A high-efficiency electromagnetic assisted mooring device with anti-magnetic field interference

Abstract

The present invention relates to the field of intelligent mooring technology, and discloses a high-efficiency electromagnetic assisted mooring device that is resistant to magnetic field interference, including a buffer structure, an electromagnetic mooring structure, a sensor and a magnetic field monitor. The buffer structure includes a first hydraulic pump, a second hydraulic pump, a universal joint, a pipeline, a first solenoid valve and a tray. A first spiral lifting column and a second spiral lifting column are arranged on the wall, a first motor is arranged at the upper end of the wall, and a second motor is arranged at the lower end of the wall. The first motor controls the rotation of the first spiral lifting column, and the second motor controls the rotation of the second spiral lifting column. The first spiral lifting column and the second spiral lifting column can be controlled separately, and the number of the buffer structures is two. The electromagnetic assisted mooring device can reduce the impact force caused by two hydraulic cylinders and solenoid valves of different diameters in the buffer structure to the hull with different moving speeds, and can detect the electromagnetic interference suffered by the hull in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mooring, and in particular to a high-efficiency electromagnetic assisted mooring device that is resistant to magnetic field interference. Background Art

[0002] Magnetic automatic mooring technology has been applied in the field of ship docking. The strong magnetic force generated by the electromagnet can effectively fix the ship. Installing electromagnets on the two piers can form a stable magnetic field area to guide the ship to dock accurately. Compared with the traditional cable mooring method, magnetic automatic mooring can save a lot of manpower and time costs. The ship does not need to wait for the cable workers or cable boats to perform mooring operations, and can complete the docking process faster. The magnetic automatic mooring system can reduce safety hazards caused by human operating errors, such as cable detachment and cable breakage. At the same time, the stability and reliability of the electromagnet are also higher, which can ensure the safety of the ship during the docking process.

[0003] The magnetic field generated by the electromagnet may affect or even damage the magnetic equipment on the ship. Therefore, when installing the electromagnet, it is necessary to consider the impact range of the magnetic field and take necessary protective measures, such as using magnetic baffles to reduce the interference of the magnetic field on the ship's equipment; monitor the magnetic field strength in real time, install magnetic field monitoring equipment on the ship, and monitor the magnetic field strength generated by the electromagnet in real time to ensure that it is within a safe range.

[0004] The existing technology has the following problems:

[0005] 1. In the prior art, the buffer structure used in the electromagnetic assisted mooring device is relatively simple, with weak functionality and poor adaptability to the ship type and environment;

[0006] 2. In the prior art, the electromagnetic interference protection device used has a small protection range and cannot change the electromagnetic protection range as the environment changes. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention provides a high-efficiency electromagnetic assisted mooring device that is resistant to magnetic field interference, has the advantages of controllable electromagnetic protection range, controllable buffering force, etc., and solves the problems in the above-mentioned background technology.

[0008] In order to achieve the above-mentioned purpose of having a controllable electromagnetic protection range and controllable buffering force, the present invention provides the following technical solutions: an efficient electromagnetic assisted mooring device that is resistant to magnetic field interference, comprising a buffer structure, an electromagnetic mooring structure, a sensor and a magnetic field monitor, the buffer structure comprising a first hydraulic pump, a second hydraulic pump, a universal joint, a pipeline, a first solenoid valve and a tray, a first spiral lifting column and a second spiral lifting column are arranged on the wall, a first motor is arranged at the upper end of the wall, and a second motor is arranged at the lower end of the wall, the first motor controls the rotation of the first spiral lifting column, and the second motor controls the rotation of the second spiral lifting column, the first spiral lifting column and the second spiral lifting column can be controlled separately, the number of the buffer structures is two, and the pistons in the two first hydraulic pumps are movably connected to the first spiral lifting column and the second spiral lifting column through the first slider and the second slider respectively.

[0009] Preferably, the pipeline is connected between the two first hydraulic pumps, the middle section of the pipeline is a hose, the first solenoid valve and the second solenoid valve are arranged on the pipelines at both ends of the hose, an oil tank is connected to the hose and the first solenoid valve through a pipeline, a third solenoid valve is arranged on the pipeline at the front end of the oil tank, the second hydraulic pump is connected to and communicated with the end of the first hydraulic pump through a pipeline, one end of the universal joint is fixedly connected to the piston in the second hydraulic pump, and the two second hydraulic pumps are respectively connected to the electromagnetic mooring structure and the pallet through the piston and the universal joint.

[0010] Preferably, the piston of the second hydraulic pump in the buffer structure on the first spiral lifting column located above will be forced to move to the left, and the internal hydraulic oil will flow into the first hydraulic pump. Since the diameter of the second hydraulic pump is relatively small and the diameter of the first hydraulic pump is relatively large, when subjected to impact force, the piston in the second hydraulic pump moves a relatively long distance, and the hydraulic oil flowing into the first hydraulic pump is also relatively small. The distance that the piston of the first hydraulic pump moves to the left will also be relatively small, and at the same time, the hydraulic oil on the left side of the piston of the first hydraulic pump will be driven to flow along the pipeline to the first hydraulic pump of the buffer structure on the second spiral lifting column below. Opening the first solenoid valve and the second solenoid valve can control the flow rate of the hydraulic oil in the pipeline. The piston in the first hydraulic pump of the buffer structure on the second spiral lifting column moves to the right, pushing the hydraulic oil to flow to the second hydraulic pump. The piston in the second hydraulic pump slowly moves outward until the tray hits the hull. The buffer structure on the second spiral lifting column supports the hull and can slow down the shaking of the hull caused by wind and waves. The first solenoid valve and the second solenoid valve are closed, and the buffer structure is in a stable state.

[0011] Preferably, the electromagnetic suction cup in the electromagnetic mooring structure is fixedly connected to the universal joint, filters are provided at both ends of the electromagnetic suction cup, an inverter is provided on the back of the electromagnetic suction cup, the inverter can change the size and direction of the current passing into the electromagnetic suction cup through setting, and a sensor is provided above the electromagnetic suction cup.

[0012] Preferably, two electromagnetic mooring structures are arranged on the shore, a camera is arranged on one side of the first spiral lifting column on the shore, sensors and magnetic field monitors are arranged at corresponding adsorption positions on the hull, and a magnetic field monitor is also arranged inside the hull, and the buffer structure, electromagnetic mooring structure, sensor, magnetic field monitor and camera are all connected to the control system.

[0013] Preferably, the control system operation includes the following steps:

[0014] Step 1: Before docking, the hull information is transmitted to the control system on the shore through sensors, and the control system makes preparations for directional adsorption.

[0015] Step 2: When docked, the hull magnetic field monitor monitors the magnetic field near the ship's electronic equipment.

[0016] Step 3: After docking, change the electromagnetic mooring mechanism according to the hull status and weather.

[0017] Step 4: When leaving the shore, the control system controls the buffer structure and the electromagnetic mooring structure to work.

[0018] Preferably, the step 1 further includes the following:

[0019] When the ship needs to dock, the camera on the shore will take a picture of the hull and transmit it to the control system. The hull sensor will be aligned with the sensor on the electromagnetic mooring structure. The control system will derive the ship model and size based on the taken ship picture and the stored information, and the distance h from the ship's adsorbed position to the bottom of the ship will be obtained. The hull sensor will be aligned with the sensor on the electromagnetic mooring structure to obtain the distance x from the hull to the electromagnetic mooring structure and the height offset distance y between the hull's adsorbed position and the electromagnetic mooring structure.

[0020] Preferably, the step 2 further includes the following:

[0021] The magnetic field monitor detects the size of the magnetic field near the ship's electronic equipment and sets the threshold to B. When the size of the magnetic field in the hull environment exceeds the threshold B, it draws the waveform of the electromagnetic wave received by the hull at this time and transmits the electromagnetic wave waveform to the control system. The control system sets the band that the filter needs to filter at this time and makes the filter work to prevent electromagnetic interference with the hull's electronic equipment.

[0022] Preferably, the step three also includes the following:

[0023] The control system detects the state of the sea or river surface and the hull in real time. When the wind and waves become stronger, the current is increased through the inverter to enhance the adsorption force of the electromagnetic suction cup to prevent the hull from detaching. At the same time, the first solenoid valve and the second solenoid valve in the buffer device are opened, and the flow rate of the hydraulic oil is set to be relatively small at this time, so that the ship can be buffered by the swaying of the wind and waves, thereby preventing the electromagnetic mooring structure from being damaged by the impact force caused by the swaying of the ship.

[0024] Preferably, the step 4 further includes the following:

[0025] When the hull is ready to leave the shore, the first solenoid valve and the second solenoid valve in the buffer structure open, playing a buffering role in the demagnetization process of the electromagnetic mooring structure. At the same time, the control system controls the inverter in the electromagnetic mooring mechanism to change the direction of the current, even if the current is opposite to the working current direction of the electromagnetic suction cup when it was originally docked. At the same time, the current size is controlled to slowly demagnetize the electromagnetic suction cup until the ship leaves the shore.

[0026] Compared with the prior art, the present invention provides a highly efficient electromagnetic assisted mooring device that is resistant to magnetic field interference, and has the following beneficial effects:

[0027] 1. The electromagnetic assisted mooring device can reduce the impact force caused by the hull with different moving speeds through the two hydraulic cylinders and solenoid valves with different diameters in the buffer structure. The pressure difference between the two hydraulic cylinders and the up and down settings can effectively increase the protection range of the hull while ensuring that the impact force brought by the hull during the docking process is greatly reduced. Conforming to the shape of the hull can ensure that the overall mooring device can provide all-round protection for ships of different ship types and ships of different drafts, thereby reducing damage to shore facilities.

[0028] 2. The electromagnetic assisted mooring device can detect the electromagnetic interference on the hull in real time through the filter and hull magnetic field monitor, prevent the damage to a series of electronic components caused by electromagnetic interference, effectively protect the communication stability of the ship and the shore, and change the working state of the filter in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the buffer structure and the electromagnetic mooring structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the buffer structure and electromagnetic mooring structure of the present invention;

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the buffer structure and the electromagnetic mooring structure of the present invention;

[0033] Figure 5Schematic diagram of the control system of the present invention.

[0034] In the figure:

[0035] 1. Buffer structure; 101. First hydraulic pump; 102. Second hydraulic pump; 103. Universal joint; 104. Pipeline; 105. First solenoid valve; 106. Second solenoid valve; 107. Hose; 108. Third solenoid valve; 109. Oil tank; 110. Tray; 111. First spiral lifting column; 112. First slider; 113. Second slider; 114. First motor; 115. Second spiral lifting column; 116. Second motor;

[0036] Electromagnetic mooring structure; 201, electromagnetic suction cup; 202, filter; 203, inverter;

[0037] sensor;

[0038] Magnetic field monitor;

[0039] Camera. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0041] A preferred embodiment of the high-efficiency electromagnetic assisted mooring device for preventing magnetic field interference provided by the present invention is as follows: Figures 1 to 3 As shown: an electromagnetic assisted mooring device, including a buffer structure 1, an electromagnetic mooring structure 2, a sensor 3 and a magnetic field monitor 4.

[0042] In this embodiment, a buffer structure 1 of a high-efficiency electromagnetic assisted mooring device with anti-magnetic field interference provided by the present invention includes a first hydraulic pump 101, a second hydraulic pump 102, a universal joint 103, a pipeline 104, a first solenoid valve 105 and a tray 110. A first spiral lifting column 111 and a second spiral lifting column 115 are arranged on the wall. A first motor 114 is arranged at the upper end of the wall, and a second motor 116 is arranged at the lower end of the wall. The first motor 114 controls the rotation of the first spiral lifting column 111, and the second motor 116 controls the rotation of the second spiral lifting column 115. The first spiral lifting column 111 and the second spiral lifting column 115 can be controlled separately. The number of the buffer structure 1 is two. The pistons in the two first hydraulic pumps 101 are respectively moved by the first slider 112 The second slider 113 is movably connected to the first spiral lifting column 111 and the second spiral lifting column 115 respectively. The pipeline 104 is connected between the two first hydraulic pumps 101. The middle section of the pipeline 104 is a hose 107. The first solenoid valve 105 and the second solenoid valve 106 are arranged on the pipeline 104 at both ends of the hose 107. An oil tank 109 is connected between the hose 107 and the first solenoid valve 105 through a pipeline. A third solenoid valve 108 is arranged on the front end pipeline of the oil tank 109. The second hydraulic pump 102 is connected and communicated with the end of the first hydraulic pump 101 through a pipeline. One end of the universal joint 103 is fixedly connected to the piston in the second hydraulic pump 102. The two second hydraulic pumps 102 are connected to the electromagnetic mooring structure 2 and the pallet 110 through the piston and the universal joint 103 respectively.

[0043] When it is necessary to adjust the distance between the upper and lower buffer structures 1, the first solenoid valve 105 and the second solenoid valve 106 are closed, the third solenoid valve 108 is opened, and the pump in the oil tank 109 works to make the hydraulic oil flow into the pipeline 104. At the same time, the first motor 114 does not work, and the second motor 116 works to drive the second spiral lifting column 115 to rotate and move the second slider 113 downward, that is, the distance between the upper and lower buffer structures 1 is lengthened, the first solenoid valve 105 and the second solenoid valve 106 are closed, the third solenoid valve 108 is opened, and the reverse pump in the oil tank 109 works to make the hydraulic oil in the pipeline 104 flow into the oil tank 109. At the same time, the first motor 114 does not work, and the second motor 116 works to drive the second spiral lifting column 115 to rotate and move the second slider 113 upward, that is, the distance between the upper and lower buffer structures 1 is shortened.

[0044] When the position of the upper and lower buffer structures 1 needs to be adjusted, the first motor 114 and the second motor 116 are operated to drive the first spiral lifting column 111 and the second spiral lifting column 115 to rotate at the same speed in the same direction, driving the first slider 112 and the second slider 113 to move upward or downward at the same time, thereby changing the position of the upper and lower buffer structures 1.

[0045] When the hull is adsorbed by the electromagnetic mooring device 2 and docks, the piston of the second hydraulic pump 102 in the buffer structure 1 of the first spiral lifting column 111 above will be forced to move to the left, and the internal hydraulic oil will flow into the first hydraulic pump 101. Since the diameter of the second hydraulic pump 102 is relatively small and the diameter of the first hydraulic pump 101 is relatively large, when subjected to impact force, the piston in the second hydraulic pump 102 moves a relatively long distance, and the hydraulic oil flowing into the first hydraulic pump 101 is also relatively small, and the distance the piston of the first hydraulic pump 101 moves to the left will also be relatively small, and at the same time, the hydraulic oil on the left side of the piston of the first hydraulic pump 101 is driven to flow along the pipeline 104 to the first hydraulic pump 101 in the buffer structure 1 on the second spiral lifting column 115 below, opening the first solenoid valve 105 and the second solenoid valve 106 can control the flow rate of the hydraulic oil in the pipeline 104. At this time, the piston in the first hydraulic pump 101 in the buffer structure 1 on the second spiral lifting column 115 moves to the right, pushing the hydraulic oil to flow to the second hydraulic pump 102, and the piston in the second hydraulic pump 102 slowly moves outward until the tray 110 is against the hull. The buffer structure 1 on the second spiral lifting column 115 supports the hull and can slow down the shaking of the hull caused by wind and waves. When the first solenoid valve 105 and the second solenoid valve 106 are closed, the buffer structure 1 is in a stable state. Through the pressure balance of the upper and lower hydraulic oils, the overall stability of the hull when docking is improved, and the stability of the hull when docking can be ensured while eliminating the impact force of the hull docking.

[0046] Furthermore, the electromagnetic suction cup 201 in the electromagnetic mooring structure 2 is fixedly connected to the universal joint 103, filters 202 are arranged at both ends of the electromagnetic suction cup 201, an inverter 203 is arranged on the back of the electromagnetic suction cup 201, the inverter 203 can change the size and direction of the current passing into the electromagnetic suction cup 201 through setting, and a sensor 3 is arranged above the electromagnetic suction cup 201.

[0047] There are two electromagnetic mooring structures 2 set up on the shore, a camera 5 is set on one side of the first spiral lifting column 111 on the shore, sensors 3 and magnetic field monitors 4 are set at the corresponding adsorption positions on the hull, and a magnetic field monitor 4 is also set inside the hull. The buffer structure 1, the first electromagnetic mooring structure 2, the sensor 3 and the magnetic field monitor 4 are all connected to the control system. Example

[0048] On the basis of Example 1, a preferred embodiment of a high-efficiency electromagnetic assisted mooring device resistant to magnetic field interference provided by the present invention is as follows: Figures 1 to 4 As shown: The specific implementation method includes the following steps:

[0049] Step 1: Before docking, the hull information is transmitted to the control system on the shore through the sensor 3 and the camera 5, and the control system makes preparations for directional adsorption.

[0050] Specifically, when the ship needs to dock, the camera 5 on the shore takes a picture of the ship and transmits it to the control system. The hull sensor 3 is aligned with the sensor 3 on the electromagnetic mooring structure 2. The control system obtains the ship model and size based on the captured ship picture combined with the stored information, and obtains the distance h from the ship's adsorbed position to the bottom of the ship. The hull sensor 3 is aligned with the sensor 3 on the electromagnetic mooring structure 2 to obtain the distance x from the ship to the electromagnetic mooring structure 2 and the height offset distance y between the ship's adsorbed position and the electromagnetic mooring structure 2.

[0051] First, the position correction between the electromagnetic mooring structure 2 and the pallet 110 is completed: according to the size of the ship, the distance between the electromagnetic mooring structure 2 and the pallet 110 is adjusted by adjusting the length of the hose 107. Assuming that the height from the adsorption position of the ship to the bottom of the ship is h, when h is larger, the length of the hose 107 is longer and the buffer structure 1 on the second spiral lifting column 115 is synchronously moved down until the distance between the electromagnetic mooring structure 2 and the pallet 110 is h. When h is smaller, the length of the hose 107 is shorter and the buffer structure 1 on the second spiral lifting column 115 is synchronously moved up until the distance between the electromagnetic mooring structure 2 and the pallet 110 is h.

[0052] Then complete the position correction between the electromagnetic mooring structure 2 and the hull adsorbed position: set the spiral first spiral lifting column 111 to rotate one circle clockwise, the first slider 112 and the second slider 113 move upward z, and the first spiral lifting column 111 rotates one circle counterclockwise, the first slider 112 and the second slider 113 move downward z, according to the height offset distance y between the hull adsorbed position and the electromagnetic mooring structure 2 at this time, when y is a negative value, it means that the hull adsorbed position is lower than the electromagnetic mooring structure 2. At this time, the buffer structure 1 needs to be moved down as a whole and the motor 114 is turned on to rotate the first spiral lifting column 111 counterclockwise for y / z circles. When y is a positive value, it means that the hull adsorbed position is higher than the electromagnetic mooring structure 2. At this time, the buffer structure 1 needs to be moved up as a whole and the motor 114 is turned on to rotate the first spiral lifting column 111 clockwise for y / z circles.

[0053] When the distance between the hull and the electromagnetic mooring mechanism 2 is 5 meters and current is passed through the inverter 203, the direction of the current passed through can make the electromagnetic suction cup 201 adsorb the hull. The distance between the hull and the electromagnetic mooring mechanism 2 is x, and x is less than 5 meters. When x is larger, the current passed through the electromagnetic mooring structure 2 is larger, and the adsorption force of the electromagnetic mooring structure 2 is also larger. The current gradually decreases as x becomes smaller, achieving the purpose of saving energy and reducing the electromagnetic influence range. Completing the above steps can make the electromagnetic mooring structure 2 directionally adsorb the ship, and the tray 110 supports the bottom of the ship to avoid the problem of adsorption offset during docking.

[0054] Step 2: When docked, the hull magnetic field monitor 4 monitors the magnetic field around the electronic equipment of the ship.

[0055] Specifically, the magnetic field monitor 4 near the ship's electronic equipment detects the size of the magnetic field near the ship's electronic equipment, and sets a threshold value of B. When the size of the ship's environmental magnetic field exceeds the threshold value B, the electromagnetic wave waveform received by the ship at this time is plotted, and the electromagnetic wave waveform is transmitted to the control system. The control system sets the band that the filter 202 needs to filter at this time, and enables the filter 202 to work to prevent electromagnetic interference with the ship's electronic equipment. At this time, the electromagnetic monitor 4 at the adsorption position of the electromagnetic suction cup 201 corresponding to the ship's hull detects the magnetic field size B2 received at the adsorption position. If the minimum magnetic field size that can be adsorbed at the adsorption position of the electromagnetic suction cup 201 corresponding to the ship's hull is B1, when B2 is greater than B1, that is, the magnetic field received at the adsorption position of the electromagnetic suction cup 201 corresponding to the ship's hull is greater than the minimum magnetic field that can be adsorbed at the adsorption position of the electromagnetic suction cup 201 corresponding to the ship's hull, the current passed through the inverter 203 is set to decrease, and the magnetic field strength of the electromagnetic suction cup 201 decreases until B2 is equal to B1. , that is, the magnetic field received by the adsorption position of the electromagnetic suction cup 201 corresponding to the hull is equal to the minimum magnetic field that can be adsorbed at the adsorption position of the electromagnetic suction cup 201 corresponding to the hull, which just satisfies the adsorption of the hull by the electromagnetic suction cup 201; when B2 is less than B1, that is, the magnetic field received by the adsorption position of the electromagnetic suction cup 201 corresponding to the hull is less than the minimum magnetic field that can be adsorbed at the adsorption position of the electromagnetic suction cup 201 corresponding to the hull, the current passed by the inverter 203 is set to increase, and the magnetic field strength of the electromagnetic suction cup 201 increases until B2 is equal to B1, that is, the magnetic field received by the adsorption position of the electromagnetic suction cup 201 corresponding to the hull is equal to the minimum magnetic field that can be adsorbed at the adsorption position of the electromagnetic suction cup 201 corresponding to the hull, which just satisfies the adsorption of the hull by the electromagnetic suction cup 201, and the magnetic field monitor 4 near the ship's electronic equipment detects the size of the magnetic field near the ship's electronic equipment, while keeping the ship's electronic equipment from being disturbed by the magnetic field, the ship can still be stably adsorbed by the electromagnetic suction cup 201.

[0056] When the hull is in contact with the electromagnetic mooring structure 2, the hull still has a certain moving speed. The sensor 3 monitors the moving speeds a1 and a2 of the hull at this time, a1 is the minimum value, a2 is the maximum value, and the safe speed is a. When a1 and a2 are both greater than a, the control system sets the hydraulic oil flow rates through the first solenoid valve 105 and the second solenoid valve 106 to v2 and V3, v2 is the minimum value, and v3 is the maximum value. When the hull speed is a1, the hydraulic oil flow rate through the first solenoid valve 105 and the second solenoid valve 106 is v3, that is, when the hull moving speed is smaller, the impact force of the hull is smaller, and the flow rate through the first solenoid valve 105 and the second solenoid valve 106 is set to v3. The greater the hydraulic oil flow rate of the second solenoid valve 106, the smaller the impact force that the buffer structure 1 can buffer, and the distance available for buffering is also relatively small, which can ensure that the hull stops before it is completely docked. When the hull speed is a2, the hydraulic oil flow rate passing through the first solenoid valve 105 and the second solenoid valve 106 is v2, that is, when the hull moving speed is greater, the impact force of the hull is greater, and the smaller the hydraulic oil flow rate passing through the first solenoid valve 105 and the second solenoid valve 106 is set, the larger the impact force that the buffer structure 1 can buffer, and the distance available for buffering is also relatively large, which can prevent the hull from having a certain moving speed when it is completely docked, causing damage to equipment.

[0057] Step 3: After docking, change the electromagnetic mooring mechanism 2 according to the hull status and weather.

[0058] Specifically, the control system detects the state of the sea surface or river surface and the hull in real time. When the wind and waves become stronger, the current is increased through the inverter 203 to enhance the adsorption force of the electromagnetic suction cup 201 to prevent the hull from detaching. At the same time, the first solenoid valve 105 and the second solenoid valve 106 in the buffer device 1 are opened, and the third solenoid valve 108 is closed. At this time, the flow rate v of the hydraulic oil of the first solenoid valve 105 and the second solenoid valve 106 is set to be the same and relatively small, so that the ship can be buffered by the shaking of wind and waves, thereby preventing the electromagnetic mooring structure 2 from being damaged by the impact force caused by the shaking of the ship.

[0059] Step 4: When leaving the shore, the control system controls the buffer structure 1 and the electromagnetic mooring structure 2 to work.

[0060] Specifically, when the hull is ready to leave the shore, the first solenoid valve 105 and the second solenoid valve 106 in the buffer structure 1 are opened, playing a buffering role in the demagnetization process of the electromagnetic mooring structure 2. At the same time, the control system controls the inverter 203 in the electromagnetic mooring mechanism 2 to change the direction of the current, even if the current is opposite to the working current direction of the electromagnetic suction cup 201 when it was originally docked, and at the same time controls the current size to slowly demagnetize the electromagnetic suction cup 201 until the ship leaves the shore.

[0061] In summary, the present invention realizes the function of protecting the hull from electromagnetic interference by setting up the control system and the connection between various mechanisms, and realizes the function of protecting the hull from electromagnetic interference by setting up the filter 202 and the magnetic field monitor 4, and reduces the impact force during the hull docking and leaving the shore through the buffer structure 2, thereby protecting the electromagnetic mooring structure 2.

[0062] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A highly efficient electromagnetic assisted mooring device that is resistant to magnetic field interference, comprising a buffer structure (1), an electromagnetic mooring structure (2), a sensor (3) and a magnetic field monitor (4), characterized in that: The buffer structure (1) comprises a first hydraulic pump (101), a second hydraulic pump (102), a universal joint (103), a pipeline (104), a first solenoid valve (105) and a tray (110); a first spiral lifting column (111) and a second spiral lifting column (115) are arranged on the wall; a first motor (114) is arranged at the upper end of the wall, and a second motor (116) is arranged at the lower end of the wall; the first motor (114) controls the rotation of the first spiral lifting column (111); the second motor (116) controls the rotation of the second spiral lifting column (115); the first spiral lifting column (111) and the second spiral lifting column (115) can be controlled separately; the number of the buffer structures (1) is two; the pistons in the two first hydraulic pumps (101) are respectively movably connected to the first spiral lifting column (111) and the second spiral lifting column (115) via a first slider (112) and a second slider (113); The pipeline (104) is connected between the two first hydraulic pumps (101); the middle section of the pipeline (104) is a hose (107); a first solenoid valve (105) and a second solenoid valve (106) are provided on the pipeline (104) at both ends of the hose (107); an oil tank (109) is connected between the hose (107) and the first solenoid valve (105) via a pipeline; a third solenoid valve (108) is provided on the front end pipeline of the oil tank (109); the second hydraulic pump (102) is connected to and communicates with the end of the first hydraulic pump (101) via a pipeline; one end of the universal joint (103) is fixedly connected to a piston in the second hydraulic pump (102); the two second hydraulic pumps (102) are respectively connected to the electromagnetic mooring structure (2) and the pallet (110) via pistons and the universal joint (103); The first hydraulic pump (101) on the first spiral lifting column (111) is connected to the first hydraulic pump (101) on the second spiral lifting column (115) via a pipeline (104), and the hydraulic oil in the two first hydraulic pumps (101) circulates with each other via the pipeline (104); the electromagnetic suction cup (201) is movably connected to the second hydraulic pump (102) via a piston in the second hydraulic pump (102), and the electromagnetic suction cup (201) can move forward and backward through the hydraulic oil in the second hydraulic pump (102) and the hydraulic oil in the first hydraulic pump (101); the tray (110) is movably connected to the second hydraulic pump (102) via a piston in the second hydraulic pump (102), and the tray (110) can move forward and backward through the hydraulic oil in the second hydraulic pump (102) and the hydraulic oil in the first hydraulic pump (101).

2. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 1, characterized in that: The electromagnetic suction cup (201) in the electromagnetic mooring structure (2) is fixedly connected to the universal joint (103), filters (202) are arranged at both ends of the electromagnetic suction cup (201), an inverter (203) is arranged on the back of the electromagnetic suction cup (201), and the inverter (203) can change the magnitude and direction of the current flowing into the electromagnetic suction cup (201) through setting, and a sensor (3) is arranged above the electromagnetic suction cup (201).

3. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 1, characterized in that: Two electromagnetic mooring structures (2) are arranged on the shore, a camera (5) is arranged on one side of the first spiral lifting column (111) on the shore, a sensor (3) and a magnetic field monitor (4) are arranged at corresponding adsorption positions on the hull, and a magnetic field monitor (4) is also arranged inside the hull, and the buffer structure (1), the electromagnetic mooring structure (2), the sensor (3), the magnetic field monitor (4) and the camera (5) are all connected to a control system.

4. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 3 is characterized in that: The control system operation includes the following steps: Step 1: Before docking, the hull information is transmitted to the control system on the shore through the sensor (3) and the camera (5), and the control system makes preparations for directional adsorption; Step 2: When docked, the ship's magnetic field monitor (4) monitors the magnetic field near the ship's electronic equipment; Step 3: After docking, change the electromagnetic mooring structure according to the ship's state and weather (2); Step 4: When leaving the shore, the control system controls the buffer structure (1) and the electromagnetic mooring structure (2) to work.

5. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 4, characterized in that: The step 1 also includes the following contents: When the ship needs to dock, the camera (5) on the shore takes a picture of the ship and transmits it to the control system. The ship sensor (3) is aligned with the sensor (3) on the electromagnetic mooring structure (2). The control system obtains the ship model and size based on the captured ship picture combined with the stored information, and obtains the distance h from the adsorbed position of the ship to the bottom of the ship. The ship sensor (3) is aligned with the sensor (3) on the electromagnetic mooring structure (2) to obtain the distance x from the ship to the electromagnetic mooring structure (2) and the height offset distance y between the adsorbed position of the ship and the electromagnetic mooring structure (2).

6. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 4, characterized in that: The step 2 also includes the following contents: The magnetic field monitor (4) detects the magnitude of the magnetic field near the electronic equipment of the ship and sets a threshold value of B. When the magnitude of the magnetic field in the ship environment exceeds the threshold value B, the electromagnetic wave waveform received by the ship is plotted and the electromagnetic wave waveform is transmitted to the control system. The control system sets the band that the filter (202) needs to filter at this time and enables the filter (202) to work to prevent electromagnetic interference with the electronic equipment of the ship.

7. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 4, characterized in that: The step three also includes the following contents: The control system detects the state of the sea surface or river surface and the hull in real time. When the wind and waves become stronger, the inverter (203) increases the current to enhance the adsorption force of the electromagnetic suction cup (201) to prevent the hull from detaching. At the same time, the first electromagnetic valve (105) and the second electromagnetic valve (106) in the buffer structure (1) are opened, and the flow rate of the hydraulic oil is set to be relatively small at this time, so that the swaying of the ship with the wind and waves has a buffering effect, thereby preventing the electromagnetic mooring structure (2) from being damaged by the impact force caused by the swaying of the ship.

8. The high-efficiency electromagnetic assisted mooring device against magnetic field interference according to claim 4, characterized in that: The step 4 also includes the following contents: When the ship is ready to leave the shore, the first solenoid valve (105) and the second solenoid valve (106) in the buffer structure (1) are opened, playing a buffering role in the demagnetization process of the electromagnetic mooring structure (2). At the same time, the control system controls the inverter (203) in the electromagnetic mooring structure (2) to change the direction of the current, even if the current is opposite to the working current direction of the electromagnetic suction cup (201) when the ship is docked, and at the same time controls the current size to slowly demagnetize the electromagnetic suction cup (201) until the ship leaves the shore.

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