Adaptive Floating Dock Assisted Automatic Berthing System and Method

Abstract

This application provides an adaptive floating dock-assisted automatic berthing system, including a floating dock with multiple float units connected by a linkage device to allow for variable distances between adjacent float units. Multiple anchoring rods are provided on one side of the floating dock, and multiple berthing positions are provided on the other side. Multiple rotatably connected swing arms are provided within each berthing position, with magnetic blocks at the swinging ends of the swing arms. Magnetic plates are provided on the inner walls of the cruise ship's cabin, and the magnetic blocks attract the magnetic plates, thus solving the problem of high costs associated with precise cruise ship berthing systems.

Description

Technical Field

[0001] This invention relates to the field of automated berthing of cruise ships, and in particular to an adaptive floating dock-assisted automated berthing system and method. Background Technology

[0002] Currently, automated berthing of cruise ships with automatic navigation mainly relies on the following methods: Firstly, cruise ships are equipped with inertial navigation systems that use sensors such as accelerometers and gyroscopes to acquire information such as the ship's acceleration and angular velocity, thereby calculating the ship's position and orientation. Using this information, along with the dock's location, autonomous navigation and automated berthing can be performed. Secondly, cruise ships can be equipped with visual sensors such as cameras, and ranging devices such as ultrasonic or laser sensors. Through image recognition and position calculation, the ship's position relative to the dock can be monitored in real time, guiding the ship to its designated position.

[0003] The methods described above can be applied individually, but in reality, due to the wide variety of sizes and specifications of cruise ships, it is necessary to combine these methods and equip them with corresponding control systems and algorithms in order to ensure that each cruise ship can dock accurately. This leads to high costs, especially if each cruise ship is equipped with multiple sets of the above devices, the problem becomes even more prominent after the costs are added together. Summary of the Invention

[0004] This invention provides an adaptive floating dock-assisted automatic berthing system and method, which solves the problem of high cost of precise berthing systems for cruise ships.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an adaptive floating dock assisted automatic berthing system, including a floating dock, the floating dock including multiple float units, the multiple float units being connected by a linkage device so that the distance between adjacent float units is variable, multiple anchor rods are provided on one side of the floating dock, multiple berthing positions are provided on the other side of the floating dock, multiple rotatably connected swing arms are provided in the berthing positions, magnetic blocks are provided at the swing ends of the swing arms, magnetic plates are provided on the inner wall of the cruise ship cabin, and the magnetic blocks attract the magnetic plates.

[0006] In a preferred embodiment, the rocker arm includes a fixed sleeve and a hollow rod. One end of the hollow rod is rotatably connected to the fixed sleeve. A sliding rod is provided inside the hollow rod and is slidably connected to it. A magnetic block is provided on the sliding rod at the end away from the fixed sleeve. A push spring is provided inside the hollow rod and abuts against the end of the hollow rod.

[0007] In a preferred embodiment, the fixed sleeve has a fan-shaped opening along its circumference, and the hollow rod passes through the fan-shaped opening to extend out of the fixed sleeve.

[0008] In the preferred embodiment, two L-shaped side frames are arranged opposite each other on the outer side of the berth, forming a U-shaped structure. A gap is provided at the bottom end of the two side frames where they meet. The side frames are equipped with sliding sleeves, which are rotatably connected to the anchor rods. The berth is located at the centerline of the two side frames. The connecting rod device of the floating terminal is a parallelogram hinged rod structure, and the hinge points are connected to each float unit.

[0009] In the preferred embodiment, a berth locking device is provided at the gap at the bottom of the U-shaped structure formed by the two side frames. The berth locking device includes an intermediate connecting device and a linear drive device. The intermediate connecting device is connected to one side frame of the same berth, the intermediate connecting device is hinged to the linear drive device, and the linear drive device is connected to the other side frame of the same berth. The support rod and the linear drive device are arranged at an angle.

[0010] In a preferred embodiment, the intermediate connecting device includes a telescopic rod, a hollow structure inside the intermediate connecting device, a slidable sliding sleeve inside the intermediate connecting device, one side of the sliding sleeve being connected to the telescopic rod, one end of the telescopic rod being hinged to the linear drive device, an electromagnetic plate being provided at the bottom of the hollow structure of the intermediate connecting device, a permanent magnet plate being provided on the sliding sleeve, the permanent magnet plate and the electromagnetic plate being arranged opposite to each other, a cruise ship detection device facing the berthing position being provided at the anchor rod, and the linear drive device being an electric cylinder.

[0011] In the preferred embodiment, a laser displacement sensor is also provided inside the cavity structure of the intermediate connecting device, which is used to detect the position of the sliding sleeve.

[0012] In a preferred embodiment, the float unit includes multiple snap-fit ​​frames, one end of which is provided with a hinge portion, and at least two swingable hinge rods are provided at the hinge portion, the hinge rods being hinged to the telescopic blocks of adjacent float units.

[0013] In a preferred embodiment, the snap-fit ​​frame is provided with a slide rail, the slide rail is provided with a slidable telescopic block, and the slide rail is also provided with a return spring, which abuts against the telescopic block.

[0014] Including berthing methods,

[0015] The cruise ship uses a positioning system to navigate to and enter its berth.

[0016] The swing arm opens and attaches to the outer wall of the cruise ship;

[0017] Cruise ship detection devices monitor the distance to the cruise ships;

[0018] As the cruise ship approaches the bottom of the berth, the electromagnetic plate is de-energized, causing the telescopic boom to unlock.

[0019] The impact of the cruise ship on the floating block unit at the bottom of the berth causes the floating dock outside the berth to deform, and the side frame rotates to close the opening of the berth.

[0020] The laser displacement sensor detects the distance of the sliding sleeve, and the linear drive device works to move the sliding sleeve toward the electromagnetic plate until the permanent magnet plate is in close contact with the electromagnetic plate.

[0021] When the electromagnetic plate is energized, it attracts the permanent magnet plate. The length of the berth locking device is locked to lock the opening of the side frame, the cruise ship is held in place, and the cruise ship is moored in position.

[0022] The beneficial effects of this invention are as follows: The use of an impact-resistant floating dock enhances the dock's self-adaptability and fault tolerance during automatic berthing; a movable magnetic attraction device is installed inside the berthing position, and a magnetic structure or magnetic body is installed on the inner wall of the unmanned vessel's hull. When the unmanned vessel approaches, the magnetic attraction device automatically converges towards the outer wall of the unmanned vessel, attracting and connecting the hull. Therefore, precise positioning is not required to achieve berthing of the cruise ship, saving a large number of sensors and vision systems, thus reducing hardware costs; the berthing position itself has a closing capability, which can replace anchoring systems or clamps to fix the berthed cruise ship to the berth. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 This is a system schematic diagram of the present invention.

[0025] Figure 2 This is a schematic diagram of the floating dock of the present invention.

[0026] Figure 3 This is a layout diagram of the floating dock of the present invention.

[0027] Figure 4 This is a schematic diagram of the docking position closing according to the present invention.

[0028] Figure 5 This is a diagram of the connection structure of the floating block unit of the present invention.

[0029] Figure 6 This is a schematic diagram of the internal structure of the floating block unit of the present invention.

[0030] Figure 7 This is an elevation view of the pendulum arrangement of the present invention.

[0031] Figure 8 This is a structural diagram of the pendulum rod of the present invention.

[0032] Figure 9 This is a diagram showing the retracted lever of the present invention.

[0033] Figure 10 This is a schematic diagram of the berth locking device of the present invention.

[0034] Figure 11 This is a schematic diagram of the intermediate connecting device of the present invention.

[0035] In the diagram: Floating dock 1; Side frame 101; Sliding sleeve 102; Berth 103; Guide frame 104; Step net 2; Cruise ship detection device 3; Anchor rod 4; Buoy unit 5; Snap-fit ​​frame 501; Telescopic block 502; Return spring 503; Hinge 504; Hinge rod 505; Swing rod 6; Magnetic block 601; Sliding rod 602; Hollow rod 603; Push spring 604; Fixed sleeve 605; Fan-shaped opening 606; Berth locking device 7; First support 701; Support rod 702; Intermediate connecting device 703; Linear drive device 704; Second support 705; Telescopic rod 706; Sliding sleeve 707; Permanent magnet plate 708; Electromagnetic plate 709; Laser displacement sensor 710; Mounting sleeve 8; Underwater positioning platform 9; Cruise ship 10; Magnetic plate 1001. Detailed Implementation

[0036] like Figure 1-11 In this paper, an adaptive floating dock assisted automatic berthing system is disclosed, comprising a floating dock 1, which includes multiple float units 5. The multiple float units 5 are connected by a linkage device so that the distance between adjacent float units 5 is variable. Multiple anchor rods 4 are provided on one side of the floating dock 1, and multiple berthing positions 103 are provided on the other side of the floating dock 1. Multiple rotatably connected swing rods 6 are provided in the berthing positions 103. Magnetic blocks 601 are provided at the swing ends of the swing rods 6. Magnetic plates 1001 are provided on the inner wall of the cabin of the cruise ship 10. Magnetic blocks 601 attract magnetic plates 1001.

[0037] The magnetic plate 1001 is mainly attached to the inner wall of the cabin near the bow and stern. In the vertical direction, it covers the water surface and below when a normal draft is required. The swing arm 6 can be arranged in two layers with staggered positions in the vertical direction. The magnetic plate 1001 can be made of steel plate or magnetic plate, and the magnetic block 601 can be made of magnetic block or steel block. When both are made of magnets, their opposite surfaces need to attract each other.

[0038] The berth 103 can be in the shape of a flared mouth with a slightly larger opening, and a guide frame 104 is installed at the opening to facilitate the entry and exit of ships.

[0039] A finely meshed trampling net 2 can be laid on the floating dock 1 without affecting the floating of the floating dock 1 or the relative displacement of the floating block unit 5.

[0040] Drill holes in the riverbed or seabed and install an underwater positioning platform 9. Install an installation sleeve 8 on the underwater positioning platform 9 and insert the anchor rod 4 into the installation sleeve 8 to fix it. When the water level changes, the floating dock 1 can move up and down along the anchor rod 4.

[0041] In a preferred embodiment, the rocker arm 6 includes a fixed sleeve 605 and a hollow rod 603. One end of the hollow rod 603 is rotatably connected to the fixed sleeve 605. A slide rod 602 is provided inside the hollow rod 603 and is slidably connected to the hollow rod 603. A magnetic block 601 is provided on the slide rod 602 at the end away from the fixed sleeve 605. A push spring 604 is provided inside the hollow rod 603 and abuts against the end of the hollow rod 603.

[0042] One end of the slide rod 602 has a large diameter end, and the opening of the hollow rod 603 has a stop cover to limit the large end and prevent the push spring 604 from pushing the slide rod 602 out.

[0043] The telescopic nature of slide bar 602 can effectively adapt to changes in length and act as a buffer for the hull.

[0044] In a preferred embodiment, the fixed sleeve 605 has a fan-shaped opening 606 along its circumferential direction, and the hollow rod 603 passes through the fan-shaped opening 606 to extend out of the fixed sleeve 605.

[0045] The fan-shaped opening 606 restricts the swing angle of the hollow rod 603, allowing the swing rod 6 to rotate and rest against the inner wall of the mooring position 103 or open to a certain angle.

[0046] The magnetic block 601 is used to contact the outer wall of the cruise ship 10. The outer side of the magnetic block 601 can be covered with a layer of rubber to prevent slipping.

[0047] When the boat enters the berth 103, the boat 10 can smoothly enter because the swing arm 6 is attached to the inner wall of the berth 103 and the swing arm 6 can swing in the same direction. After entering, the swing arm 6 swings on its own due to the water surface ripples. The magnetic plate 1001 gradually attracts the magnetic block 601, causing the swing arm 6 to open to a certain angle and adhere to the outer wall of the boat 10. Due to the blocking effect of the fan-shaped opening 606, the swing arm 6 can not open further after opening to a certain angle, and the boat 10 cannot exit.

[0048] In the preferred embodiment, two L-shaped side frames 101 are arranged opposite each other on the outer side of the berth 103. The two side frames 101 form a U-shaped structure. There is a gap at the bottom end of the two side frames 101 where they meet. The side frame 101 is equipped with a sliding sleeve 102, which is rotatably connected to the anchor rod 4. The berth 103 is located at the center line of the two side frames 101. The connecting rod device of the floating terminal 1 is a parallelogram hinged rod structure, and the hinge point is connected to each float unit 5.

[0049] Each berth 103 is equipped with a set of side frames 101 on its outer side, making adjacent berths 103 relatively independent and preventing excessive changes in the overall shape of the floating dock 1. Slip sleeves 102 are provided at the L-shaped corners of the side frames 101. The side walls of the float units 5 on the inner wall of the berth 103 are connected to the fixed sleeves 605. When the cruise ship impacts the inner bottom of the berth 103, it compresses the nearby float units 5. Due to the parallelogram structure, the float units 5 can buffer the impact force and displace other float units 5 to the surrounding areas. Due to the constraint of the side frames 101, the deformation is transmitted to the float units 5 near the stern of the cruise ship, changing the originally large-opening flared shape into a smaller-opening, narrow-necked structure. The swing arm 6 can more easily approach the hull, and the magnetic block 601 can be more easily attracted, enclosing the cruise ship within the berth 103 and preventing the cruise ship 10 from drifting away with the wind and waves.

[0050] In a preferred embodiment, a berth locking device 7 is provided at the gap at the bottom of the U-shaped structure formed by the two side frames 101. The berth locking device 7 includes an intermediate connecting device 703 and a linear drive device 704. The intermediate connecting device 703 is connected to one side frame 101 of the same berth 103, and the intermediate connecting device 703 is hinged to the linear drive device 704. The linear drive device 704 is connected to the other side frame 101 of the same berth 103. The support rod 702 and the linear drive device 704 are arranged at an angle.

[0051] The berth locking device 7 includes a first support 701 and a second support 705. The first support 701 is connected to one side frame 101 of the berth 103 and has a support rod 702. The second support 705 is connected to the other side frame 101 of the berth 103 and has a linear drive device 704. An intermediate connecting device 703 is also provided on the second support 705. One end of the intermediate connecting device 703 is connected to the support rod 702, and the other end is hinged to the linear drive device 704. After installation, the connections between the first support 701 and the support rod 702, the connections between the support rod 702 and the intermediate connecting device 703, and the connections between the linear drive device 704 and the second support 705 are locked with pins.

[0052] One of the two side frames 101 can be fixed, in which case the linear drive device 704 is rotatably connected to the second support 705 without the installation of a locking pin.

[0053] The linear drive device 704 is a cylinder, hydraulic cylinder, or servo electric cylinder. Depending on the inward or outward angle of the support rod 702 and the linear drive device 704, the intermediate connecting device 703 is pushed or pulled, the side frame 101 opens, and the swing arm 6 separates from the cruise ship 10, allowing the cruise ship 10 to exit the berthing position 103.

[0054] In a preferred embodiment, the intermediate connecting device 703 includes a telescopic rod 706, the intermediate connecting device 703 has a hollow structure, and a slidable sliding sleeve 707 is provided inside the intermediate connecting device 703. One side of the sliding sleeve 707 is connected to the telescopic rod 706, and one end of the telescopic rod 706 is hinged to the linear drive device 704. An electromagnetic plate 709 is provided at the bottom of the hollow structure of the intermediate connecting device 703, and a permanent magnet plate 708 is provided on the sliding sleeve 707. The permanent magnet plate 708 and the electromagnetic plate 709 are arranged opposite to each other. A cruise ship detection device 3 facing the berthing position 103 is provided at the anchor rod 4, and the linear drive device 704 is an electric cylinder.

[0055] A platform can be installed at the top of the berth 103 and a cruise ship detection device 3 can be installed thereon. The two cruise ship detection devices 3 are at an angle and face the same berth 103. The berth 103 is a visual camera or a laser displacement sensor, etc.

[0056] In a preferred embodiment, a laser displacement sensor 710 is also provided inside the cavity structure of the intermediate connecting device 703. The laser displacement sensor 710 is used to detect the position of the sliding sleeve 707.

[0057] Initially, the electromagnetic plate 709 and the permanent magnet plate 708 are in an attractive state and their end faces are abutting each other. When the cruise ship enters the berth 103, the cruise ship detection device 3 detects that the position of the cruise ship 10 is about to approach the bottom of the berth 103. At this time, the electromagnetic plate 709 is de-energized and the telescopic rod 706 is in a free state. At this time, due to the water flow pushed by the cruise ship 10 and the impact of the cruise ship 10 itself on the bottom of the berth 103, each float unit 5 is displaced and squeezes the two side frames 101, causing the L-shaped side of the side frame 101 to rotate backward. The telescopic rod 706 and the sliding sleeve 707 are suddenly pulled outward to a certain distance. After the laser displacement sensor 710 detects that the distance of the sliding sleeve 707 exceeds the set distance, the cylinder rod of the linear drive device 704 extends, causing the telescopic rod 706 to move towards the electromagnetic plate 709 and the permanent magnet plate 708 to reach the set value. At this time, the permanent magnet plate 708 abuts against the electromagnetic plate 709 again, the linear drive device 704 stops and locks the cylinder rod length, the electromagnetic plate 709 starts and attracts the permanent magnet plate 708, and the embracing angle of the two side frames 101 is locked, holding the cruise ship 10 in the berthing position 103.

[0058] In a preferred embodiment, the float unit 5 includes multiple snap-fit ​​frames 501. One end of each snap-fit ​​frame 501 is provided with a hinge portion 504. At least two swingable hinge rods 505 are provided at the hinge portion 504. The hinge rods 505 are hinged to the telescopic blocks 502 of the adjacent float unit 5.

[0059] Multiple hinge rods 505 constitute a hinged parallelogram linkage device. Each of the four vertices of the parallelogram is connected to a hinge part 504 of a float unit 5, so that when one pair of float units 5 at one corner contracts, the other pair of float units 5 at the other corner expands.

[0060] In a preferred embodiment, the snap-fit ​​frame 501 is provided with a slide rail, the slide rail is provided with a slidable telescopic block 502, and the slide rail is also provided with a return spring 503, which abuts against the telescopic block 502.

[0061] Example 2:

[0062] Initialization of the floating dock;

[0063] The cruise ship 10 navigates to the berth 103 via the positioning system and enters the berth 103 under the guidance of the guide frame 104 at the port of the berth 103.

[0064] During the entry of the cruise ship 10, the swing arm 6 swings freely due to the influence of the water waves, and the magnetic block 601 gradually moves closer to the ship due to the attraction of the ship's body until it contacts and adheres to the outer wall of the cruise ship 10.

[0065] A platform can be installed at the top of the berth 103 and a cruise ship detection device 3 can be installed thereon. The two cruise ship detection devices 3 are at an angle and face the same berth 103. The berth 103 is a visual camera or a laser displacement sensor. The cruise ship detection device 3 monitors the distance of the cruise ship 10 in real time during the process of the cruise ship 10 entering.

[0066] Initially, the electromagnetic plate 709 and the permanent magnet plate 708 are in an attractive state and their end faces are abutting each other. When the cruise ship 10 approaches the bottom of the berthing position 103, the cruise ship detection device 3 detects that the distance has reached the set value. The control system controls the electromagnetic plate 709 to be de-energized, so that the telescopic rod 706 is unlocked and the telescopic rod 706 can slide freely.

[0067] When the cruise ship 10 hits the inner bottom of the berth 103, it squeezes the nearby float unit 5. Due to the parallelogram structure, the float unit 5 can buffer the impact force and squeeze other float units 5 to the surrounding area. Due to the restriction of the side frame 101, the deformation is transmitted to the float unit 5 near the stern of the cruise ship, which makes the originally large-opening trumpet shape close and become a narrow-neck structure with a smaller opening. The swing arm 6 will be easier to approach the hull, and the magnetic block 601 will be easier to be attracted, wrapping the cruise ship inside the berth 103, so that the cruise ship 10 will not be pulled away by the wind and waves.

[0068] During the closing process of the berthing position 103 opening, the laser displacement sensor 710 detects the distance of the sliding sleeve 707. When it is detected that the distance between the permanent magnet plate 708 and the electromagnetic plate 709 does not change significantly within a certain period of time, the linear drive device 704 works to make the sliding sleeve 707 move towards the electromagnetic plate 709 until the permanent magnet plate 708 is close to the electromagnetic plate 709.

[0069] When the electromagnetic plate 709 is energized, it attracts the permanent magnet plate 708. The length of the berth locking device 7 is locked so that the opening of the side frame 101 is locked. The cruise ship 10 is held tightly and the cruise ship 10 is moored in place.

[0070] When the cruise ship 10 needs to leave, the linear drive device 704 is activated, causing the berth locking device 7 to become closer to a straight line and pulling the rear end of the side frame 101. The front end of the side frame 101 opens, and the berth 103 returns to its trumpet shape. During this process, some of the swing arms 6 that were originally attached to the hull are pulled away and no longer serve as a gripping function. The remaining few swing arms 6 that are still attached to the hull due to their close proximity have relatively low overall resistance and do not hinder the cruise ship 10 from leaving.

[0071] The magnetic suction plate 1001 on the inner wall of the cabin can also be an electromagnet. In this case, the magnetic poles reverse and push the swing arm 6 away.

[0072] Cruise ship 10 has completely departed from berth 103, and berth 103 is now initialized to prepare for the next cruise ship.

[0073] The berth 103 can be divided into several different sizes. Because it is equipped with a swing arm 6 and a side frame 101 that can adaptively close, when scheduling cruise ships, it is only necessary to assign cruise ships of similar size to the same berth 103. There is no need to accurately detect the ship size. The scheduling is simple, the technical difficulty is moderate, and the automatic berthing process is efficient, stable and highly adaptable.

[0074] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An adaptive floating pier assisted automated berthing system, characterized by: The floating dock (1) includes multiple float units (5), which are connected by a linkage device to make the distance between adjacent float units (5) variable. Multiple anchor rods (4) are provided on one side of the floating dock (1), and multiple berthing positions (103) are provided on the other side of the floating dock (1). Multiple rotatably connected swing rods (6) are provided in the berthing position (103), and magnetic blocks (601) are provided at the swing end of the swing rods (6). Magnetic plates (1001) are provided on the inner wall of the cabin of the cruise ship (10), and magnetic blocks (601) attract magnetic plates (1001). The swing arm (6) includes a fixed sleeve (605) and a hollow rod (603). One end of the hollow rod (603) is rotatably connected to the fixed sleeve (605). A sliding rod (602) is provided inside the hollow rod (603) and is slidably connected to the hollow rod (603). A magnetic block (601) is provided on the sliding rod (602) at the end away from the fixed sleeve (605). A push spring (604) is provided inside the hollow rod (603) and abuts against the end of the hollow rod (603). The fixed sleeve (605) has a fan-shaped opening (606) along its circumferential direction, and the hollow rod (603) passes through the fan-shaped opening (606) to extend out of the fixed sleeve (605). Two L-shaped side frames (101) are arranged opposite each other on the outside of the berthing position (103). The two side frames (101) form a U-shaped structure. There is a gap at the joint of the two side frames (101) at the bottom of the U-shaped structure. The side frame (101) is equipped with a sliding sleeve (102). The sliding sleeve (102) is rotatably connected to the anchor rod (4). The berthing position (103) is located at the center line of the two side frames (101). The connecting rod device of the floating terminal (1) is a parallelogram hinged rod structure. The hinge point is connected to each floating block unit (5). A berth locking device (7) is provided at the gap at the bottom of the U-shaped structure formed by the two side frames (101). The berth locking device (7) includes an intermediate connecting device (703) and a linear drive device (704). The intermediate connecting device (703) is connected to one side frame (101) of the same berth (103). The intermediate connecting device (703) is hinged to the linear drive device (704). The linear drive device (704) is connected to the other side frame (101) of the same berth (103). The support rod (702) and the linear drive device (704) are arranged at an angle. The intermediate connecting device (703) includes a telescopic rod (706). The intermediate connecting device (703) has a hollow structure. A sliding sleeve (707) is provided inside the intermediate connecting device (703). One side of the sliding sleeve (707) is connected to the telescopic rod (706). One end of the telescopic rod (706) is hinged to the linear drive device (704). An electromagnetic plate (709) is provided at the bottom of the hollow structure of the intermediate connecting device (703). A permanent magnet plate (708) is provided on the sliding sleeve (707). The permanent magnet plate (708) and the electromagnetic plate (709) are arranged opposite to each other. A cruise ship detection device (3) facing the berthing position (103) is provided at the anchor rod (4). The linear drive device (704) is an electric cylinder.

2. The adaptive floating pier assisted automated berthing system according to claim 1, wherein: The intermediate connecting device (703) is also equipped with a laser displacement sensor (710) in its cavity structure. The laser displacement sensor (710) is used to detect the position of the sliding sleeve (707).

3. The adaptive floating pier assisted automated berthing system according to claim 1, wherein: The float unit (5) includes multiple snap-fit ​​frames (501), one end of which is provided with a hinge part (504), and at least two swingable hinge rods (505) are provided at the hinge part (504). The hinge rods (505) are hinged to the telescopic block (502) of the adjacent float unit (5).

4. The adaptive floating dock assisted automatic berthing system according to claim 3, characterized in that: snap-fit The frame (501) is provided with a slide rail, and a sliding telescopic block (502) is provided in the slide rail. A return spring (503) is also provided in the slide rail, and the return spring (503) abuts against the telescopic block (502).

5. The berthing method of the adaptive floating dock assisted automatic berthing system according to claim 2, characterized in that: The cruise ship (10) navigates to and enters the berth (103) using the positioning system; The swing arm (6) opens and attaches to the outer wall of the cruise ship (10); The cruise ship detection device (3) monitors the distance to the cruise ship (10); When the cruise ship (10) approaches the bottom of the berth (103), the electromagnetic plate (709) is de-energized, causing the telescopic rod (706) to unlock. The impact of the cruise ship (10) on the floating block unit (5) at the bottom of the berth (103) causes the floating dock (1) outside the berth (103) to deform, and the side frame (101) rotates to close the opening of the berth (103). The laser displacement sensor (710) detects the distance of the sliding sleeve (707), and the linear drive device (704) works to move the sliding sleeve (707) toward the electromagnetic plate (709) until the permanent magnet plate (708) is pressed against the electromagnetic plate (709). The electromagnetic plate (709) is energized and attracts the permanent magnet plate (708). The berth locking device (7) locks the length so that the opening of the side frame (101) is locked, the cruise ship (10) is held tightly, and the cruise ship (10) is moored in place.

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