3 is adapted to be supported downward to the landing point. The landing point at this time may be a plane on land, on an offshore platform or on other ships, and the plane is located lower than the embarkation platform 1, suitable for the landing plate 3 to be supported downward. Figure 3 The folded state of the landing cone 14 is shown, and the landing plate 3 is overlapped with the embarkation platform 1. The outer arm 4 in the folded state is suitable for supporting the embarkation platform 1 along the length direction and away from the embarkation platform 1 to the landing point. The landing point at this time can be the above-mentioned plane, or a roughly vertical side on the offshore platform or other ship, and the plane or side position is basically flush with the embarkation platform 1. In addition, it can also be set on land such as a dock, an offshore platform or other ship at the engaging position matched by the first engaging member, for the fourth end 402 of the outer arm 4 to engage.

[0051] When the landing cone 14 is in the extended state, the first clip of the fourth end 402 can be detachably connected to the second clip of the second end 302. When the landing cone 14 is in the folded state, the fourth end 402 is suitable for being detached from the second end 302 and rotating to a position beyond the landing end in the length direction of the boarding platform 1.

[0052] This embodiment further includes a first driver 5 for driving the outer arm 4 to rotate around the third end 401, so that the outer arm 4 can Figure 2 The expanded state and Figure 3 The landing cone 14 further includes a second driver 7 for driving the landing plate 3 to rotate around the first end 301. The second driver 7 is a hydraulic cylinder, one end of which is hinged to the first ear plate 201 provided on the rotating body 2, and the other end is hinged to the second ear plate 303 provided on the landing plate 3, and the position of the second ear plate 303 is located between the first end 301 and the second end 302. This embodiment further includes a third driver 8 for driving the inner arm 6 to rotate around the fifth end 601. Through the cooperation of the second driver 7 and the third driver 8, the landing plate 3 and the inner arm 6 can be rotated around the fifth end 601. Figure 2 The expanded state and Figure 3 to switch between the collapsed state.

[0053] The first drive 5 includes a first rope reel 501 and a first rope 502, wherein the first rope reel 501 is suitable for being fixed to the embarkation platform 1, and the free end of the first rope 502 is connected to the outer arm 4; the third drive 8 includes a second rope reel 801 and a second rope 802, wherein the second rope reel 801 is suitable for being fixed to the embarkation platform 1, and the free end of the second rope 802 is connected to the inner arm 6. The first rope reel 501 and the second rope reel 801 are motor-driven steel wire rope reels with locking functions available on the market, and the first rope 502 and the second rope 802 are soft steel wire ropes.

[0054] The first and second clamping parts can be merely C-shaped clamps with clearance fit and raised buckles, which are clamped by pressure between the landing plate 3 and the outer arm 4 and can be easily disengaged; the first and second clamping parts can also be clamped by marble buckles and matching grooves, which can provide a certain clamping force and can be easily disengaged, and can also be connected by magnet attraction. Specifically, Figure 2 The first rope reel 501 is first controlled to pull the outer arm 4 to rotate around its third end 401, so that the fourth end 402 is disengaged from the second end 302, until the outer arm 4 is pulled to a position close to the embarking platform 1, so that the fourth end 402 extends out of the landing end of the embarking platform 1; then the second driver 7 is controlled to extend, so that the landing board 3 rotates around its first end 301 to be in the same plane as the inner arm 6; see Figure 1 Finally, the second rope reel 801 is controlled to pull the inner arm 6 to rotate around the fifth end 601 until the inner arm 6 and the landing plate 3 are located close to the boarding platform 1. At this time, the landing cone 14 is Figure 3 On the contrary, when the landing cone 14 needs to be deployed, the first rope reel 501 is first controlled to loosen the first rope 502, and the outer arm 4 rotates around the third end 401 to the position under the gravity. Figure 2 control the second rope reel 801 to loosen the second rope 802, the inner arm 6 rotates around the fifth end 601 under the action of gravity to Figure 2 Control the second drive 7 to shorten the landing plate 3 around the first end 301 to rotate Figure 2 The second end 302 is engaged to the fourth end 402 to complete the deployment process.

[0055] In order to enable the first clamping member of the fourth end 402 to be clamped downward to the second clamping member on the second end 302, and to be clamped horizontally forward to the clamping position set on the dock, offshore platform or other ship, a rotation limiter needs to be set at the hinge of the first clamping member, even if the first clamping member can only rotate to a certain angle. In this embodiment, the rotation range of the first clamping member is Figure 3 ±30° from indicated position.

[0056] As a variation of this embodiment, the landing plate 3 and the inner arm 6 may be configured as an L-shaped part, and the third driver 8 may be omitted, so that the landing cone 14 can be deployed and retracted, which is suitable for occasions where the width of the landing plate 3 in the length direction of the boarding platform 1 is small. Alternatively, only the third driver 8 may be omitted, and the landing plate 3 and the inner arm 6 in the hinged state may be retained, and a rotation limit of the inner arm 6 may be set at the fifth end 601, that is, the inner arm 6 rotates downward to Figure 2The landing plate 3 and the inner arm 6 can be deployed and retracted only by the second driver 7. The rotation range of the outer arm 4 can also be limited so that it rotates down to the position during the deployment of the landing cone 14. Figure 2 The position shown is that the rotation cannot be continued, so as to simplify the control difficulty of the first driver 5 and ensure the smooth engagement of the first clamping member and the second clamping member. The rotation limit can be simply realized by designing the hinge groove on the rotating body 2.

[0057] As another variation of this embodiment, the universal hinge can be omitted, and the third end 401, the fifth end 601 and one end of the second driver 7 can be directly coaxially hinged to the embarkation platform 1, and the hinge axis is perpendicular to the length direction of the embarkation platform 1. The automatic angle adjustment of the landing cone 14 can also be achieved to a certain extent, but the stable contact with the landing point cannot be guaranteed when the ship is swaying. It is suitable for occasions where the ship is long or large and has almost no forward and backward pitching but only up and down bumps. The third end 401, the fifth end 601 and one end of the second driver 7 can also be hinged to the embarkation platform 1 with a Hook hinge, which can also achieve the function of universal rotation. It is convenient to set up and low cost, but its stability is slightly worse than that of a single universal hinge.

[0058] The first driver 5 and the third driver 8 can also be implemented by a hydraulic cylinder with one end hinged to the boarding platform 1 and one end hinged to the outer arm 4 or the inner arm 6. The first driver 5, the second driver 7 and the third driver 8 can also be implemented by a combination of a cylinder, an electric cylinder, a motor screw slider, etc. A rubber pad can also be provided at the bottom of the landing plate 3 to make the landing process more stable. The rubber pad can also play a certain buffering role during and after the landing process.

[0059] The outer arm 4 and the inner arm 6 can be Figure 5 As shown, it is composed of multiple rods, and is hinged to the rotating body 2 at multiple locations, and is hinged or clamped to the landing plate 3 at multiple locations. It can also be designed as a single plate-shaped or other shaped component, and is hinged through a longer single hinge axis, or is clamped through a longer single clamping groove.

[0060] The landing cone 14 and related components can also be rotated 180° in the horizontal plane, that is, in the folded state, the landing plate 3 overlaps with the boarding platform 1 on the side away from the connection end of the boarding platform 1, and the second end 302 extends out of the landing end and is suitable for contacting or connecting to the landing point forward.

[0061] In actual application, the operator decides to use the landing cone 14 in the deployed state or the landing cone 14 in the folded state for landing according to the specific situation of the landing point, that is, to land through the outer arm 4 or the landing board 3 in the folded state. The former is suitable for occasions where the landing point is lower than the connection end between the embarkation platform 1 and the vehicle. By controlling the embarkation platform 1, the landing cone 14 in the deployed state is made to contact the landing point downward to achieve landing. After landing, the universal hinge can automatically adjust the angle of the landing cone 14 as the ship moves, so that the landing board 3 remains in contact with the landing point, ensuring the stability of the embarkation platform 1. The latter is suitable for occasions where the height of the landing point and the connection end of the embarkation platform 1 are roughly the same, and is particularly suitable for occasions where the landing point is also provided with a snap-in position that matches the first snap-in piece of the fourth end 402.

[0062] Embodiment 2: A multifunctional intelligent landing device at sea.

[0063] This embodiment is a further optimization based on the first embodiment. Figure 5 As shown, the outer arm 4 includes a first arm 403, a second arm 404 and a first connecting member 405. The first arm 403 and the second arm 404 have a third end 401 and a fourth end 402 respectively. The two third ends 401 are hinged to the rotating body 2 away from each other. The two ends of the first connecting member 405 are fixedly connected to the first arm 403 and the second arm 404 respectively, and are arranged close to the fourth end 402 so that the two fourth ends 402 are away from each other. There are two first drivers 5, and two first ropes 502 are connected to the first arm 403 and the second arm 404 respectively. The third ends 401 away from each other and the first connecting member 405 acting as a reinforcement make the outer arm 4 form a stable triangular structure while maintaining a light weight.

[0064] Similarly, the inner arm 6 includes a third arm 603, a fourth arm 604 and a second connecting member 605. The third arm 603 and the fourth arm 604 have a fifth end 601 and a sixth end 602 respectively. The two fifth ends 601 are hinged to the rotating body 2 away from each other. The two ends of the second connecting member 605 are fixedly connected to the third arm 603 and the fourth arm 604 respectively and are arranged close to the sixth end 602 so that the two sixth ends 602 are away from each other. Combined with the arrangement of the outer arm 4, the landing cone 14 presents a stable conical structure in the deployed state. Figure 6 As shown, the rotating body 2 is provided with a hinged position and a first ear plate 201 which are far away from each other, and the two third ends 401 and the two fifth ends 601 are both hinged to the hinged position away from each other, which can increase the structural stability of the landing cone 14.

[0065] The landing board 3 is also provided with 4 first rangefinders 10 and 8 first pressure sensors 9, which are used to measure the distance and pressure between the landing board 3 and the landing point, respectively. The first rangefinder 10 is an infrared non-contact rangefinder, which performs measurement through a measuring hole (not shown in the figure) provided on the landing board 3. The first pressure sensor 9 is a strain gauge pressure sensor, which measures the pressure between the landing board 3 and the landing point through a sensor setting structure similar to a ground scale (the arrangement position of the first pressure sensor 9 is only schematically drawn in the figure, and its measurement structure is not shown). Specifically, the first pressure sensor 9 can be set in two ways. One way is to set the first pressure sensor 9 between the support foot in contact with the landing point and the landing board 3, so that the accurate force value of each support foot can be measured; the other way is to divide the landing board 3 into two layers, and set a plurality of first pressure sensors 9 between the two layers, so that the distribution of pressure between the landing board 3 and the landing point can be measured. Both ways can meet the application occasions of this embodiment.

[0066] like Figure 4 As shown, the fourth end 402 is provided with a second distance meter 12 and a second pressure sensor 11, which are used to measure the distance and pressure between the first clamping member at the fourth end 402 and the second clamping member at the second end 302, respectively. Figure 3 In the folded position shown, that is, when the outer arm 4 is used to be engaged with the engaging position set on the dock, offshore platform or other ship, the second distance meter 12 and the second pressure sensor 11 are also used to measure the distance and pressure between the first engaging member and the engaging position. The second distance meter 12 is also an infrared non-contact distance meter, and the second pressure sensor 11 is also a strain gauge pressure sensor.

[0067] The first clamping piece at the fourth end 402 of this embodiment is also provided with a magnet, and the second clamping piece at the second end 302 is provided with a ferromagnetic material matching the magnet; a video monitoring device 13 suitable for being installed at the landing end of the boarding platform 1 is also provided, and a 360° panoramic camera is used to obtain image information of the landing point and the landing cone 14. This embodiment also includes a controller for monitoring the first rangefinder 10, the second rangefinder 12, the first pressure sensor 9, the second pressure sensor 11, the first driver 5, the second driver 7, the third driver 8, and the video monitoring device 13.

[0068] The provision of a magnet at the fourth end 402 can help the first clamping member and the second clamping member to engage smoothly, and can also be easily disengaged when the landing cone 14 is folded. Of course, a magnet can also be provided on the second clamping member, or magnets with opposite magnetic properties can be provided on the first clamping member and the second clamping member respectively. The magnet can be a permanent magnet or an electromagnet. When an electromagnet is used, a higher suction force can be set and controlled by a controller. The provision of the video monitoring device 13 can help the operator decide whether to land with the landing cone 14 in the unfolded state or with the outer arm 4 in the folded state according to the position information of the landing point, and can monitor the landing process and the unfolding process of the landing cone 14 in real time. The measurement data of the rangefinder and the pressure sensor can also be displayed in real time on the display screen of the controller, so that the operator can monitor the landing process or the unfolding process of the landing cone 14 in real time. After the landing is completed, the operator can also monitor the connection between the landing cone 14 or the outer arm 4 and the landing point.

[0069] like Figure 4 As described above, the number of the first actuator 5 is two sets, the two first ropes 502 are respectively connected to the first arm 403 and the second arm 404, and each first clamping member is provided with two second pressure sensors 11 and a second rangefinder 12. The third actuator 8 is similarly provided with two sets. In applications requiring only simple configuration, only one set of the first actuator 5 and one set of the third actuator 8 may be provided, installed on the bottom surface of the boarding platform 1, and respectively connected to the first connector 405 and the second connector 605. Only one first rangefinder 10, first pressure sensor 9, second rangefinder 12, and second pressure sensor 11 may also be provided, which can meet most practical applications. Multiple first connectors 405 and second connectors 605 may also be provided to further increase the structural strength of the landing cone 14.

[0070] This embodiment adds sensors and video monitoring devices on the basis of the first embodiment. Combined with the control system, an intelligent control method can be developed to intelligently control the landing device. It can also serve as an auxiliary system for the operator to make the landing process safer and the operator's operation more comfortable.

[0071] Embodiment 3: A control method for a multifunctional marine intelligent landing device.

[0072] This embodiment is used to control the multifunctional marine intelligent landing device described in Embodiment 2. The control method comprises the steps of: controlling the landing cone 14 of the multifunctional marine intelligent landing device to be in an expanded state or a retracted state for landing according to the relative position of the landing point and the embarkation platform 1.

[0073] Specifically, the operator obtains the relative position of the landing point and the embarkation platform 1 according to the video monitoring device 13. If the height of the landing point is significantly lower than the connecting end of the embarkation platform 1 and the ship, it is decided to use the landing cone 14 in the unfolded state for landing. If the height of the landing point is roughly the same as the height of the above-mentioned connecting end, or even slightly higher, it is decided to use the landing cone 14 in the folded state for landing, that is, the outer arm 4 contacts the side of the landing point or engages with the engaging position of the landing point, and other landing facilities such as cables are used to complete the landing. After landing is completed by any landing method, the movable connection of the above-mentioned connecting end and the hinges at both ends of the rotating body 2 and the outer arm 4 can provide a certain automatic angle adjustment function to adapt to the bumps and swaying of the ship.

[0074] The embarkation platform 1 is usually provided with a pitch angle control and a length extension control. During the landing process of the landing cone 14 in the unfolded state, the operator can control the embarkation platform 1 to rotate and descend according to the image information provided by the video monitoring device 13 and the measurement data of the first rangefinder 10. When the landing plate 3 approaches the landing point, the descending speed of the embarkation platform 1 can be reduced, and it is judged whether the landing is completed according to the measurement data of the first rangefinder 10 and the first pressure sensor 9. After landing, the landing state can also be monitored by the above measurement data. When an abnormality occurs, an alarm can be issued through the control system or other emergency measures can be taken, such as suspending the automatic transmission of goods. Similarly, when the outer arm 4 in the folded state is used for landing, the operator can adjust the embarkation platform 1 according to the image information provided by the video monitoring device 13 and the measurement data of the second rangefinder 12. When the outer arm 4 approaches the landing point, the approaching speed of the embarkation platform 1 can be reduced, and it is judged whether the first clamping member and the clamping position of the landing point are successfully engaged according to the measurement data of the second rangefinder 12 and the second pressure sensor 11. After landing, the above measurement data can also be used to monitor the engagement state. The second rangefinder 12 and the second pressure sensor 11 can also be used to monitor the deployment process of the landing cone 14 and the engagement state of the first and second clamping parts in the deployed state, and the image information provided by the video monitoring device 13 can be used for confirmation.

[0075] Embodiment 4: A ship.

[0076] The ship of this embodiment has a hull, including the multifunctional marine intelligent landing device described in the second embodiment, and the connecting end of the boarding platform 1 is movably connected to the hull. The controller of the multifunctional marine intelligent landing device is integrated into the control system of the ship. Of course, the former controller can also be set separately, and the multifunctional marine intelligent landing device can be designed as a separate movable module.

[0077] The above are only preferred embodiments of the present application and the technical principles used. Various obvious changes, readjustments and substitutions can be made without departing from the concept of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. In the absence of conflict, the above embodiments and the features in the embodiments can be combined with each other.

Claims

1. A multifunctional marine intelligent landing device, suitable for being installed between a vehicle and a landing point, characterized in that: include: A embarkation platform (1) having a connection end and a landing end, wherein the connection end is suitable for being movably connected to the vehicle; A landing cone (14) is installed at the landing end, the landing cone (14) comprising a landing plate (3) and a connecting assembly, the connecting assembly being connected between the landing plate (3) and the embarkation platform (1); The landing cone (14) has an extended state and a retracted state. In the extended state, a first preset distance exists between the landing plate (3) and the embarkation platform (1), and the landing plate (3) is suitable for being supported to the landing point. In the retracted state, the landing plate (3) and the embarkation platform (1) are arranged in an overlapping manner, and the connection assembly or the landing plate is suitable for being connected to the landing point. The connection assembly comprises a universal hinge and an outer arm (4); the universal hinge comprises a base and a rotating body (2), the rotating body (2) being universally rotatably arranged on the base, and the base being fixed to the bottom surface of the landing end; the landing plate (3) comprises a first end (301) and a second end (302), the first end (301) being connected to the rotating body (2); the outer arm (4) comprises a third end (401) and a fourth end (402), the third end (401) being hinged to the rotating body (2), the The fourth end (402) has a first clipping piece which is hingedly arranged, and the second end (302) has a second clipping piece which is matched with the first clipping piece; when the landing cone (14) is in the unfolded state, the fourth end (402) is detachably connected to the second end (302); when the landing cone (14) is in the folded state, the fourth end (402) is suitable for being detached from the second end (302) and being located at a position beyond the landing end in the length direction of the boarding platform (1); The multifunctional offshore intelligent landing device further comprises a first driver (5) for driving the outer arm (4) to rotate around the third end (401); and, The connecting assembly further comprises an inner arm (6), the inner arm (6) having a fifth end (601) and a sixth end (602), the fifth end (601) being hinged to the rotating body (2), and the sixth end (602) being hinged to the first end (301); The landing cone (14) further comprises a second driver (7) for driving the landing plate (3) to rotate around the first end (301).

2. The multifunctional offshore intelligent landing device according to claim 1, characterized in that: It also includes a third driver (8) for driving the inner arm (6) to rotate around the fifth end (601).

3. The multifunctional marine intelligent landing device according to claim 2, characterized in that: The first drive (5) comprises a first rope reel (501) and a first rope (502), wherein the first rope reel (501) is fixed to the embarkation platform (1), and the free end of the first rope (502) is connected to the outer arm (4); The second driver (7) is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the rotating body (2), and the other end is hinged to the landing plate (3), and the hinge position is located between the first end (301) and the second end (302); The third drive (8) comprises a second rope reel (801) and a second rope (802), wherein the second rope reel (801) is fixed to the boarding platform (1), and the free end of the second rope (802) is connected to the inner arm (6).

4. The multifunctional marine intelligent landing device according to claim 3 is characterized in that: The outer arm (4) comprises a first arm (403), a second arm (404) and at least one first connecting member (405); the first arm (403) and the second arm (404) respectively have the third end (401) and the fourth end (402); the two third ends (401) are hinged to the rotating body (2) away from each other; and the two ends of the first connecting member (405) are respectively fixedly connected to the first arm (403) and the second arm (404) so ​​that the two fourth ends (402) are away from each other; The number of the first actuator (5) is one, and the first rope (502) is connected to one first connecting member (405); or the number of the first actuator (5) is two, and two first ropes (502) are connected to the first arm (403) and the second arm (404) respectively.

5. The multifunctional marine intelligent landing device according to claim 3, characterized in that: The landing plate (3) is provided with a first distance meter (10) and a first pressure sensor (9), which are used to measure the distance and pressure between the landing plate (3) and the landing point, respectively; The fourth end (402) is provided with a second distance meter (12) and a second pressure sensor (11), which are used to measure the distance and pressure between the fourth end (402) and the landing plate (3), respectively.

6. The multifunctional marine intelligent landing device according to claim 5, characterized in that: The first rangefinder (10) and the first pressure sensor (9) are both multiple and evenly arranged alternately on the landing board (3); A magnet is provided at the connection between the fourth end (402) and the second end (302), and the second end (302) is provided with a ferromagnetic material matching the magnet; It also includes a video monitoring device (13), which is arranged at the landing end and is used to obtain image information of the landing point and / or the landing cone (14); It also includes a controller for monitoring one or more of the first rangefinder (10), the second rangefinder (12), the first pressure sensor (9), the second pressure sensor (11), the first driver (5), the second driver (7), the third driver (8), and the video monitoring device (13).

7. A control method, characterized in that: A multifunctional offshore intelligent landing device for controlling any one of claims 1 to 6, comprising the steps of: controlling the landing cone (14) to land in the expanded state or the retracted state according to the relative position of the landing point and the embarkation platform (1).

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