Trestle and method for controlling it

Abstract

The present application relates to a kind of trestle, including: bridge body, identification device and driving device;The first bridge ladder and the second bridge ladder are rotatably connected by the trestle, the identification device and the driving device are electrically connected, the fluctuation state of the deck of ship is identified, and then the first bridge ladder is moved by the driving device, so that the first bridge ladder produces pitch swing relative to the second bridge ladder, and the first bridge ladder is swung according to the fluctuation state of the deck, so that the relative static positional relationship between the deck and the tread of the first bridge ladder is formed, to facilitate the working personnel on the deck to board the first bridge ladder, improve the safety of platform under the condition of wind and wave.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of water operation equipment, in particular to a trestle and a control method thereof. BACKGROUND

[0002] Offshore oil production is a technology for exploiting, processing and transporting marine oil and gas reservoirs. The oil production platform provides a work site for engineering and technical personnel to implement offshore oil production.

[0003] There are a large number of oil production platforms in the sea area of China, and the operating personnel have frequent needs to go up and down the platform. At present, the traffic ship is usually relied on to provide commuting between the platform and the land for the operating personnel.

[0004] However, after the traffic ship moves to the oil production platform, it still needs to be tied to the platform with a ship cable, and the personnel need to climb up and down the oil production platform, which has high risk. Moreover, in some special sea areas, the water surface fluctuation caused by long-term action of sea wind, the wind wave process is large and the duration is long, which causes great safety challenge to personnel climbing.

[0005] Therefore, it is necessary to develop a new type of trestle and a control method thereof to improve the above-mentioned part of the problems existing in the prior art. SUMMARY

[0006] The purpose of the present application is to overcome the defects of the prior art and provide a trestle and a control method thereof, which can reduce the influence of deck fluctuation on the operating personnel going up and down the platform under wind wave conditions.

[0007] The purpose of the present application can be achieved by the following technical solutions:

[0008] The trestle provided by the present application comprises a bridge body, an identification device and a driving device. The bridge body is used for personnel, goods or transportation devices passing through the ship. The bridge body comprises a base, a first bridge ladder and a second bridge ladder. The second bridge ladder is connected to the base, and the first bridge ladder is placed on the deck of the ship. The identification device is used to obtain the fluctuation state of the deck. The driving device is arranged on the first bridge ladder and is electrically connected to the identification device, and is used to drive the first bridge ladder to move according to the fluctuation state. The first bridge ladder and the second bridge ladder are rotatably connected. When the ship is affected by waves, the driving device drives the first bridge ladder to produce a pitch swing relative to the second bridge ladder according to the fluctuation state of the deck of the ship, so that personnel can go up and down the bridge in a wave environment.

[0009] Compared with the prior art, the gangway provided by the application can rotate the first bridge ladder and the second bridge ladder, and the identification device and the driving device are electrically connected, so that the driving device drives the first bridge ladder to move after identifying the heave state of the deck of the ship, the first bridge ladder swings relative to the second bridge ladder, and the deck of the ship swings relative to the first bridge ladder, so that a relatively static position relationship is formed between the deck of the ship and the first bridge ladder, and the safety of the personnel on the deck when boarding the first bridge ladder is improved.

[0010] Optionally, the driving device comprises a telescopic device and a third bridge ladder; the third bridge ladder is connected to the second bridge ladder and the base; the telescopic device comprises a guide rail and a first hydraulic cylinder; the guide rail is arranged on the third bridge ladder; and the first hydraulic cylinder is connected to the third bridge ladder and the second bridge ladder, and is used to drive the second bridge ladder to move along the arrangement direction of the guide rail, so as to produce telescopic movement relative to the third bridge ladder. The beneficial effect is that the second bridge ladder is driven by the telescopic device to move linearly along the arrangement direction of the guide rail, so that the personnel can safely pass through the gangway when the ship is far away from the oil production platform.

[0011] Optionally, the driving device comprises an amplitude changing device; the amplitude changing device comprises a vertical column and a second hydraulic cylinder; the vertical column is arranged on the deck of the base, and is used to produce a height difference relative to the deck of the base; and the second hydraulic cylinder is connected to the vertical column and the third bridge ladder, and is used to make the third bridge ladder swing relative to the base. The beneficial effect is that the third bridge ladder is driven by the amplitude changing device to swing relative to the base in the vertical direction, so that the personnel can safely pass through the gangway when there is a large height difference between the deck of the ship and the oil production platform.

[0012] Optionally, the driving device comprises a rotating device; the rotating device is connected to the base, and is used to drive the base to swing horizontally. The beneficial effect is that the base is driven to swing horizontally, and then the first bridge ladder, the second bridge ladder and the third bridge ladder are driven to swing horizontally, so that the first bridge ladder can be placed on the ship parked in multiple angle directions of the oil production platform, so as to enable the personnel on the ship in different positions to board or leave the platform.

[0013] Optionally, the recognition device comprises a binocular stereo camera, which is arranged above the bridge body and is electrically connected with the amplitude changing device, and is used to capture the relative position of the ship and the bridge body, so as to control the pitching swing of the third bridge ladder. Its beneficial effect lies in that the binocular stereo camera can detect the posture of the bridge body and the position of the deck, such as the position of the first bridge ladder, the position of the second bridge ladder, the position of the third bridge ladder, the vertical distance between the end of the first bridge ladder and the deck, the longitudinal distance between the end of the first bridge ladder and the base, etc., so as to facilitate the posture adjustment of the bridge body.

[0014] Optionally, the binocular stereo camera is electrically connected with the telescopic device, and is used to capture the relative position of the ship and the bridge body, so as to control the telescopic movement of the second bridge ladder.

[0015] Optionally, the recognition device comprises an ultrasonic radar, which is arranged on the first bridge ladder and is opposite to the tread plate of the first bridge ladder, and is electrically connected with the driving device, and is used to obtain the distance change speed between the first bridge ladder and the deck, so as to control the swing speed of the first bridge ladder according to the distance change speed. Its beneficial effect lies in that when the ship fluctuates in a complex state in a stormy sea, the ultrasonic radar can quickly respond to the distance change between the first bridge ladder and the deck, and when the distance between the first bridge ladder and the deck changes rapidly, the driving device can increase the swing speed of the first bridge ladder.

[0016] Optionally, the first bridge ladder and the second bridge ladder are connected through a pin shaft.

[0017] Optionally, the end of the first bridge ladder is provided with a universal wheel, which is used to roll on the deck when the first bridge ladder swings. Its beneficial effect lies in that when the deck fluctuates to contact the end of the first bridge ladder, the universal wheel abuts against the deck and rotates, so that the first bridge ladder swings relative to the second bridge ladder, so as to passively compensate the height change when the driving device cannot adjust the position of the first bridge ladder in time.

[0018] The application further provides a control method of a gangway, which comprises a first bridge ladder and a second bridge ladder, the first bridge ladder and the second bridge ladder are rotatably connected, and the control method of the gangway comprises the following steps: obtaining the fluctuation state of a deck of a ship; when the ship is affected by waves, adjusting the position of the bridge body according to the fluctuation state of the deck; wherein the step of adjusting the position of the bridge body comprises controlling the first bridge ladder to swing relative to the second bridge ladder, so that personnel can go up and down the bridge in a wave environment.

[0019] Compared with the prior art, the control method of the trestle bridge provided by the application controls the swing of the first bridge ladder connected with the second bridge ladder according to the heave state of the deck, makes the pitch swing of the first bridge ladder consistent with the heave state of the deck, forms a relatively static position relationship between the deck and the first bridge ladder, and facilitates the workers on the deck to board the first bridge ladder, thereby improving the safety of the platform under the condition of wind and wave.

[0020] Optionally, before the position of the bridge body is adjusted, the method further comprises:

[0021] The shape matching result is obtained by identifying the bow shape and the cabin shape of the ship.

[0022] The posture of the bridge body is adjusted according to the shape matching result.

[0023] The beneficial effect is that the posture of the bridge body is adjusted according to different types of ships, so that the bridge body matches the specific ship type in a specific posture.

[0024] Optionally, before the position of the bridge body is adjusted, the method further comprises:

[0025] The distance change speed between the first bridge ladder and the deck is obtained.

[0026] The speed of the bridge body is adjusted according to the distance change speed.

[0027] The beneficial effect is that when the heave state of the ship is complex under the condition of strong wind and wave, the distance change speed is detected, and when the distance between the first bridge ladder and the deck changes rapidly, the driving device increases the swing speed of the first bridge ladder, so as to quickly respond to the distance change between the first bridge ladder and the deck. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The figure is a structural schematic diagram of the trestle bridge in the embodiment of the application.

[0029] Figure 2 The figure is a principle schematic diagram of the hot flow channel jetting hot flow in the embodiment of the application.

[0030] Figure 3 The figure is a structural schematic diagram of the third bridge ladder, the second bridge ladder, the first bridge ladder and the hot flow channel in the embodiment of the application.

[0031] Figure 4 The figure is a principle diagram of the snow and ice removing device in the embodiment of the application.

[0032] Figure 5 The figure is a structural schematic diagram of the flow guide in the embodiment of the application.

[0033] Figure 6 Fig. 1 is a schematic view showing the positions of the bridge body, the bridge and the deck in the embodiment of the present application.

[0034] Reference signs:

[0035] 1, bridge body; 11, first bridge ladder; 12, second bridge ladder; 13, third bridge ladder; 14, base; 121, second surface; 2, driving device; 201, stand; 202, first hydraulic cylinder; 203, second hydraulic cylinder; 204, first connecting column; 205, second connecting column; 3, rotating device; 41, air compressor; 42, filter; 43, heat source; 44, heat flow channel; 45, pressure reducing valve; 46, oil atomizer; 5, flow guide; 51, inclined surface; 6, universal wheel; 7, deck; 8, identification device; 9, ultrasonic radar. DETAILED DESCRIPTION

[0036] The present application will be described in detail below with reference to the drawings and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present application, and detailed implementation and specific operation processes are given, but the protection scope of the present application is not limited to the following embodiments.

[0037] The present embodiment of the present application provides a pier, referring to Figure 1 and Figure 6 , comprising: a bridge body 1, an identification device 8, and a driving device 2; the bridge body 1 is used for personnel, goods or transportation devices to pass through the ship; the bridge body 1 comprises a base 14, a first bridge ladder 11 and a second bridge ladder 12; the second bridge ladder 12 is connected to the base 14, and the first bridge ladder 11 is placed on the deck 7 of the ship; the identification device 8 is used to obtain the undulating state of the deck 7; the driving device 2 is arranged on the first bridge ladder 11 and electrically connected to the identification device 8, and is used to drive the first bridge ladder 11 to move according to the undulating state; wherein the first bridge ladder 11 and the second bridge ladder 12 are rotatably connected, when the ship is affected by waves, the driving device 2 drives the first bridge ladder 11 to produce a pitching swing relative to the second bridge ladder 12 according to the undulating state of the deck 7 of the ship, that is, to swing along the direction γ shown in the figure, so that personnel can go up and down the bridge in a wave environment.

[0038] For example, when the deck 7 is raised due to the influence of wind and waves, the first bridge ladder 11 swings upward, so that the distance between the end of the first bridge ladder 11 and the deck 7 remains unchanged.

[0039] For example, when the deck 7 is lowered due to the influence of wind and waves, the first bridge ladder 11 swings downward, so that the distance between the end of the first bridge ladder 11 and the deck 7 remains unchanged.

[0040] In some embodiments of the present application, the driving device 2 can be a power element including an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, etc., which serves as a power source for moving the first bridge ladder 11. The driving device 2 drives the first bridge ladder 11 to swing up and down, which can be achieved by using the techniques known to those skilled in the art, and thus will not be described here.

[0041] In some embodiments of the present application, the swinging up and down refers to the swinging of the first bridge ladder 11 in a direction perpendicular to the sea level, so as to increase or decrease the distance between the end of the first bridge ladder 11 and the sea level. When the deck 7 of the ship approaches the first bridge ladder 11, the driving device 2 drives the first bridge ladder 11 to reduce the distance between the end of the first bridge ladder 11 and the sea level, so that the end of the first bridge ladder 11 contacts the deck 7, thereby allowing the workers to board the bridge.

[0042] In some embodiments of the present application, the driving device 2 includes an extension device and a third bridge ladder 13. The third bridge ladder 13 is connected to the second bridge ladder 12 and the base 14. The extension device includes a guide rail and a first hydraulic cylinder 202. The guide rail is arranged on the third bridge ladder 13. The first hydraulic cylinder 202 is connected to the third bridge ladder 13 and the second bridge ladder 12, and is used to drive the second bridge ladder 12 to move along the arrangement direction of the guide rail, so as to produce an extension movement relative to the third bridge ladder 13.

[0043] In some specific embodiments, referring to Figure 1 , the extension device includes a guide rail, which is arranged along the length direction of the tread of the third bridge ladder 13, i.e., the direction of the arrow A or the opposite direction thereof. Specifically, the guide rail can be arranged on the surface of the tread of the third bridge ladder 13.

[0044] In some specific embodiments, referring to Figure 1 , the first hydraulic cylinder 202 is connected to the top end of a first connecting column 204 and a second connecting column 205, respectively. The first connecting column 204 is arranged on one side of the tread of the third bridge ladder 13 close to the base 14. The second connecting column 205 is arranged on one side of the tread of the second bridge ladder 12 close to the first bridge ladder 11. When the first hydraulic cylinder 202 extends or retracts, the third bridge ladder 13 and the second bridge ladder 12 are driven to move by the first connecting column 204 and the second connecting column 205, i.e., to move linearly along the direction of the arrow A or the opposite direction thereof.

[0045] In some embodiments, the length and width of the second bridge ladder 12 are smaller than those of the third bridge ladder 13, the length refers to the linear distance between two ends of the second bridge ladder 12 or the third bridge ladder 13 in the extending direction, and the width refers to the distance between two sides of the second bridge ladder 12 or the third bridge ladder 13, and the second bridge ladder 12 is nested in the space surrounded by the steps and handrails of the third bridge ladder 13.

[0046] In some embodiments, the guide rail is arranged in the same direction as the length direction of the steps of the third bridge ladder 13, so that when the second bridge ladder 12 moves along the guide rail, the distance between the end point of the third bridge ladder 13 close to the base 14 and the end point of the second bridge ladder 12 away from the base 14 is approximately equal to the sum of the lengths of the second bridge ladder 12 and the third bridge ladder 13.

[0047] In some embodiments of the present application, referring to Figure 1 , the driving device 2 comprises an amplitude changing device, the amplitude changing device comprises a column 201 and a second hydraulic cylinder 203, the column 201 is arranged on the steps of the base 14 to generate a height difference relative to the steps of the base 14, and the second hydraulic cylinder 203 is connected to the column 201 and the third bridge ladder 13 to make the third bridge ladder 13 swing relative to the base 14, i.e. swing in the direction of the arrow a or the opposite direction.

[0048] In some embodiments, referring to Figure 1 , the third bridge ladder 13 and the base 14 are connected by a pin shaft, the axis of the pin shaft is parallel to the plane of the steps of the third bridge ladder 13 and perpendicular to the length direction of the steps of the third bridge ladder 13, the column 201 is arranged on the base 14, one end of the second hydraulic cylinder 203 is connected to the top end of the column 201, the other end of the second hydraulic cylinder 203 is connected to the third bridge ladder 13, and the two ends of the second hydraulic cylinder 203 are respectively connected to the column 201 and the third bridge ladder 13 by hinges, so that the second hydraulic cylinder 203 drives the third bridge ladder 13 to swing when working.

[0049] In some embodiments, referring to Figure 1 , one end of the second hydraulic cylinder 203 is connected to the column 201, and the other end is connected to the middle region of the ladder body of the third bridge ladder 13, specifically, the middle region can be the middle third region of the length of the ladder body of the third bridge ladder 13 to obtain good mechanical properties and transmission efficiency.

[0050] In some embodiments of the present application, the base 14 is arranged on an oil production platform, and the first bridge ladder 11, the second bridge ladder 12 and the third bridge ladder 13 are sequentially connected to the base 14.

[0051] In some embodiments of the present application, referring to Figure 1 , the driving device 2 comprises a rotating device 3 connected to the base 14 for driving the base 14 to swing horizontally, thereby driving the third bridge ladder 13, the second bridge ladder 12 and the first bridge ladder 11 to swing in a direction parallel to the sea level.

[0052] In some embodiments of the present application, the recognition device 8 comprises a binocular stereo camera arranged above the bridge body 1, which is electrically connected to the amplitude-changing device for capturing the relative position of the ship and the bridge body 1 to control the pitching swing of the third bridge ladder 13.

[0053] In some specific embodiments, the relative position of the ship and the bridge body 1 can be the vertical distance from the end of the first bridge ladder 11 to the deck 7.

[0054] In some specific embodiments, referring to Figure 6 , the binocular stereo camera is arranged at a height sufficient to cover a range area centered on the base 14 with a radius of the sum of the lengths of the third bridge ladder 13, the second bridge ladder 12 and the first bridge ladder 11 in its scanning range.

[0055] Specifically, the binocular stereo camera determines the angular posture of the bridge body 1 in a plane parallel to the sea level by the included angle between the length direction of the base 14, the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13 and other objects.

[0056] Specifically, the binocular stereo camera determines the angular posture of the bridge body 1 in a plane perpendicular to the sea level by the vertical distance between the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13 and the deck 7.

[0057] In some embodiments of the present application, the binocular stereo camera is electrically connected to the telescopic device for capturing the relative position of the ship and the bridge body 1 to control the telescopic movement of the second bridge ladder 12.

[0058] Specifically, the binocular stereo camera determines the real-time feasible working distance of the bridge body 1 for the working personnel to go up and down the bridge by the horizontal distance between the end of the first bridge ladder 11 and the front end of the third bridge ladder 13, thereby controlling the telescopic movement of the second bridge ladder 12.

[0059] In some embodiments of the present application, referring to Figure 1 and Figure 6The recognition device 8 comprises an ultrasonic radar 9 arranged on the first bridge ladder 11 at a side opposite to the tread plate of the first bridge ladder 11, and the ultrasonic radar 9 is electrically connected with the driving device 2, and is used to acquire the distance change speed between the first bridge ladder 11 and the deck 7, so as to control the swing speed of the first bridge ladder 11 according to the distance change speed.

[0060] Specifically, when the distance change speed between the first bridge ladder 11 and the deck 7 increases, the driving device 2 increases the swing speed of the first bridge ladder 11.

[0061] Specifically, when the distance change speed between the first bridge ladder 11 and the deck 7 decreases, the driving device 2 decreases the swing speed of the first bridge ladder 11.

[0062] In some specific embodiments, the distance change speed between the first bridge ladder 11 and the deck 7 is the acceleration of the deck 7 approaching or moving away from the end of the first bridge ladder 11.

[0063] In some specific embodiments, the distance change speed between the first bridge ladder 11 and the deck 7 can be indirectly acquired by detecting the acceleration of the deck 7 rising or falling relative to the sea level when affected by wind and waves.

[0064] In some specific embodiments, the ultrasonic radar 9 can be arranged on both sides of the length direction of the tread plate of the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13, and when the distance between the ultrasonic radar 9 and the human body, the obstacle or other objects is less than the preset safety distance, the driving device 2 stops working.

[0065] In some embodiments of the present application, the first bridge ladder 11 and the second bridge ladder 12 are connected through a pin shaft.

[0066] In some embodiments of the present application, referring to Figure 1 The end of the first bridge ladder 11 is provided with a universal wheel 6, which is used to roll on the deck 7 when the first bridge ladder 11 swings.

[0067] In some embodiments of the present application, the base 14, the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13 comprise a tread plate, which is arranged away from the deck, and the tread plate can be a metal plate, which is used for the working personnel to step on when going up and down the platform.

[0068] In some embodiments of the present application, the extension direction of the first bridge body 11, the second bridge ladder 12 or the third bridge ladder 13 can be the same as the length direction of the tread plate of the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13.

[0069] In some embodiments of the present application, the trestle further comprises a snow and ice removing device for spraying hot flow to remove the accumulated snow and ice on the bridge body 1.

[0070] In some embodiments of the present application, referring to Figure 2 and Figure 3 , the second bridge ladder 12 can be moved to above the third bridge ladder 13, the first bridge ladder 11 can be moved to above the second bridge ladder 12, and the snow and ice removing device is arranged on the third bridge ladder 13 for spraying hot flow to remove snow and ice on the second bridge ladder 12 and the first bridge ladder 11.

[0071] It should be noted that when the trestle is in a non-working state, the first bridge ladder 11 is above the second bridge ladder 12, and the second bridge ladder 12 is above the third bridge ladder 13. At this time, if there is rain and ice or snow, the accumulated amount of snow and ice on the first bridge ladder 11 and the second bridge ladder 12 is greater than that on the third bridge ladder 13, that is, more snow and ice needs to be removed. By spraying hot flow from the snow and ice removing device to remove snow and ice on the first bridge ladder 11 and the second bridge ladder 12, a higher snow and ice removing efficiency can be achieved.

[0072] In some embodiments of the present application, referring to Figure 2 and Figure 3 , a plurality of through holes are arranged on the tread of the second bridge ladder 12, so that the hot flow sprayed from the snow and ice removing device flows to the first bridge ladder 11 through the second bridge ladder 12.

[0073] In some embodiments of the present application, referring to Figure 4 , the snow and ice removing device comprises an air compressor 41, a filter 42 and a heat source 43. The air compressor 41 inhales air and forms a positive pressure, so that the compressed air is filtered by the filter 42 in sequence, heated by the heat source 43, enters the hot flow channel 44 and is sprayed from the nozzle to the first bridge ladder 11 and the second bridge ladder 12.

[0074] In some specific embodiments, referring to Figure 4 , the snow and ice removing device further comprises a pressure reducing valve 45 and an oil atomizer 46, and the filter 42, the pressure reducing valve 45, the oil atomizer 46 and the heat source 43 are connected in sequence.

[0075] In some specific embodiments, the pressure of the compressed air provided by the air compressor 41 is greater than or equal to 1 and less than or equal to 12 bar.

[0076] Specifically, the pressure of the compressed air can be 1, 3, 5, 7, 8, 9, 10, 11 or 12 bar.

[0077] In some embodiments of the present application, the heat source 43 comprises a temperature regulating unit for changing the temperature of the heat flow injected by the heat flow channel 44.

[0078] In some embodiments of the present application, referring to Figure 1 and Figure 3 , the snow and ice removing device comprises a heat flow channel 44, which is arranged along the extension direction of the third bridge ladder 13, i.e. along the direction A or the opposite direction, and has a nozzle, which is directed towards the first position, i.e. injects heat flow along the direction B.

[0079] In some embodiments of the present application, referring to Figure 3 , the third bridge ladder 13 comprises a tread, which comprises a first surface and a second surface 121 facing away from each other, the first surface is directed towards the first bridge ladder 11 and the second bridge ladder 12, the heat flow channel 44 is arranged on one side of the second surface 121, and the nozzle is directed to the side of the first surface.

[0080] In some embodiments of the present application, referring to Figure 2 , a flow guide 5 is arranged at the nozzle, which has a first end and a second end in the direction of the heat flow injection, and the cross-sectional area of the second end is larger than that of the first end.

[0081] In some embodiments of the present application, referring to Figure 2 , the cross-sectional area of the flow guide 5 gradually increases from the first end to the second end.

[0082] In some embodiments of the present application, referring to Figure 2 , the flow guide 5 is conical, the first end is the apex of the cone, and the second end is the bottom surface of the cone.

[0083] In some embodiments of the present application, referring to Figure 5 , the conical bevel is circular arc-shaped.

[0084] In some embodiments of the present application, the flow guide 5 is arranged at the nozzle, which can be arranged inside the heat flow channel 44, i.e. inside the port of the heat flow channel 44.

[0085] In some embodiments of the present application, the flow guide 5 is arranged at the nozzle, which can be arranged outside the heat flow channel 44, i.e. outside the port of the heat flow channel 44.

[0086] In some embodiments of the present application, a one-way valve is arranged at the nozzle of the heat flow channel 44, so that the heat flow channel 44 is unidirectionally open in the direction of the heat flow.

[0087] The embodiment of the present application also provides a control method of the trestle bridge, which can be realized by the trestle bridge.

[0088] The control method of the trestle bridge provided by the present application refers to Figure 1 application to the trestle bridge, the trestle bridge comprises a first bridge ladder 11 and a second bridge ladder 12, the first bridge ladder 11 and the second bridge ladder 12 are rotatably connected, and the control method of the trestle bridge comprises the following steps.

[0089] S10: Obtain the heave state of the deck 7 of the ship;

[0090] S20: When the ship is affected by waves, the position of the bridge body 1 is adjusted according to the heave state of the deck 7.

[0091] The adjustment of the position of the bridge body 1 comprises controlling the first bridge ladder 11 to generate a pitching swing relative to the second bridge ladder 12, so that personnel can go up and down the bridge in a wave environment.

[0092] In some embodiments of the present application, before the step S20 of adjusting the position of the bridge body 1, the method further comprises:

[0093] S11: Identify the bow shape and the bridge cabin shape of the ship, and obtain a shape matching result.

[0094] S12: Adjust the posture of the bridge body 1 according to the shape matching result.

[0095] In some specific embodiments, the identification of the bow shape and the bridge cabin shape of the ship can be performed by the binocular stereo camera, and the identified image is matched with a preset image.

[0096] In some specific embodiments, the shape matching result can comprise a matching success or a matching failure.

[0097] Specifically, when the matching is successful, the driving device 2 controls the first bridge ladder 11 and / or the second bridge ladder 12 according to preset posture data of the bridge body 1, so as to adjust the posture of the bridge body 1.

[0098] Specifically, when the matching is unsuccessful, the driving device 2 does not adjust the posture of the bridge body 1.

[0099] In some specific embodiments, the matching success comprises matching different types of ships and performing posture adjustment of the bridge body 1.

[0100] In some embodiments of the present application, before the step S20 of adjusting the position of the bridge body 1, the method further comprises:

[0101] S13: obtaining the distance change speed between the first bridge ladder 11 and the deck 7;

[0102] S14: adjusting the speed of the bridge 1 according to the distance change speed.

[0103] In some embodiments, the distance change speed between the first bridge ladder 11 and the deck 7 can be obtained by the binocular stereo camera or the ultrasonic radar 9.

[0104] Specifically, when the distance change speed between the first bridge ladder 11 and the deck 7 increases, the swing speed of the first bridge ladder 11 is increased.

[0105] Specifically, when the distance change speed between the first bridge ladder 11 and the deck 7 decreases, the swing speed of the first bridge ladder 11 is decreased.

[0106] In some embodiments, the distance change speed between the first bridge ladder 11 and the deck 7 is the acceleration of the deck 7 approaching or moving away from the end of the first bridge ladder 11.

[0107] In some embodiments, the distance change speed between the first bridge ladder 11 and the deck 7 can be obtained indirectly by detecting the acceleration of the deck 7 rising or falling relative to the sea level when affected by wind and waves.

[0108] The steps and principles of the control method of the pier provided by the embodiments of the present application correspond to the structure and principles of the pier described above, and can be implemented by the pier described above, so they will not be described here.

[0109] The preferred embodiments of the present application are described in detail above. It should be understood that those skilled in the art can make many modifications and changes to the present application without creative labor based on the concept of the present application. Therefore, any technical solutions obtained by logical analysis, reasoning or limited experiments based on the prior art according to the concept of the present application shall be within the protection scope determined by the claims.

Claims

1. A trestle, characterized in that The utility model relates to a bridge body (1) and a driving device (2) for driving the bridge body (1) to move, and the bridge body (1) comprises a base (14), a first bridge ladder (11), a second bridge ladder (12) and a third bridge ladder (13). The third bridge ladder (13) is connected with the second bridge ladder (12) and the base (14), and the first bridge ladder (11) is arranged on the deck (7) of a ship. An identification device (8) is arranged on the deck (7) for obtaining the heave state of the deck (7). The driving device (2) is arranged on the first bridge ladder (11) and is electrically connected with the identification device (8) for driving the first bridge ladder (11) to move according to the heave state. An ice and snow removing device is arranged for spraying hot flow to remove the ice and snow accumulated on the bridge body (1). The first bridge ladder (11) and the second bridge ladder (12) are rotatably connected, and when the ship is affected by waves, the driving device (2) drives the first bridge ladder (11) to produce a pitching swing relative to the second bridge ladder (12) according to the heave state of the deck (7) of the ship. The driving device (2) comprises a telescopic device for driving the second bridge ladder (12) to produce telescopic movement relative to the third bridge ladder (13). The telescopic device comprises a guide rail and a first hydraulic cylinder (202), the guide rail is arranged on the third bridge ladder (13), the first hydraulic cylinder (202) is connected with the third bridge ladder (13) and the second bridge ladder (12), and the first hydraulic cylinder (202) is used for driving the second bridge ladder (12) to move along the arrangement direction of the guide rail to produce telescopic movement relative to the third bridge ladder (13). The identification device (8) comprises an ultrasonic radar (9), the ultrasonic radar (9) is arranged on the side of the first bridge ladder (11) opposite to the tread plate of the first bridge ladder (11), the ultrasonic radar (9) is electrically connected with the driving device (2), and the ultrasonic radar (9) is used for obtaining the distance change speed between the first bridge ladder (11) and the deck (7) to control the swing speed of the first bridge ladder (11) according to the distance change speed. The first bridge ladder (11) can swing to the upper side of the second bridge ladder (12), the deicing and snow removing device is arranged on the third bridge ladder (13), and hot flow is sprayed on the second bridge ladder (12) and the first bridge ladder (11) for deicing and snow removing; the first bridge ladder (11) is above the second bridge ladder (12), the second bridge ladder (12) is above the third bridge ladder (13), the first bridge ladder (11) and the second bridge ladder (12) are deiced and snow removed by spraying hot flow on the first bridge ladder (11) and the second bridge ladder (12) through the deicing and snow removing device, a plurality of through holes are arranged on the tread plate of the second bridge ladder (12), so that the hot flow sprayed by the deicing and snow removing device flows to the first bridge ladder (11) through the second bridge ladder (12); the deicing and snow removing device comprises a hot flow channel (44), the hot flow channel (44) is arranged along the extension direction of the third bridge ladder (13), the tread plate of the third bridge ladder (13) comprises a first surface and a second surface (121) which are away from each other, the first surface faces the first bridge ladder (11) and the second bridge ladder (12), the hot flow channel (44) is arranged on one side of the second surface (121), the hot flow channel (44) has a nozzle, the nozzle points to one side of the first surface, and a flow guide piece (5) is arranged at the nozzle, the flow guide piece (5) has a first end and a second end in the hot flow spraying direction, and the cross-sectional area of the second end is greater than that of the first end.

2. The pier of claim 1, wherein, The driving device (2) comprises a rotating device (3) connected with the base (14) and used for driving the base (14) to swing horizontally.

3. The trestle according to any one of claims 2, characterized in that The identification device (8) comprises a binocular stereo camera arranged above the bridge body (1) and electrically connected with the luffing device, and is used for capturing the relative position of the ship and the bridge body (1) to control the pitching swing of the third bridge ladder (13).

4. The pier of claim 3, wherein, The binocular stereo camera is electrically connected with the telescopic device, and is used for capturing the relative position of the ship and the bridge body (1) to control the telescopic movement of the second bridge ladder (12).

5. The pier of claim 1 wherein, The first bridge ladder (11) and the second bridge ladder (12) are connected through a pin shaft.

6. The pier of any one of claims 1 to 5, wherein, The first bridge ladder (11) is provided with universal wheels (6) at the ends, which are used for rolling on the deck (7) when the first bridge ladder (11) swings.

7. A control method of a trestle characterized by comprising: The control method of the pier according to any one of claims 1-6 comprises the following steps: Obtaining the undulating state of the deck (7) of the ship; When the ship is affected by waves, the position of the first bridge ladder (11) is adjusted according to the undulating state of the deck (7); The adjustment of the position of the first bridge ladder (11) comprises controlling the first bridge ladder (11) to generate a pitching swing relative to the second bridge ladder (12).

8. The control method of a pier according to claim 7, characterized by, Before the position of the bridge body (1) is adjusted, the following steps are further included: Identifying the bow shape and the bridge cabin shape of the ship to obtain a shape matching result; According to the shape matching result, the attitude of the bridge body (1) is adjusted.

9. The control method of a pier according to claim 7, characterized by, Before said adjusting the position of said bridge (1), further comprising: acquiring a distance change speed between said first bridge (11) and said deck (7); adjusting the speed of said bridge (1) according to said distance change speed.

Images