A measurement system and method for measuring the relative motion of two ships during docking and replenishment

Abstract

The present invention discloses a measuring system and method for measuring the relative motion of two ships when supplying by berthing, comprising a supply ship and a ship to be supplied, wherein a crane is installed on the supply ship, and supplies are suspended on the crane, and a measuring device is also included, wherein the measuring device comprises a shell, a computer and a plurality of measuring components are installed in the shell, and a wireless transmitting device is installed outside the shell, wherein the wireless transmitting device and the plurality of measuring components are connected to the computer. The present invention can obtain the speed, acceleration and height of the supply relative to the measuring device in real time through the measuring device, so that the operator can adjust the posture of the supply to ensure the quality of the supply; the measuring device can automatically switch various components at different stages, so as to ensure the accuracy and reliability of the measured data, and is not affected by the external environment, and can accurately obtain the posture relationship and relative height between the supply and the measuring device, so as to ensure the accuracy of the measured data and improve the precision of the measured data.

Description

[0001] The present invention relates to a measuring system and method for measuring the relative motion of two ships, and in particular to a measuring system and method for measuring the relative motion of two ships when docking for supply. Background Art

[0002] With the continuous development and utilization of marine resources, ship cranes have become an indispensable and important tool for marine replenishment, marine salvage, marine transportation, and marine rescue. When two ships are carrying out replenishment operations at sea, due to the influence of wind and waves and the hydrodynamic interference between the two ships, more violent oscillations will occur than when a single ship is in operation. When replenishing cargo at sea, it will be affected by sea breeze and waves, causing the two ships to move relative to each other, which will cause the crane on the supply ship to collide with the deck when landing on the deck of the supply ship, damaging fragile cargo.

[0003] At present, in order to overcome the impact of waves on offshore operations, some ships use cranes with active wave compensation functions to operate. The inertial motion measurement unit (MRU) installed on the crane base measures the ship's motion posture, and controls and solves the speed of lifting and releasing cargo, etc., to eliminate the impact of wave motion. The above method can only achieve high sea conditions for lifting and releasing operations on fixed objects such as ships to shore or offshore platforms. When two ships at sea are berthing for replenishment, both ships are moving. In this case, to achieve the lifting and releasing of the wave compensation function, the relative motion parameters of the two ships must be measured, and there is no corresponding practical solution in this regard. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a measurement system and method for measuring the relative motion of two ships when supplying by berthing, which solves the problem of offshore supply affected by sea waves, weather and other environmental factors. It is easy to install and can realize convenient and real-time acquisition of the relative position of ships, thereby realizing efficient operation of ship-to-ship wave compensation and lowering.

[0005] Technical solution: The present invention includes a supply ship and a ship to be supplied. The supply ship is equipped with a crane, on which supplies are hung. It also includes a measuring device, which includes a shell, in which a computer and multiple measuring components are installed, and a wireless transmitting device is installed outside the shell. The wireless transmitting device and the multiple measuring components are all connected to the computer.

[0006] The measuring components include a binocular camera, an ultrasonic distance measuring sensor, a radar distance measuring sensor and a laser distance measuring sensor.

[0007] The binocular camera includes a first camera and a second camera, which are respectively installed on both sides of the laser ranging sensor and located on the same baseline, so that the binocular camera has a larger field of view, which is convenient for measuring the distance between the supply and the measuring device, and calculating the relative movement speed and acceleration.

[0008] The ultrasonic ranging sensor and the first camera are located on the same vertical line. When the supply ship places the cargo above the measuring device, the ultrasonic ranging sensor can measure the distance between the cargo and the measuring device and calculate the relative motion speed and acceleration.

[0009] The radar ranging sensor and the second camera are installed on the same vertical line. When the supply ship drops the cargo above the measuring device, the radar ranging sensor can measure the distance between the cargo and the measuring device and calculate the relative motion speed and acceleration.

[0010] The shell is equipped with a power supply module, which supplies power to the binocular camera, the computer, the laser ranging sensor, the ultrasonic ranging sensor, the radar ranging sensor and the wireless transmitting device respectively, and no external power supply is required.

[0011] A plurality of handles are installed on the outer side of the shell, and the magnets are adsorbed on the deck by rotating the handles.

[0012] A plurality of magnets are installed at the bottom of the shell, so that the shell can be stably adsorbed on the deck of the supplied ship.

[0013] A plurality of lifting ears are installed on the top of the shell body to facilitate lifting it.

[0014] A method for measuring the relative motion of two ships when approaching for supply, comprising the following steps:

[0015] Step 1: Lift the measuring device and lower it to the deck of the ship to be supplied. When the measuring device is lowered to the deck of the ship to be supplied, rotate the handle to make the measuring device adsorbed on the deck;

[0016] Step 2: The binocular camera in the measuring device starts to collect the external environment within the field of view and transmits it to the crane control room;

[0017] Step 3: The crane starts to drop the supplies. When the supplies are not above the measuring device, the radar ranging sensor measures the angle at which the supplies deviate from the measuring device and the change in the supply's posture. The measured data is transmitted to the control room, and the crane is adjusted to keep the supplies directly above the measuring device.

[0018] Step 4: When the supplies are above the measuring device, the laser rangefinder calculates the posture of the supplies and the descent speed and acceleration of the supplies, transmits the measured data to the control room, and adjusts the crane to ensure that the supplies remain directly above the measuring device;

[0019] Step 5: When the supplies drop to height H, the measuring device automatically switches to the binocular camera to measure the posture of the supplies, transmits the measured data to the control room, and regulates the crane to ensure the quality of the supplies;

[0020] Step 6: The supplies continue to descend. When the supplies descend to a height of h, the ultrasonic ranging sensor transmits the measured data to the control room, and the crane is regulated to ensure that the supplies can land stably on the measuring device.

[0021] Step 7: When the supply falls onto the measuring device, place it in the designated location and repeat steps 2 to 6 until the supply task is completed.

[0022] Beneficial effects: The crane operator of the present invention only needs to control the crane in the crane control room of the supply ship, that is, the surrounding conditions of the supply position can be obtained in real time, saving a lot of manpower; the crane operator can use the measuring device to obtain the descent speed, acceleration and height relative to the measuring device of the supply in real time, which is convenient for the operator to adjust the posture of the supply to ensure the quality of the supply; the measuring device can automatically switch various components at different stages, ensuring the accuracy and reliability of the measured data, and is not affected by the external environment, and can accurately obtain the posture relationship and relative height between the supply and the measuring device; the measuring device is adsorbed on the deck of the ship to be supplied, and is not moved by the shaking of the ship. What is obtained is the relative relationship between the measuring device and the supply to be supplied, which ensures the accuracy of the measurement data and improves the precision of the measurement data; the measuring device adopts an internal battery power supply system, so that the overall structure of the measuring device is simple and easy and quick to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a measurement flow chart of the present invention;

[0024] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 3 It is a front view of the measuring device of the present invention;

[0026] Figure 4 is a cross-sectional view of the measuring device of the present invention;

[0027] Figure 5 It is a top view of the measuring device of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] from Figure 1As shown, the process of the present invention is: the supply 6 is lifted from the supply ship 3 and moved to the ship to be supplied 4, and the binocular camera works in real time, which is convenient for obtaining the environment around the supply process and convenient for the crane operator to understand the external environment of the lifting in real time. At each stage of the lifting, the measuring device can automatically allocate the use of each measuring component to ensure the accuracy and reliability of the measurement data. At each measurement stage, the measuring component transmits the measured data to the computer 21, and the computer 21 processes the acquired data and transmits the data to the crane control system with active wave compensation function through the wireless sending device 12, so as to solve the speed of the compensated lifting cargo, eliminate the influence of wave motion, and ensure that the cargo lands smoothly and without impact on the upper surface of the measuring device 5 at an extremely low relative speed.

[0030] like Figures 2 to 5 As shown, the present invention comprises a supply ship 3, a ship to be supplied 4 and a measuring device 5. A crane support frame 1 is installed on the supply ship 3. A crossbeam 8 is installed on the upper part of the crane support frame 1 through a hinge 2. A first sliding wheel 9 and a second sliding wheel 10 are installed on the crossbeam 8. The second sliding wheel 10 is connected to a main hook 7. Supplies 6 are hung on the main hook 7. Figures 3 to 5 As shown, the measuring device 5 includes a shell 15, which is welded from metal profiles. Magnets 14 are provided at the four corners of the bottom of the shell 15. Four handles 13 are installed on the outside of the shell 15. Each magnet 14 corresponds to a handle 13. By rotating the handle 13, the shell 15 can be stably adsorbed on the deck of the ship to be supplied. By rotating the handle 13 in the opposite direction, the shell 15 of the measuring device 5 can be quickly released from the deck of the ship to be supplied. Four lifting ears 11 are also installed on the top of the shell 15 to facilitate the crane to lift the measuring device 5. A wireless transmitter 12 is installed on the side of the shell 15 to transmit the measured data to the crane control room.

[0031] like Figure 4 and Figure 5As shown, a power module 18, a computer 21, an ultrasonic ranging sensor 20, a radar ranging sensor 22 and a laser ranging sensor 16 are installed in the housing 15, wherein a first camera 17 and a second camera 19 are respectively provided on both sides of the laser ranging sensor 16, and the first camera 17 and the second camera 19 form a binocular camera, and the two cameras are installed on the same baseline, and there is a certain distance between the installation positions of the two cameras, so that the binocular camera has a larger field of view, which is convenient for measuring the distance between the supply 6 and the measuring device 5, and calculating the relative motion speed and acceleration. The laser ranging sensor 16 is installed at the midpoint of the binocular camera baseline. When the supply ship 3 drops the cargo just above the measuring device, the laser ranging sensor 16 can measure the distance between the cargo and the measuring device 5, and calculate the relative motion speed and acceleration. The ultrasonic ranging sensor 20 is installed on a vertical line at a certain distance from the first camera 17. When the supply ship 3 drops the cargo above the measuring device 5, the ultrasonic ranging sensor 20 can measure the distance between the cargo and the measuring device 5, and calculate the relative motion speed and acceleration. The radar ranging sensor 22 is installed on a vertical line at a certain distance from the second camera 19, and the ultrasonic ranging sensor 20 and the radar ranging sensor 22 are installed on the baseline of the same horizontal plane. When the supply ship 3 drops the cargo above the measuring device 5, the radar ranging sensor 22 can measure the distance between the cargo and the measuring device 5, and calculate the relative motion speed and acceleration. The ultrasonic ranging sensor 20, the radar ranging sensor 22, the wireless transmitting device 12 and the laser ranging sensor 16 are all connected to the computer 21. The power module 18 supplies power to the binocular camera, the computer 21, the laser ranging sensor 16, the ultrasonic ranging sensor 20, the radar ranging sensor 22 and the wireless transmitting device 12 respectively, and no external power supply is required.

[0032] In the process of docking and replenishment, the supply ship 3 and the ship to be replenished 4 are first docked, and then the crane is adjusted. By lifting the lifting lug 11 on the measuring device 5, the measuring device 5 is hung on the deck of the ship to be replenished. After the measuring device 5 is placed in the waiting position for replenishment, the handle 13 at the bottom of the measuring device 5 is rotated to rotate the magnet 14. At this time, the measuring device 5 can be adsorbed on the deck of the ship to be replenished, so that the measuring device will not move due to the shaking of the ship. The power module 18 in the measuring device 5 starts to supply power to the radar ranging sensor 22, the laser ranging sensor 16, the ultrasonic ranging sensor 20, the binocular camera, the computer 21, and the wireless transmitting device 12. At this time, the binocular camera in the measuring device starts to collect the external environment within the field of view, and transmits the acquired data to the computer 21. The computer 21 transmits the data to the crane control room through the wireless transmitting device 12. After data analysis, the crane operator can see the external environment of the hanging more clearly. From the beginning of cargo replenishment to the end of replenishment, the binocular camera has been working.

[0033] The main hook 7 of the crane is adjusted to lift the supply 6 and move it toward the measuring device 5. When the supply 6 is not above the measuring device 5, the radar distance sensor 22 in the measuring device 5 can capture the posture of the supply deviating from the measuring device and the height between the two, and transmit the measured data to the computer 21. After integration by the computer 21, the data is transmitted to the crane control room through the wireless transmission device 12. The crane operator adjusts the crane to keep the supply just above the measuring device. When the supply is above the measuring device, the laser distance sensor 16 starts to measure the posture, height, and descent speed and acceleration of the supply, and transmits the measured data information to the computer 21. After processing by the computer 21, the data is transmitted to the crane control room through the wireless transmission device 12. The crane operator controls the crane to keep the supply just above the measuring device. When the supply is above the measuring device, the laser distance sensor 16 starts to measure the posture, height, and descent speed and acceleration of the supply, and transmits the measured data information to the computer 21. After processing by the computer 21, the data is transmitted to the crane control room through the wireless transmission device 12. The crane operator controls the crane to keep the supplies directly above the measuring device. As the supplies continue to descend, when the supplies descend to a height H, the measuring device automatically switches to using a binocular camera to measure the posture of the supplies, and transmits the measured data to a computer 21. After computer 21 processes the data, it is transmitted to the crane control room via a wireless transmitting device 12. The crane operator controls the crane to ensure the quality of the supplies. When the supplies descend to a height h, in order to ensure the accuracy of the measurement data, an ultrasonic ranging sensor 20 performs a close-range measurement and transmits the measured data to a computer 21. The computer 21 transmits the data to the crane control room via a wireless transmitting device 12. The crane operator controls the crane to ensure that the supplies can fall smoothly on the measuring device.

[0034] The characteristics of each measuring component in the measuring device are different. The measuring device can automatically switch each component at different stages, ensuring the accuracy and reliability of the measured data, so that the replenishment process is not affected by external environmental factors, and the supplies can fall smoothly on the measuring device. After that, the operator on the ship to be replenished places the supplies at the location where they need to be replenished, repeats the above process until the replenishment is completed, and finally closes the measuring device, rotates the handle 13 at the bottom of the measuring device to rotate the magnet 14, and the measuring device is released from the deck of the ship to be replenished. The crane uses the lifting lug 11 above the measuring device to lift the measuring device 5 back to the supply ship 3, completing the berthing and replenishment of the two ships.

[0035] The measuring device of the present invention mainly relies on the cooperation of a camera and a plurality of sensors to ensure the real-time acquisition of the posture of the supplies hoisted by the crane relative to the supply position and the height of the supplies and the supply position. Since the measuring device is composed of a plurality of measuring components, the measuring device can cope with complex and changeable external environments. The measuring device can obtain the posture of the supplies relative to the measuring device in real time, transmit the posture of the currently measured supplies to the crane control room, and the crane operator can adjust the posture of the goods, so that the goods can be placed relatively stably at the supply position, avoiding unnecessary vibrations during the process of hoisting the goods and reducing damage to the supplies.

Claims

1. A method for measuring the relative motion of two ships when docking for supply, which is performed by a measuring system for measuring the relative motion of the two ships when docking for supply, wherein the measuring system for measuring the relative motion of the two ships when docking for supply comprises a supply ship (3) and a ship to be supplied (4), wherein a crane is installed on the supply ship (3), and supplies (6) are suspended on the crane, and the method is characterized in that: The device also includes a measuring device (5), wherein the measuring device (5) includes a housing (15), a computer (21) and a plurality of measuring components are installed in the housing (15), a wireless transmitting device (12) is installed outside the housing (15), the wireless transmitting device (12) and the plurality of measuring components are connected to the computer (21), and the measuring components include a binocular camera, an ultrasonic ranging sensor (20), a radar ranging sensor (22) and a laser ranging sensor (16); The binocular camera comprises a first camera (17) and a second camera (19), wherein the first camera (17) and the second camera (19) are respectively installed on both sides of the laser ranging sensor (16) and are located on the same baseline, the ultrasonic ranging sensor (20) and the first camera (17) are located on the same vertical line, the radar ranging sensor (22) and the second camera (19) are installed on the same vertical line, and a plurality of magnets (14) are installed at the bottom of the housing (15); The method for measuring the relative motion of two ships during docking for supply comprises the following steps: Step 1: Lift the measuring device and lower it to the deck of the ship to be supplied. When the measuring device is lowered to the deck of the ship to be supplied, rotate the handle to make the measuring device adsorbed on the deck; Step 2: The binocular camera in the measuring device starts to collect the external environment within the field of view and transmits it to the crane control room; Step 3: The crane starts to drop the supplies. When the supplies are not above the measuring device, the radar ranging sensor measures the angle at which the supplies deviate from the measuring device and the change in the supply's posture. The measured data is transmitted to the control room, and the crane is adjusted to keep the supplies directly above the measuring device. Step 4: When the supplies are above the measuring device, the laser rangefinder calculates the posture of the supplies and the descent speed and acceleration of the supplies, transmits the measured data to the control room, and adjusts the crane to ensure that the supplies remain directly above the measuring device; Step 5: When the supplies drop to height H, the measuring device automatically switches to the binocular camera to measure the posture of the supplies, transmits the measured data to the control room, and regulates the crane to ensure the quality of the supplies; Step 6: The supplies continue to descend. When the supplies descend to a height of h, the ultrasonic ranging sensor transmits the measured data to the control room, and the crane is regulated to ensure that the supplies can land stably on the measuring device. Step 7: When the supply falls on the measuring device, place it in the designated position and repeat steps 2 to 6 until the supply task is completed; A power module (18), a computer (21), an ultrasonic distance sensor (20), a radar distance sensor (22) and a laser distance sensor (16) are installed in the housing (15), wherein a first camera (17) and a second camera (19) are respectively provided on both sides of the laser distance sensor (16), the first camera (17) and the second camera (19) forming a binocular camera, the two cameras are installed on the same baseline, and there is a certain distance between the installation positions of the two cameras, so that the binocular camera has a larger field of view, which is convenient for measuring the distance between the supply (6) and the measuring device (5), and calculating the relative motion speed and acceleration; the laser distance sensor (16) is installed at the midpoint of the binocular camera baseline, when the supply ship (3) drops the cargo just above the measuring device, the laser distance sensor (16) measures the distance between the cargo and the measuring device (5), and calculates the relative motion speed and acceleration; The ultrasonic ranging sensor (20) is installed on a vertical line at a certain distance from the first camera (17). When the supply ship (3) drops cargo above the measuring device (5), the ultrasonic ranging sensor (20) measures the distance between the cargo and the measuring device (5), and calculates the relative motion speed and acceleration. The radar ranging sensor (22) is installed on a vertical line at a certain distance from the second camera (19). The ultrasonic ranging sensor (20) and the radar ranging sensor (22) are installed on a baseline on the same horizontal plane. When the supply ship (3) drops cargo above the measuring device (5), the radar ranging sensor (22) measures the distance between the cargo and the measuring device (5), and calculates the relative motion speed and acceleration. The ultrasonic ranging sensor (20), the radar ranging sensor (22), the wireless transmitting device (12), and the laser ranging sensor (16) are all connected to the computer (21). During the process of docking and replenishment, the supply ship (3) and the ship to be replenished (4) are first docked together, and then the crane is adjusted to lift the lifting lug (11) on the measuring device (5) and place the measuring device (5) on the deck of the ship to be replenished. After the measuring device (5) is placed at the waiting position for replenishment, the handle (13) at the bottom of the measuring device (5) is rotated to rotate the magnet (14), and the measuring device (5) is adsorbed on the deck of the ship to be replenished, so that the measuring device will not move due to the shaking of the ship; the power module (18) in the measuring device (5) starts to supply The radar distance measuring sensor (22), the laser distance measuring sensor (16), the ultrasonic distance measuring sensor (20), the binocular camera, the computer (21), and the wireless transmitting device (12) are powered, and the binocular camera in the measuring device starts to collect the external environment within the field of view, and transmits the acquired data to the computer (21), and the computer (21) transmits the data to the crane control room through the wireless transmitting device (12). After the data is analyzed, the crane operator can see the external environment of the crane more clearly, and the binocular camera keeps working from the beginning to the end of the cargo replenishment; The main hook (7) of the crane is adjusted to lift the supply (6) and move it in the direction of the measuring device (5). When the supply (6) is not above the measuring device (5), the radar distance sensor (22) in the measuring device (5) captures the posture of the supply deviating from the measuring device and the height between the two, and transmits the measured data to the computer (21). After integration by the computer (21), the data is transmitted to the crane control room through the wireless transmission device (12). The crane operator controls the crane to keep the supply just above the measuring device. When the supply is above the measuring device, the laser distance sensor (16) starts to measure the posture, height, and descent speed and acceleration of the supply, and transmits the measured data information to the computer (21). After being processed by the computer (21), the data is transmitted to the crane control room through the wireless transmission device (12). In the crane control room, the crane operator controls the crane to keep the supplies directly above the measuring device. As the supplies continue to descend, when the supplies descend to a height H, the measuring device automatically switches to using a binocular camera to measure the posture of the supplies, and transmits the measured data to a computer (21). After the computer (21) processes the data, the data is transmitted to the crane control room via a wireless transmission device (12). The crane operator controls the crane to ensure the quality of the supplies. When the supplies descend to a height h, in order to ensure the accuracy of the measurement data, an ultrasonic ranging sensor (20) performs close-range measurement and transmits the measured data to the computer (21). The computer (21) transmits the data to the crane control room via a wireless transmission device (12). The crane operator controls the crane to ensure that the supplies can fall smoothly on the measuring device.

2. A method for measuring the relative motion of two ships when docking for supply according to claim 1, characterized in that: A plurality of handles (13) are installed on the outside of the housing (15).

3. The method for measuring the relative motion of two ships when docking for supply according to claim 1 is characterized in that: A plurality of lifting ears (11) are installed on the top of the shell (15).

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