Floating mooring column control device, method and storage medium

Abstract

This invention provides a floating mooring bollard control device, method, and storage medium, belonging to the field of shipping and transportation technology. It includes a scheduling server and multiple floating mooring bollard grabbing components. The scheduling server is wirelessly connected to all floating mooring bollard grabbing components. The scheduling server sequentially sends grabbing cable signals to each floating mooring bollard grabbing component. The floating mooring bollard grabbing components analyze the grabbing of the cable based on the grabbing cable signals to obtain a grabbing completion signal. The scheduling server also inputs a delay time, obtains the current time as the start time, and sends a release signal to all floating mooring bollard grabbing components that have received the grabbing completion signal. The floating mooring bollard grabbing components further analyze the cable removal based on the release signal to obtain a removal completion signal. This invention effectively overcomes the problems of crew members missing or incorrectly securing cables, and solves the inconvenience of personnel securing cables. It can be widely used for ship mooring in ports and docks.

Description

Technical Field

[0001] This invention relates primarily to the field of shipping and transportation technology, specifically to a floating mooring bollard control device, method, and storage medium. Background Technology

[0002] A lock is a box-type navigation structure, mainly built at the stepped longitudinal sections of dams, canalized navigation systems, and canals. It connects water surfaces with different water level differences, allowing ships to pass directly through the difference and ensuring navigation. Floating bollards are devices used to secure ships in situations like locks where water levels fluctuate significantly.

[0003] Currently, floating bollards still require crew members to actively attach them. The way crew members operate the bollards is prone to errors such as incorrectly attaching or forgetting to attach them. These situations can endanger the lock's flushing and discharge process, posing safety risks to vessels passing through the lock. Furthermore, differences in vessel draft, bollard height above the water, and distance between the vessel and the bollard can also create difficulties for crew members in attaching the bollards. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a floating mooring bollard control device, method and storage medium to address the shortcomings of the prior art.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is as follows: a floating mooring bollard control device, comprising a scheduling server and multiple floating mooring grabbing components.

[0006] The scheduling server is wirelessly connected to all of the floating mooring grabbing components.

[0007] The scheduling server is used to send grabbing cable signals to each of the floating mooring grabbing components in sequence.

[0008] The floating mooring grabbing component is used to perform grabbing analysis on the grabbing cable signal to obtain a grabbing completion signal.

[0009] The scheduling server is also used to input the delay time, obtain the current time as the start time, and send a release signal to all floating mooring grabbing components that have received the grabbing completion signal.

[0010] The floating mooring grabbing assembly is also used to analyze the removal of the cable based on the release signal to obtain a removal completion signal;

[0011] The scheduling server is also used to obtain the current time as the end time, and analyze the number of all the acquisition completion signals based on the start time, the end time and the delay time to obtain the control result of the floating mooring bollard.

[0012] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: A method for controlling floating bollards, comprising:

[0013] Sequentially send grabbing cable signals to each of the floating mooring grabbing components;

[0014] Based on the cable gripping signal, the cable gripping is analyzed to obtain the gripping completion signal;

[0015] Input the delay time, obtain the current time as the start time, and send a release signal to all floating mooring grabbing components that have received the grab completion signal;

[0016] The release signal is used to analyze the removal of the cable, and a removal completion signal is obtained.

[0017] The current time is obtained as the end time. Based on the start time, the end time, and the delay time, the number of all the acquisition completion signals is analyzed to obtain the control result of the floating mooring bollard.

[0018] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a floating bollard control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the floating bollard control method described above is implemented.

[0019] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the floating mooring bollard control method as described above.

[0020] The beneficial effects of this invention are as follows: by sending a grabbing cable signal to the floating mooring grabbing component, performing grabbing analysis based on the grabbing cable signal to obtain a grabbing completion signal, sending a release signal to all floating mooring grabbing components that have obtained grabbing completion signals, performing cable removal analysis based on the release signals to obtain a removal completion signal, and analyzing the number of removal completion signals based on the start time, end time, and delay time to obtain the control result of the floating mooring bollard, this invention effectively overcomes the problem of crew members missing or incorrectly tying cables, solves the inconvenience of personnel tying cables, and can be widely used for ship mooring in ports and docks. Attached Figure Description

[0021] Figure 1 This is a block diagram of a floating bollard control device provided in an embodiment of the present invention;

[0022] Figure 2 This is one of the structural block diagrams of a floating mooring and grabbing assembly provided in an embodiment of the present invention;

[0023] Figure 3 This is a second structural block diagram of a floating mooring and grabbing assembly provided in an embodiment of the present invention;

[0024] Figure 4 This is a flowchart illustrating a floating mooring bollard control method according to an embodiment of the present invention.

[0025] In the attached diagram, the component names represented by each label are as follows:

[0026] 1. Robotic arm, 2. Robotic boom, 3. Float, 4. Mooring bollard. Detailed Implementation

[0027] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0028] Figure 1 This is a block diagram of a floating mooring bollard control device provided in an embodiment of the present invention.

[0029] like Figure 1 As shown, a floating mooring bollard control device includes a scheduling server and multiple floating mooring grabbing components.

[0030] The scheduling server is wirelessly connected to all of the floating mooring grabbing components.

[0031] The scheduling server is used to send grabbing cable signals to each of the floating mooring grabbing components in sequence.

[0032] The floating mooring grabbing component is used to perform grabbing analysis on the grabbing cable signal to obtain a grabbing completion signal.

[0033] The scheduling server is also used to input the delay time, obtain the current time as the start time, and send a release signal to all floating mooring grabbing components that have received the grabbing completion signal.

[0034] The floating mooring grabbing assembly is also used to analyze the removal of the cable based on the release signal to obtain a removal completion signal;

[0035] The scheduling server is also used to obtain the current time as the end time, and analyze the number of all the acquisition completion signals based on the start time, the end time and the delay time to obtain the control result of the floating mooring bollard.

[0036] It should be understood that the implementation of the present invention requires: N cable-grabbing floating mooring devices (i.e., the floating mooring grabbing components) and a scheduling system (i.e., the scheduling server), where N is an integer not less than 2.

[0037] It should be understood that each of the N cable-grabbing floating mooring devices (i.e., the floating mooring grabbing assembly) has a unique number.

[0038] Specifically, the scheduling system (i.e., the scheduling server) sends the grabbing cable signal to each control unit of the N cable grabbing floating mooring devices (i.e., the floating mooring grabbing components).

[0039] It should be understood that the scheduling system (i.e., the scheduling server) sends a release signal to the control unit (i.e., the floating mooring grabbing component that has grabbed the mooring completed signal) of the M grabbing floating mooring devices that have been tethered with mooring lines, and at the same time sets a delay timer T (i.e., the delay time).

[0040] In the above embodiments, by sending a grabbing cable signal to the floating mooring grabbing component, and performing grabbing analysis based on the grabbing cable signal to obtain a grabbing completion signal, a release signal is sent to all floating mooring grabbing components that have obtained grabbing completion signals. The release signal is then used to perform cable removal analysis to obtain a removal completion signal. The number of removal completion signals is analyzed based on the start time, end time, and delay time to obtain the control result of the floating mooring bollard. This effectively overcomes the problem of crew members missing or incorrectly tying cables, and solves the inconvenience of personnel tying cables. It can be widely used for ship mooring in ports and docks.

[0041] Optionally, as an embodiment of the present invention, such as Figures 1 to 3 As shown, the floating mooring and grabbing assembly includes a robotic arm 1, a robotic boom 2, a buoy 3, and a mooring bollard 4.

[0042] The pontoon 3 is a cylindrical structure. The robotic arm 2 and the mooring bollard 4 are both located at the top of the pontoon 3. The robotic arm 2 is equipped with a controller, which is wirelessly connected to the scheduling server. One end of the robotic arm 2 is movably connected to the robotic hand 1. The robotic hand 1 is equipped with a hook-and-load sensor, which is connected to the controller. The mooring bollard 4 is a cylindrical structure. The side of the mooring bollard 4 near the robotic arm 2 is provided with a slot for placing the robotic hand 1.

[0043] It should be understood that a cable-grabbing floating mooring device (i.e., the floating mooring grabbing assembly) is established, comprising: a robotic arm (i.e., the robotic arm 2), a robotic hand (i.e., the robotic hand 1), a mooring bollard (i.e., the mooring bollard 4), a buoy (i.e., the buoy 3), the grabbing sensor, and a control unit (i.e., the controller).

[0044] Specifically, the bollard (i.e., the bollard 4) is provided with a notch (i.e., the placement slot) for inserting the robotic arm;

[0045] The control unit (i.e., the controller) is electrically connected to the hook-up sensor;

[0046] The bollard (i.e., the bollard 4) and the robotic arm (i.e., the robotic arm 2) are installed above the pontoon (i.e., the pontoon 3);

[0047] The scheduling system (i.e., the scheduling server) and the control unit (i.e., the controller) are connected via network communication;

[0048] The robotic arm (i.e., the robotic arm 2) is connected to a buoy (i.e., the buoy 3) at one end and a robotic hand (i.e., the robotic hand 1) at the other end. The robotic arm (i.e., the robotic arm 2) is used to take the robotic hand (i.e., the robotic hand 1) out of the bollard notch (i.e., the placement slot), extend it toward the ship, and insert the robotic hand (i.e., the robotic hand 1) into the bollard notch (i.e., the placement slot).

[0049] The robotic arm (i.e., the robotic arm 1) is used to take the mooring line when the ship is docked and hang the mooring line on the bollard (i.e., the bollard 4); when the ship needs to leave, it takes the mooring line from the bollard (i.e., the bollard 4) and returns the mooring line to the ship.

[0050] The hook-up sensor is installed on the inner wall of the robotic arm (i.e., the robotic arm 1);

[0051] The robotic arm (i.e., the robotic arm 1) can be inserted into the bollard notch (i.e., the placement slot).

[0052] The above embodiments effectively overcome the problems of crew members missing or incorrectly tying mooring lines, and solve the inconvenience of personnel tying mooring lines. They can be widely used for mooring of ships at ports and docks.

[0053] Optionally, as an embodiment of the present invention, in the floating mooring grabbing assembly, the process of analyzing the grabbing of the cable through the grabbing cable signal to obtain the grabbing completion signal includes:

[0054] The controller is used to control the robotic arm 2 to move to a preset position according to the gripping cable signal;

[0055] The robotic arm 1 is controlled to open to attach the cable and generate a first sensor control signal;

[0056] The hook-up sensor is used to generate a hook-up signal based on the control signal from the first sensor.

[0057] The controller is also used to control the robotic arm 1 to close according to the lanyard signal.

[0058] And control the robotic arm 2 to move above the mooring bollard 4,

[0059] And control the robotic arm 2 to insert the robotic hand 1 into the placement slot.

[0060] The robotic arm 1 is controlled to extend and hang the cable on the mooring bollard 4.

[0061] And generate a second sensor control signal;

[0062] The hanging sensor is also used to generate a hanging column signal based on the control signal of the second sensor.

[0063] The controller is also used to analyze the water discharge status through the hanging column signal, and obtain a grabbing completion signal based on the analysis results.

[0064] It should be understood that the hook-up sensor is used to sense the hook-up signal generated when the cable is hooked up and the hook-up signal generated when the cable is hooked up to the mooring bollard (i.e., the mooring bollard 4).

[0065] Specifically, when the control unit (i.e. the controller) receives the signal to grab the cable, it controls the robotic arm (i.e. the robotic arm 2) to extend towards the ship, the robotic hand (i.e. the robotic hand 1) to open, and the hook-up sensor to be activated;

[0066] The hook sensor is activated and begins to detect the hook signal;

[0067] When the hook-up sensor detects the hook-up signal generated when the cable is hooked up, it outputs the hook-up signal to the control unit (i.e., the controller);

[0068] After receiving the rope signal, the control unit (i.e., the controller) controls the robotic arm (i.e., the robotic arm 1) to close and controls the robotic arm (i.e., the robotic arm 2) to move the robotic arm (i.e., the robotic arm 1) to the mooring bollard (i.e., the mooring bollard 4).

[0069] The robotic arm (i.e., robotic arm 1) is inserted into the bollard notch (i.e., the placement slot);

[0070] The robotic arm (i.e., robotic arm 1) opens and hangs the cable on the mooring bollard (i.e., mooring bollard 4);

[0071] When the hook-up sensor detects that the cable is hooked onto the mooring bollard (i.e., the mooring bollard 4), it generates a hook-up signal and outputs the hook-up signal to the control unit (i.e., the controller).

[0072] The above embodiments reduce manpower and material resources, improve the accuracy of grabbing the mooring line, effectively overcome the problem of crew members missing or incorrectly tying the mooring line, and solve the inconvenience of personnel tying the mooring line. They can be widely used for mooring ships at ports and docks.

[0073] Optionally, as an embodiment of the present invention, in the controller, the process of analyzing the water discharge status through the hanging column signal and obtaining the grabbing completion signal based on the analysis result includes:

[0074] The controller is used to generate a column hanging completion signal based on the column hanging signal;

[0075] The scheduling server is used to count the number of all the column hanging completion signals to obtain the number of columns hanging completed.

[0076] Determine whether the number of completed hanging columns is greater than or equal to the preset number of drainage hanging columns. If not, broadcast a voice message to indicate that the cable has been attached. If so, send a capture completion signal to all controllers that generated the hanging column completion signal.

[0077] It should be understood that the scheduling system (i.e., the scheduling server) is used to determine, based on the received bollard completion signal, whether the number (i.e. the bollard completion number) and number of the bollards that have sent bollard signals among the N cable grabbing floating mooring devices (i.e. the floating mooring grabbing components) meet the flushing and discharge conditions (i.e., greater than or equal to the preset discharge bollard number).

[0078] Specifically, the control unit (i.e., the controller) receives the hanging post signal and generates the hanging post completion signal;

[0079] The control unit (i.e., the controller) sends the hanging post completion signal to the scheduling system (i.e., the scheduling server);

[0080] After receiving the signal indicating completion of the mooring of the mooring poles, the scheduling system (i.e., the scheduling server) determines whether the conditions for flushing and releasing water are met (i.e., the number of mooring poles is greater than or equal to the preset number of mooring poles). If the conditions for flushing and releasing water are met (i.e., the number of mooring poles is greater than or equal to the preset number of mooring poles), the system sends a signal to the control unit (i.e., the controller) to end the grabbing process (i.e., the grabbing completion signal). If the conditions for flushing and releasing water are not met (i.e., the number of mooring poles is greater than or equal to the preset number of mooring poles), the system plays a voice broadcast to notify the ship to moor the mooring lines until the conditions for flushing and releasing water are met (i.e., the number of mooring poles is greater than or equal to the preset number of mooring poles).

[0081] In the above embodiments, the number of hanging posts can be automatically controlled according to needs, which improves the accuracy of grabbing the cable and effectively overcomes the problem of crew members missing or incorrectly tying the cable, and solves the inconvenience of personnel tying the cable.

[0082] Optionally, as an embodiment of the present invention, in the floating mooring grabbing assembly, the process of analyzing the detachment of the mooring line through the release signal to obtain the detachment completion signal includes:

[0083] The controller is used to control the closing of the robotic arm 1 according to the release signal, for grasping the cable, and to generate a third sensor control signal;

[0084] The hook-up sensor is used to generate a column-picking signal based on the control signal from the third sensor.

[0085] The controller is also used to control the robotic arm 2 to remove the robotic hand 1 from the placement slot according to the column picking signal.

[0086] And control the robotic arm 2 to move to a preset position,

[0087] And control the robotic arm 1 to open and remove the cable.

[0088] And generate a fourth sensor control signal;

[0089] The hook-up sensor is also used to generate a rope-taking signal based on the control signal of the fourth sensor.

[0090] The controller is also used to control the robotic arm 1 to close based on the rope-taking signal.

[0091] And control the robotic arm 2 to move above the mooring bollard 4,

[0092] The robotic arm 2 is controlled to insert the robotic hand 1 into the placement slot, and a picking completion signal is generated.

[0093] It should be understood that the hook-up sensor is used to sense the hook-up signal when the mooring bollard is removed and the hook-up signal generated when the mooring bollard is removed, and to send the hook-up signal or the hook-up signal to the control unit (i.e., the controller).

[0094] Specifically, when the control unit (i.e. the controller) receives the release signal, it controls the robotic arm (i.e. the robotic arm 1) to close and grasp the cable;

[0095] When the hook-up sensor detects the hook-up signal, it outputs the hook-up signal to the control unit (i.e., the controller);

[0096] After receiving the bollard removal signal, the control unit (i.e., the controller) controls the robotic arm (i.e., the robotic arm 2) to extend the robotic hand (i.e., the robotic hand 1) from the bollard notch (i.e., the placement slot);

[0097] The control unit (i.e., the controller) controls the robotic arm (i.e., the robotic arm 2) to extend the robotic hand (i.e., the robotic hand 1) toward the ship and open the robotic hand (i.e., the robotic hand 1) so that the crew can take away the cable.

[0098] When the crew member removes the cable, the hook-up sensor detects the cable removal signal generated when the cable is removed, and the hook-up sensor outputs the cable removal signal to the control unit (i.e., the controller).

[0099] The control unit (i.e., the controller) controls the robotic arm (i.e., the robotic arm 1) to close, and controls the robotic arm (i.e., the robotic arm 2) to move the robotic arm (i.e., the robotic arm 1) to the mooring bollard (i.e., the mooring bollard 4), and the robotic arm (i.e., the robotic arm 1) is inserted into the mooring bollard notch (i.e., the placement slot);

[0100] The control unit (i.e., the controller) sends a column retrieval completion signal (i.e., the retrieval completion signal) to the scheduling system (i.e., the scheduling server).

[0101] The above embodiments reduce manpower and material resources, improve the accuracy of grabbing the mooring line, effectively overcome the problem of crew members missing or incorrectly tying the mooring line, and solve the inconvenience of personnel tying the mooring line. They can be widely used for mooring ships at ports and docks.

[0102] Optionally, as an embodiment of the present invention, the process of analyzing the number of all the acquisition completion signals based on the start time, the end time, and the delay time in the scheduling server to obtain the control result of the floating mooring bollard includes:

[0103] The scheduling server is used to calculate the difference between the start time and the end time to obtain the real-time time difference;

[0104] Count the number of all the aforementioned extraction completion signals to obtain the total number of extraction completion signals;

[0105] If the real-time time difference is greater than the delay time, and the total number of detachment completion signals is less than the preset release number, then a voice broadcast to remove the cable will be made until the total number of detachment completion signals equals the preset release number. Then, a scheduling completion command will be generated, and the scheduling completion command will be used as the control result of the floating mooring bollard.

[0106] It should be understood that the scheduling system (i.e., the scheduling server) is used to determine whether all M cable-grabbing floating mooring devices (i.e., the floating mooring grabbing components) that have been tethered have sent a retrieval signal (i.e., the retrieval completion signal). Sending a retrieval signal (i.e., the retrieval completion signal) is in accordance with the release conditions. M is a natural number less than or equal to N.

[0107] Specifically, if the delay time exceeds T (i.e., the delay period) and the number of mooring completion signals received by the scheduling system (i.e., the scheduling server) is less than M (i.e., the preset release number), then a voice broadcast will be played to notify the ship to remove the mooring rope until the scheduling system (i.e., the scheduling server) receives mooring completion signals (i.e., the removal completion signals) from all M control units (i.e., the controllers).

[0108] The above embodiments reduce manpower and material resources, improve the accuracy of grabbing the mooring line, effectively overcome the problem of crew members missing or incorrectly tying the mooring line, and solve the inconvenience of personnel tying the mooring line. They can be widely used for mooring ships at ports and docks.

[0109] Optionally, as an embodiment of the present invention, the scheduling server further includes:

[0110] If the number of completed hanging columns is greater than or equal to the preset number of drainage hanging columns, then a grab stop signal is sent to all controllers that have not generated a hanging column completion signal.

[0111] The controller is used to control the robotic arm 1 to close.

[0112] And control the robotic arm 2 to move above the mooring bollard 4,

[0113] The system controls the robotic arm 2 to insert the robotic hand 1 into the placement slot and sends the generated stop success signal to the scheduling server.

[0114] Specifically, when the flushing and discharge conditions are met (i.e., greater than or equal to the preset number of discharge bollards), the dispatching system (i.e., the dispatching server) sends an end-grabbing signal (i.e., the grabbing stop signal) to the control unit of the cable grabbing floating mooring device that has not been attached with a cable (i.e., the controller that has not generated a bollard completion signal).

[0115] When the control unit (i.e. the controller) receives the end gripping signal (i.e. the gripping stop signal), it controls the robotic arm (i.e. the robotic arm 1) to close and controls the robotic arm (i.e. the robotic arm 2) to move the robotic arm (i.e. the robotic arm 1) to the mooring bollard (i.e. the mooring bollard 4).

[0116] The control unit (i.e., the controller) controls the robotic arm (i.e., the robotic arm 2) and the robotic hand (i.e., the robotic hand 1) to insert into the bollard notch (i.e., the placement slot);

[0117] The control unit (i.e., the controller) sends the return completion signal (i.e., the stop success signal) of the robotic arm (i.e., the robotic arm 1) to the scheduling system (i.e., the scheduling server).

[0118] The above embodiments effectively overcome the problems of crew members missing or incorrectly tying mooring lines, and solve the inconvenience of personnel tying mooring lines. They can be widely used for mooring of ships at ports and docks.

[0119] Optionally, as another embodiment of the present invention, the present invention includes a cable-grabbing floating mooring device and a scheduling system, and realizes ship mooring with personnel assistance through two processes: cable-grabbing control and release control. The present invention effectively overcomes the problems of crew members missing or incorrectly mooring, as well as the inconvenience of personnel mooring. The present invention can be widely used for ship mooring in ports and docks.

[0120] Optionally, as another embodiment of the present invention, the control unit of the present invention is configured to: 1. receive the cable grabbing signal and release signal from the dispatch system; 2. receive the cable grabbing signal, bollard grabbing signal, bollard retrieval signal, or cable retrieval signal from the grabbing sensor; 3. control the robotic arm to remove the robotic hand from the bollard notch and extend it toward the ship; 4. control the robotic arm to insert the robotic hand into the bollard notch; 5. control the robotic arm to open and close; 6. generate a bollard grabbing completion signal when receiving the bollard grabbing signal generated when the cable is grabbed onto the bollard; 7. generate a bollard retrieval completion signal when the crew has retrieved the cable and the robotic hand has been inserted back into the bollard; 8. generate a robotic hand retraction completion signal when the robotic hand has not grabbed the cable and has been inserted back into the bollard; 9. send the bollard grabbing completion signal, bollard retrieval completion signal, and retraction completion signal to the dispatch system.

[0121] Optionally, as another embodiment of the present invention, the scheduling system of the present invention is used to: 1. send a cable grabbing signal and a release signal to the control unit; 2. receive a bollard completion signal and a bollard retrieval completion signal from the control unit; 3. send a grabbing end signal to the control unit; 4. play a voice broadcast to notify the ship to attach the cable; 5. play a voice broadcast to notify the ship to retrieve the cable.

[0122] Alternatively, as another embodiment of the present invention, the cable gripping control process of the present invention is as follows:

[0123] Z1. The dispatching system sends a cable grabbing signal to each control unit of the N cable grabbing floating mooring devices;

[0124] Z2. When the control unit receives the signal to grab the cable, it controls the robotic arm to extend towards the ship, the robotic arm opens, and the hook-up sensor is activated.

[0125] Z3. The hook-up sensor is activated and begins detecting the lanyard signal;

[0126] Z4. When the hook-up sensor detects the hook-up signal generated when the cable is hooked up, the hook-up signal is output to the control unit;

[0127] Z5. After receiving the rope-attaching signal, the control unit controls the robotic arm to close and moves the robotic arm to the mooring bollard;

[0128] Z6. The robotic arm inserts into the bollard notch;

[0129] Z7. The robotic arm opens and hangs the cable on the mooring bollard;

[0130] Z8. When the hook-up sensor detects the hook-up signal generated when the cable hooks up to the mooring bollard, the hook-up signal is output to the control unit.

[0131] Z9. The control unit receives the hanging post signal and generates a hanging post completion signal;

[0132] Z10. The control unit sends the post hanging completion signal to the dispatching system;

[0133] Z11. After receiving the bollard completion signal, the dispatch system determines whether the flushing and dredging conditions are met. If the flushing and dredging conditions are met, it sends a stop grab signal to the control unit. If the flushing and dredging conditions are not met, it plays a voice broadcast to notify the ship to attach the mooring line until the flushing and dredging conditions are met.

[0134] Z12. When the flushing and discharge conditions are met, the dispatching system sends a signal to the control unit of the cable-grabbing floating mooring device that is not attached to a cable.

[0135] Z13. The control unit receives the end gripping signal, controls the robotic arm to close, and controls the robotic arm to move the robotic arm to the mooring bollard;

[0136] Z14. The control unit controls the robotic arm to insert into the bollard notch;

[0137] Z15. The control unit sends the robot arm's return completion signal to the scheduling system.

[0138] Alternatively, as another embodiment of the present invention, the release control process of the present invention is as follows:

[0139] F1. The dispatching system sends a release signal to the control unit of the M grabbing floating mooring devices that have been secured with mooring lines, and sets a delay timer T at the same time;

[0140] F2. When the control unit receives the release signal, it controls the robotic arm to close and grab the cable;

[0141] F3. When the hook-up sensor detects the hook-up signal, it outputs the hook-up signal to the control unit;

[0142] F4. After receiving the bollard removal signal, the control unit controls the robotic arm to extend the robotic hand from the bollard notch;

[0143] F5. The control unit controls the robotic arm to extend the robotic hand toward the ship and open the robotic hand so that the crew can take the cable.

[0144] F6. When the crew takes the cable, the hook-up sensor detects the cable removal signal and outputs the cable removal signal to the control unit.

[0145] F7. The control unit controls the closing of the robotic arm and controls the robotic arm to move the robotic arm to the bollard, where the robotic arm is inserted into the bollard notch.

[0146] F8. The control unit sends a column retrieval completion signal to the scheduling system;

[0147] F9. If the delay exceeds T and the number of mooring line removal completion signals received by the dispatch system is less than M, a voice broadcast will be played to notify the ship to remove the mooring line until the dispatch system receives mooring line removal completion signals from all M control units.

[0148] Figure 4 This is a flowchart illustrating the floating bollard control method provided in an embodiment of the present invention.

[0149] Alternatively, as another embodiment of the present invention, such as Figure 4 As shown, a floating bollard control method includes:

[0150] Sequentially send grabbing cable signals to each of the floating mooring grabbing components;

[0151] Based on the cable gripping signal, the cable gripping is analyzed to obtain the gripping completion signal;

[0152] Input the delay time, obtain the current time as the start time, and send a release signal to all floating mooring grabbing components that have received the grab completion signal;

[0153] The release signal is used to analyze the removal of the cable, and a removal completion signal is obtained.

[0154] The current time is obtained as the end time. Based on the start time, the end time, and the delay time, the number of all the acquisition completion signals is analyzed to obtain the control result of the floating mooring bollard.

[0155] Optionally, another embodiment of the present invention provides a floating bollard control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the floating bollard control method as described above. This device may be a computer or similar device.

[0156] Optionally, another embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the floating bollard control method as described above.

[0157] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0158] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0159] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0160] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0161] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. This is understood to mean that the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0162] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A floating mooring bollard control device, characterized in that, Includes a scheduling server and multiple floating mooring and grabbing components. The scheduling server is wirelessly connected to all of the floating mooring grabbing components. The scheduling server is used to send grabbing cable signals to each of the floating mooring grabbing components in sequence. The floating mooring grabbing component is used to perform grabbing analysis on the grabbing cable signal to obtain a grabbing completion signal. The scheduling server is also used to input the delay time, obtain the current time as the start time, and send a release signal to all floating mooring grabbing components that have received the grabbing completion signal. The floating mooring grabbing assembly is also used to analyze the removal of the cable based on the release signal to obtain a removal completion signal; The scheduling server is also used to obtain the current time as the end time, analyze the number of all the acquisition completion signals based on the start time, the end time and the delay time, and obtain the control result of the floating mooring bollard. The floating mooring grabbing assembly includes a robotic arm (1), a robotic boom (2), a buoy (3), and a mooring bollard (4). The pontoon (3) is a cylindrical structure. The robotic arm (2) and the mooring bollard (4) are both located at the top of the pontoon (3). The robotic arm (2) is equipped with a controller, which is wirelessly connected to the scheduling server. One end of the robotic arm (2) is movably connected to the robotic hand (1). The robotic hand (1) is equipped with a hook-up sensor, which is connected to the controller. The mooring bollard (4) is a cylindrical structure. The side of the mooring bollard (4) near the robotic arm (2) is provided with a slot for placing the robotic hand (1). In the floating mooring grabbing assembly, the process of analyzing the cable detachment through the release signal to obtain the detachment completion signal includes: The controller is used to control the closing of the robotic arm (1) according to the release signal, for grasping the cable, and to generate a third sensor control signal; The hook-up sensor is used to generate a column-picking signal based on the control signal from the third sensor. The controller is also used to control the robotic arm (2) to remove the robotic hand (1) from the placement slot according to the column picking signal. And control the robotic arm (2) to move to a preset position, And control the robotic arm (1) to open and remove the cable. And generate a fourth sensor control signal; The hook-up sensor is also used to generate a rope-taking signal based on the control signal of the fourth sensor. The controller is also used to control the robotic arm (1) to close according to the rope-taking signal. And control the robotic arm (2) to move above the mooring bollard (4), The robotic arm (2) is controlled to insert the robotic hand (1) into the placement slot and a picking completion signal is generated.

2. The floating mooring bollard control device according to claim 1, characterized in that, In the floating mooring grabbing assembly, the process of analyzing the grabbing of the cable through the grabbing cable signal to obtain the grabbing completion signal includes: The controller is used to control the robotic arm (2) to move to a preset position according to the gripping cable signal; Control the opening of the robotic arm (1) to hang the cable and generate a first sensor control signal; The hook-up sensor is used to generate a hook-up signal based on the control signal from the first sensor. The controller is also used to control the robotic arm (1) to close according to the lanyard signal. And control the robotic arm (2) to move above the mooring bollard (4), And control the robotic arm (2) to insert the robotic hand (1) into the placement slot, And control the robotic arm (1) to open, for hanging the cable on the mooring bollard (4), And generate a second sensor control signal; The hanging sensor is also used to generate a hanging column signal based on the control signal of the second sensor. The controller is also used to analyze the water discharge status through the hanging column signal, and obtain a grabbing completion signal based on the analysis results.

3. The floating mooring bollard control device according to claim 2, characterized in that, In the controller, the process of analyzing the water discharge status through the hanging column signal and obtaining the grabbing completion signal based on the analysis results includes: The controller is used to generate a column hanging completion signal based on the column hanging signal; The scheduling server is used to count the number of all the column hanging completion signals to obtain the number of columns hanging completed. Determine whether the number of completed hanging columns is greater than or equal to the preset number of drainage hanging columns. If not, broadcast a voice message to indicate that the cable has been attached. If so, send a capture completion signal to all controllers that generated the hanging column completion signal.

4. The floating mooring bollard control device according to claim 1, characterized in that, In the scheduling server, the process of analyzing the number of all the acquisition completion signals based on the start time, the end time, and the delay time to obtain the control result of the floating mooring bollard includes: The scheduling server is used to calculate the difference between the start time and the end time to obtain the real-time time difference; Count the number of all the aforementioned extraction completion signals to obtain the total number of extraction completion signals; If the real-time time difference is greater than the delay time, and the total number of detachment completion signals is less than the preset release number, then a voice broadcast to remove the cable will be made until the total number of detachment completion signals equals the preset release number. Then, a scheduling completion command will be generated, and the scheduling completion command will be used as the control result of the floating mooring bollard.

5. The floating mooring bollard control device according to claim 3, characterized in that, The scheduling server also includes: If the number of completed hanging columns is greater than or equal to the preset number of drainage hanging columns, then a grab stop signal is sent to all controllers that have not generated a hanging column completion signal. The controller is used to control the robotic arm (1) to close. And control the robotic arm (2) to move above the mooring bollard (4), The system controls the robotic arm (2) to insert the robotic hand (1) into the placement slot and sends the generated stop success signal to the scheduling server.

6. The floating bollard control method used in the floating bollard control device according to any one of claims 1 to 5, characterized in that, include: Sequentially send grabbing cable signals to each of the floating mooring grabbing components; Based on the cable gripping signal, the cable gripping is analyzed to obtain the gripping completion signal; Input the delay time, obtain the current time as the start time, and send a release signal to all floating mooring grabbing components that have received the grab completion signal; The release signal is used to analyze the removal of the cable, and a removal completion signal is obtained. The current time is obtained as the end time. Based on the start time, the end time, and the delay time, the number of all the acquisition completion signals is analyzed to obtain the control result of the floating mooring bollard. The process of analyzing the cable removal through the release signal to obtain the removal completion signal includes: The robotic arm is controlled to close according to the release signal, in order to grasp the cable and generate a third sensor control signal; A column extraction signal is generated based on the control signal from the third sensor. Based on the column retrieval signal, the robotic arm is controlled to remove the robotic hand from the placement slot. And control the robotic arm to move to a preset position, The robotic arm is controlled to open and remove the cable. And generate a fourth sensor control signal; A rope-retrieval signal is generated based on the control signal from the fourth sensor. The robotic arm is controlled to close based on the rope-retrieval signal. And control the robotic arm to move above the mooring bollard. The system controls the robotic arm to insert the robotic hand into the placement slot and generates a pick-up completion signal.

7. A floating bollard control system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the floating mooring bollard control method as described in claim 6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the floating bollard control method as described in claim 6 is implemented.

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