Equipment and method for safely transferring materials and personnel between two ships under stormy wave sea condition

Abstract

The invention discloses a device and method for safely transferring goods and materials and personnel between two ships under the stormy wave sea condition, the device comprises a base fixed on a deck of a first ship, an adjustable supporting structure is fixed on the base, a horizontal rotating table is arranged on the top surface of the adjustable supporting structure, and the horizontal rotating table is fixed on the base. A transfer structure is rotatably arranged on the horizontal rotating table; a control device is fixed to the base and connected with the transfer structure and the adjustable supporting structure. Rotation of the transfer structure can be achieved through the horizontal rotating table on the first ship, automatic adjustment of lifting and levelness can be achieved through the control device and the adjustable supporting structure, control reliability is improved, materials and personnel can be safely transferred to the second ship from the first ship under the stormy wave sea condition, and work efficiency is improved. And any device does not need to be arranged on the second ship in advance, the transfer method is simple, the safety, stability and effectiveness of transfer operation are improved, and the use requirements of different sea conditions are met.

Description

Technical Field

[0001] The present invention relates to the field of marine operation support equipment for military and civilian ships, and specifically to equipment and methods for the safe transfer of materials and personnel between two ships in rough sea conditions. The present invention is suitable for various types of ships such as naval ship logistics supply and medical ships to implement weapon equipment material supply and safe transfer of wounded and sick personnel in rough sea conditions, and can also be used for engineering operations of material transfer and personnel transfer between civilian ships. Background Art

[0002] During maritime operations, it is often necessary to carry out material supply and replenishment transfer of weapons and ammunition between two ships, as well as transfer of wounded and sick personnel to other ships for rescue. At present, such transfer operations between warships or civilian ships can only be carried out in calm sea conditions due to the limitations of existing equipment and technical conditions. When encountering windy and choppy sea conditions, such transfer operations between the two ships will be seriously affected, resulting in the failure of timely transfer of maritime logistics supplies, which hinders the urgent need for combat support. Therefore, inventing and designing a device or equipment suitable for realizing safe transfer between two ships in windy and choppy sea conditions is a technical problem that technicians in this technical field urgently need to solve. Summary of the invention

[0003] The purpose of the present invention is to provide equipment and method for safely transferring materials and personnel between two ships under windy and choppy sea conditions, which has a reasonable structural setting and is conducive to improving the stability and effectiveness of transfer.

[0004] The technical solution to achieve the purpose of the present invention is a device for safely transferring materials and personnel between two ships under windy and wave conditions, comprising a base fixed on the deck of the hull of ship A, an adjustable support structure fixed on the base, a horizontal rotating platform provided on the top surface of the adjustable support structure, and a transfer structure rotatably provided on the horizontal rotating platform;

[0005] A control device is fixed on the base, and the control device is connected to the transfer structure and the adjustable supporting structure.

[0006] It is further preferred that: the transfer structure includes a crane, a main boom, a secondary boom, a main boom electric cylinder, a secondary boom electric cylinder, a load-bearing structure and a monitoring structure;

[0007] The crane can be rotatably arranged on a horizontal rotating platform;

[0008] One end of the main boom and the auxiliary boom is arranged on the crane at an adjustable angle through a shaft;

[0009] The main boom electric cylinder is arranged between the crane and the main boom, and is used to adjust the tilt angle of the main boom and the crane;

[0010] The auxiliary boom electric cylinder is arranged between the crane and the auxiliary boom, and is used to adjust the tilt angle of the auxiliary boom and the crane;

[0011] The object-carrying structure is arranged at the end of the main boom, the monitoring structure is arranged at the end of the auxiliary boom, and the monitoring structure is used to monitor the bottom and the lowering position of the object-carrying structure.

[0012] It is further preferred that: the load-bearing structure comprises a sling guide panel, four swing-reducing slings, a hanging basket and a winch;

[0013] A support ear is provided in the middle of the top surface of the sling guide panel, and lifting holes are provided at the four corners of the sling guide panel. The support ear is rotatably connected to the end of the main boom through a pin shaft;

[0014] The hoist is arranged in the crane and connected to the ends of four swing-reducing slings;

[0015] The four swing-reducing slings pass through four sling holes respectively, and the ends are connected to the four corners of the sling basket through hooks.

[0016] It is further preferred that: the monitoring structure includes a mounting frame, an angle adjustment electric cylinder, a mounting shaft frame, a first image recognition camera, a second image recognition camera and a laser rangefinder;

[0017] The mounting frame is adjustably arranged at the end of the auxiliary boom through the mounting shaft frame, the angle adjustment electric cylinder is arranged between the mounting frame and the end of the auxiliary boom, and the angle adjustment electric cylinder is arranged parallel to the mounting shaft frame, and the angle adjustment electric cylinder is operated to make the mounting frame rotate at an angle with the mounting shaft frame as a fulcrum;

[0018] The first image recognition camera is fixed to the side of the mounting frame, the second image recognition camera is fixed to the bottom surface of the mounting frame, and the laser rangefinder is fixed to the bottom surface of the mounting frame;

[0019] The first image recognition camera, the second image recognition camera and the laser rangefinder are all connected to the control device.

[0020] It is further preferred that: the main boom and the auxiliary boom are both multi-section retractable structures.

[0021] It is further preferred that: the adjustable support structure comprises six electric cylinders and a fixing seat in six directions;

[0022] Six electric cylinders in six directions are arranged between the fixing seat and the base, and the electric cylinders are connected to the control device and can realize the telescopic adjustment of the electric cylinders.

[0023] The present invention also discloses a method for safely transferring materials and personnel between two ships under windy and choppy sea conditions, comprising the following steps:

[0024] Step A, installing the base on the supply ship No. A;

[0025] Step B, under the condition of wind and waves, both the supply ship A and the receiving ship B are in a bumpy state, and the six electric cylinders in six directions of the adjustable support structure on the supply ship A are adjusted to make the crane, the main boom and the auxiliary boom in a stable state;

[0026] Step C, put the materials on the supply ship No. A into the hanging basket, and connect the hooks of the four anti-sway slings of the main crane arm to the four corners of the hanging basket, start the main crane arm, and make the main crane arm lift the hanging basket;

[0027] Step D, manually operate the control device, extend the main boom, adjust the pitch angle of the main boom, lift the basket above the deck area of ​​the No. B supply ship, extend the auxiliary boom, and start the automatic control function of the mounting frame. Under the automatic guidance of the image processing data provided by the second image recognition camera, the mounting frame is moved close to the bottom edge of the basket and the distance position data from the basket is locked;

[0028] Step E, the mounting frame is raised and lowered together with the hanging basket, and the distance position data from the hanging basket locked by the second image recognition camera is used to automatically control the pitch angle and extension of the auxiliary boom during the lifting process of the hanging basket, so as to ensure that the mounting frame can automatically track the edge of the bottom of the hanging basket at any time;

[0029] Step F, the first image recognition camera performs image analysis on the basket placement area on the deck of the No. B supply ship diagonally downward, automatically finds a suitable position for placing the basket, and automatically memorizes the data of the position;

[0030] Step G, the data of the ready placement position of the hanging basket locked by the first image recognition camera is used as the tracking basis data for automatically controlling the horizontal rotation of the crane and the extension and retraction of the main boom and the pitch angle adjustment of the main boom, so as to realize the random automatic adjustment of the placement position of the hanging basket to the No. B supply ship;

[0031] Step H: According to the frequency regularity of the surge and fall of the sea waves, the laser rangefinder automatically detects the distance between the bottom of the hanging basket and the proposed placement position of the deck of the No. B supply ship, and automatically detects and captures the placement position of the No. B supply ship at the highest point H when the sea waves surge. 高 Data and the lowest point data when falling into the trough H 低， and the height difference between the two points `H 差 And the falling cycle time S 落 ;

[0032] Step I: The main crane arm lowers the bottom of the basket to an area H slightly higher than the position of Ship B where the waves are rising. 区 Waiting for the final landing opportunity, at this time H 区 Slightly higher than H高 , when ship B is placed at the highest point H 高 When the descent begins, the main boom will lift the basket faster than the waves, and in the period before it falls into the trough:

[0033] (H 区 -H 低 ) / S 落 >H 差 / S 落

[0034] Then it will gently descend to the predetermined placement position;

[0035] Step J, when the basket is lowered to the placement position, the auxiliary boom is lifted upward at the fastest speed to prevent the auxiliary boom and the mounting frame at the end from being damaged when Ship B rises with the surge;

[0036] Step K, fix the basket that has landed on the placement position of Ship B and unlock the connections of the four hooks.

[0037] The present invention has positive effects: the structure of the present invention is reasonably arranged, an adjustable support structure is fixed on the base, a horizontal rotating platform is arranged on the top surface of the adjustable support structure, and a transfer structure is rotatably arranged on the horizontal rotating platform; a control device is fixed on the base, and the control device is connected with the transfer structure and the adjustable support structure, and the transfer structure can be rotated through the horizontal rotating platform, that is, the material can be transferred from ship A to another ship B, and ship B does not need to install any equipment in advance, and at the same time, the control device and the adjustable support structure can be used to adjust the lifting and levelness, and the convenience of control is also improved, and it is conducive to improving the stability and effectiveness of transfer, and can meet the use requirements of wind and wave sea conditions, and has strong applicability and good practicality;

[0038] Moreover, the transfer structure includes a crane, a main boom, a secondary boom, a main boom electric cylinder, a secondary boom electric cylinder, a material-carrying structure and a monitoring structure. It can not only adjust the inclination angles of the main boom and the secondary boom as needed to facilitate loading and unloading of materials, but also monitor the corresponding transfer and placement conditions in real time through the monitoring structure, thereby improving the stability of the transfer and the effectiveness of the placement, and ensuring the safety and reliability of the transfer, which can meet the use requirements of different sea surface environments and has strong practicality.

[0039] The transfer method of the present invention is simple, can meet the use requirements of different wind and wave sea conditions, and improves the effectiveness and safety reliability of transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein:

[0041] Figure 1 It is a schematic diagram of the first structural scheme of the present invention;

[0042] Figure 2 It is a schematic diagram of the specific structure of the sling guide panel in the present invention;

[0043] Figure 3 It is a specific structural schematic diagram of the monitoring structure in the present invention;

[0044] Figure 4 A schematic diagram of the transfer in the present invention;

[0045] Figure 5 It is a schematic diagram of the second structural scheme of the present invention.

[0046] Figure numerals: base 1, adjustable supporting structure 2, six electric cylinders 21 in six directions, fixed seat 22, horizontal rotating table 3, transfer structure 4, crane 41, main boom 42, auxiliary boom 43, main boom electric cylinder 44, auxiliary boom electric cylinder 45, supporting structure 46, sling guide panel 461, swing-reducing sling 462, hanging basket 463, support ear 464, hanging hole 465, monitoring structure 47, mounting frame 471, angle adjustment electric cylinder 472, mounting axle frame 473, first image recognition camera 474, second image recognition camera 475, laser rangefinder 476, control device 5. DETAILED DESCRIPTION

[0047] 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.

[0048] Example

[0049] See Figures 1 to 4As shown, a device for safely transferring materials and personnel between two ships in windy and rough sea conditions includes a base 1 fixed on the hull deck, an adjustable support structure 2 is fixed on the base, a horizontal rotating platform 3 is arranged on the top surface of the adjustable support structure, and a transfer structure 4 is rotatably arranged on the horizontal rotating platform; in this embodiment, the base can be fixed on the hull deck by bolts, or by welding, which is a common technical operation, so it is not recorded in detail, and the adjustable support structure includes six electric cylinders 21 in six directions and a fixing seat 22; the six electric cylinders in six directions are arranged between the fixing seat and the base, and the electric cylinders are connected to the control device and can realize the telescopic adjustment of the electric cylinders. It can adjust the horizontal stability as needed, that is, the horizontality of the overall structure can be maintained under different sea surface environments, which improves the effectiveness and safety of use.

[0050] In this embodiment, a control device 5 is fixed on the base, and the control device is connected to the transfer structure and the adjustable support structure. The control device is mainly used for operation and control, which is a conventional structure of the prior art, and is simply applied to improve the convenience and effectiveness of operation.

[0051] In actual application, the transfer structure includes a crane 41, a main boom 42, a secondary boom 43, a main boom electric cylinder 44, a secondary boom electric cylinder 45, a support structure 46 and a monitoring structure 47. In this embodiment, the main boom and the secondary boom are both multi-section retractable structures. Therefore, the distance can be adjusted as needed to meet the transfer requirements of different spacings. The main boom electric cylinder 44 and the secondary boom electric cylinder 45 are both conventional structures of the prior art and are simply applied.

[0052] In actual application, the crane can be rotatably set on a horizontal rotating table; through the above structure, the direction adjustment operation at different angles can be realized, and at the same time, one end of the main boom and the auxiliary boom is remotely set on the crane through an adjustable angle of the shaft rod; the main boom electric cylinder is set between the crane and the main boom, and is used to adjust the inclination angle of the main boom and the crane; the auxiliary boom electric cylinder is set between the crane and the auxiliary boom, and is used to adjust the inclination angle of the auxiliary boom and the crane; the object-carrying structure is set at the end of the main boom, and the monitoring structure is set at the end of the auxiliary boom, and the monitoring structure is used to monitor the bottom and lowering position of the object-carrying structure. Through the above structure, the angle adjustment of the main boom and the auxiliary boom can be effectively realized, and at the same time, the monitoring structure can be used to cooperate with the object-carrying structure to transfer objects, and the dynamics can be detected in real time during the transfer process to ensure the smoothness and effectiveness of the transfer.

[0053] In actual application, the object-carrying structure 46 includes a sling guide panel 461, four anti-swing slings 462, a hanging basket 463 and a winch; during assembly, a lug 464 is provided in the middle of the top surface of the sling guide panel, and hanging holes 465 are provided at the four corners of the sling guide panel, and the lug is rotatably connected to the end of the main boom through a pin; the winch is arranged in the crane and connected to the ends of the four anti-swing slings; the four anti-swing slings pass through four hanging holes respectively and the ends are connected to the four corners of the hanging basket through hooks. Through the above structure, the swing amplitude of objects under windy and wave conditions can be realized, and the lifting height can be adjusted and controlled by the winch.

[0054] In this embodiment, the monitoring structure includes a mounting frame 471, an angle adjustment electric cylinder 472, a mounting shaft frame 473, a first image recognition camera 474, a second image recognition camera 475 and a laser rangefinder 476; in this embodiment, the above structures are all conventional structures of the prior art, and are simply applied, so their specific structures are not recorded in detail. They are mainly used to automatically control the telescopic and pitch angle adjustment of the auxiliary boom under the control of image processing calculation data, dynamically find and maintain the mounting frame to automatically track the edge position close to the bottom of the basket; find and lock the position of the basket placed on Ship B; at the same time, it can automatically find and identify the suitable placement position of the basket on the deck of Ship B, and lock the placement position image data; track the placement position of the bumpy and floating basket;

[0055] During the assembly process, the mounting frame is adjustably set on the end of the auxiliary boom through the mounting axis frame, the angle adjustment electric cylinder is set between the mounting frame and the end of the auxiliary boom, and the angle adjustment electric cylinder is set parallel to the mounting axis frame, and the angle adjustment electric cylinder is actuated to make the mounting frame rotate at an angle with the mounting axis frame as a fulcrum; the first image recognition camera is fixed on the side of the mounting frame, the second image recognition camera is fixed on the bottom surface of the mounting frame, and the laser rangefinder is fixed on the bottom surface of the mounting frame; the first image recognition camera, the second image recognition camera and the laser rangefinder are all connected to the control device.

[0056] Due to the uncertainty of the position of Ship B in the turbulent sea waves, the first image recognition camera can automatically manipulate the crane to make slight adjustments in the horizontal angle along the horizontal rotating table and the telescopic length of the main boom under the control of the intelligent image processing data in the control device based on the image data of the placement position on Ship B that has been found and locked. The main boom can also make slight adjustments in the pitch angle through the extension and retraction of the main boom electric cylinder to keep the hanging basket aligned with the locked placement position on Ship B at any time; the inclination angle of the detection device mounting frame is automatically adjusted;

[0057] As the basket is lifted and lowered, the mounting frame can automatically adjust the extension and retraction of the auxiliary boom electric cylinder under the monitoring of the first image recognition camera, so that the auxiliary boom can pitch quickly, drive the mounting frame to move up and down quickly, and synchronously follow the up and down movement of the bottom of the basket; automatic laser ranging; real-time detection of the distance and height between the bottom of the basket and the position on the deck of Ship B where the basket is to be placed; using the regularity of the frequency of wave surges and falls, the basket is safely lowered to the predetermined placement position; the distance and height from the deck of Ship B collected by the laser rangefinder are two sets of data of wave crests and wave troughs that are bumpy with the waves. After real-time calculation and processing by the control device, when the next wave reaches the wave crest, the winch is controlled to quickly lower the basket to the placement position set on the deck of Ship B before the wave crest begins to fall to the wave trough.

[0058] During operation, Ship A is the supply ship and Ship B is the supplied ship;

[0059] Under rough sea conditions, Ship A, carrying supplies and personnel, rushed to the berthing area of ​​Ship B and approached Ship B, maintaining a certain current interval between Ship A and Ship B.

[0060] The equipment for safely transferring materials and personnel between the two ships in windy and rough sea conditions is activated on ship A. At this time, the adjustable support structure automatically adjusts the extension and retraction of the six electric cylinders 21 in six directions under the control of the control device according to the turbulence of the waves, so that the crane can maintain a horizontal and stable state in the wind and waves;

[0061] Manually operate the four hooks on the four anti-sway slings under the main boom, and firmly connect them to the four corners of the hanging basket in a bumpy state. The main boom lifts the hanging basket, and the hanging basket is in a stable lifting state.

[0062] Manual operation extends the main boom, adjusts the pitch angle of the main boom, and hoists the basket above the deck area of ​​Ship B. The auxiliary boom is extended synchronously, and the automatic control function of the mounting frame is started. Under the automatic guidance of the image processing data provided by the second image recognition camera, the mounting frame is moved close to the bottom edge of the basket and the distance position data from the basket is locked.

[0063] Since the mounting frame is lifted and lowered together with the hanging basket, the distance position data from the hanging basket locked by the second image recognition camera will automatically control the pitch angle and extension of the auxiliary boom during the lifting and lowering of the hanging basket, ensuring that the mounting frame can automatically track the edge of the bottom of the hanging basket at any time;

[0064] The first image recognition camera looks diagonally downward to analyze the image of the basket placement area on the deck of Ship B, automatically finds a suitable location for placing the basket, and automatically memorizes the data of the location.

[0065] As the position of Ship B is constantly moving in the wind and waves, the data of the prepared placement position of the hanging basket locked by the first image recognition camera is used as the tracking basis data for automatically controlling the horizontal rotation of the crane and the extension and retraction of the main boom and the pitch angle adjustment of the main boom, so as to realize the random automatic adjustment of the placement position of the hanging basket to Ship B;

[0066] According to the frequency regularity of the surge and fall of the waves, the laser rangefinder automatically detects the height distance between the bottom of the hanging basket and the proposed placement position on the deck of Ship B, and automatically detects and captures the data of the highest point of Ship B's placement when the waves surge and the lowest point when it falls into the wave valley.

[0067] The main crane arm lowers the basket to the highest point of the placement position of Ship B at the bottom where the waves are surging, and waits for the final landing opportunity. When Ship B is at the highest point under the action of the surge and begins to fall, the main crane arm lowers the basket to the predetermined placement position at a speed faster than the falling waves, fixes the basket that has landed at the placement position of Ship B, and unlocks the connection of the four hooks.

[0068] The present invention has positive effects: the structure of the present invention is reasonably arranged, an adjustable support structure is fixed on the base, a horizontal rotating platform is arranged on the top surface of the adjustable support structure, and a transfer structure is rotatably arranged on the horizontal rotating platform; a control device is fixed on the base, and the control device is connected with the transfer structure and the adjustable support structure, and the transfer structure can be rotated through the horizontal rotating platform, that is, the material can be transferred from one ship to another ship, and at the same time, the lifting and horizontal adjustment can be achieved through the control device and the adjustable support structure, and the convenience of control is also improved, and it is conducive to improving the stability and effectiveness of transfer, and can meet the use requirements of different sea surface environments, and has strong applicability and good practicality;

[0069] Moreover, the transfer structure includes a crane, a main boom, a secondary boom, a main boom electric cylinder, a secondary boom electric cylinder, a supporting structure and a monitoring structure. It can not only adjust the inclination angles of the main boom and the secondary boom as needed to facilitate loading and unloading of materials, but also monitor the corresponding transfer and placement conditions in real time through the monitoring structure, thereby improving the stability of the transfer and the effectiveness of the placement, and ensuring the safety and reliability of the transfer. It can meet the use requirements of different sea surface environments and is highly practical.

[0070] This embodiment also discloses a method for safely transferring materials and personnel between two ships in windy and rough sea conditions, comprising the following steps:

[0071] Step A, installing the base on the supply ship;

[0072] Step B, in the case of windy and choppy sea conditions, the supply ship and the supplied ship are both in a turbulent state, and the six electric cylinders in six directions of the adjustable support structure on the supply ship are adjusted to keep the crane, the main boom and the auxiliary boom in a stable state;

[0073] Step C, placing the materials on the supply ship into the hanging basket, hooking the four anti-sway slings of the main crane arm to the four corners of the hanging basket, and starting the main crane arm to lift the hanging basket;

[0074] Step D, manually operate the control device, extend the main boom, adjust the pitch angle of the main boom, lift the basket above the deck area of ​​the supply ship, extend the auxiliary boom at the same time, and start the automatic control function of the mounting frame. Under the automatic guidance of the image processing data provided by the second image recognition camera, the mounting frame is moved close to the bottom edge of the basket and the distance position data from the basket is locked;

[0075] Step E, the mounting frame is raised and lowered together with the hanging basket, and the distance position data from the hanging basket locked by the second image recognition camera is used to automatically control the pitch angle and extension of the auxiliary boom during the lifting process of the hanging basket, so as to ensure that the mounting frame can automatically track the edge of the bottom of the hanging basket at any time;

[0076] Step F, the first image recognition camera performs image analysis on the area where the basket is placed on the deck of the supply ship to be transported diagonally downward, automatically finds a suitable position for placing the basket, and automatically memorizes the data of the position;

[0077] Step G, the data of the ready placement position of the hanging basket locked by the first image recognition camera is used as the tracking basis data for automatically controlling the horizontal rotation of the crane and the extension and retraction of the main boom and the pitch angle adjustment of the main boom, so as to realize the random automatic adjustment of the hanging basket to the placement position of the supply ship to be replenished;

[0078] Step H: According to the frequency regularity of the surge and fall of the sea waves, the laser rangefinder automatically detects the distance between the bottom of the hanging basket and the proposed placement position of the deck of the No. B supply ship, and automatically detects and captures the placement position of the No. B supply ship at the highest point H when the sea waves surge. 高 Data and the lowest point data when falling into the trough H 低 , and the height difference between the two points `H 差 And the falling cycle time S 落 ;

[0079] Step I: The main crane arm lowers the bottom of the basket to an area H slightly higher than the position of Ship B where the waves are rising. 区 Waiting for the final landing opportunity, at this time H 区 Slightly higher than H 高 , when ship B is placed at the highest point H 高 When the descent begins, the main boom will lift the basket faster than the waves, and in the period before it falls into the trough:

[0080] (H 区 -H 低 ) / S落 >H 差 / S 落

[0081] Then it will gently descend to the predetermined placement position;

[0082] Step J, when the basket is lowered to the placement position, the auxiliary boom is lifted upward at the fastest speed to prevent the auxiliary boom and the mounting frame at the end from being damaged when Ship B rises with the surge;

[0083] Step K, fix the basket that has landed on the placement position of Ship B and unlock the connections of the four hooks.

[0084] The standard parts used in this embodiment can be purchased directly from the market, and the non-standard structural components recorded in the specification can also be directly processed according to existing technical common sense. At the same time, the connection method of each component adopts the mature conventional means in the prior art, and the machinery, parts and equipment all adopt the conventional models in the prior art, so no specific description will be made here.

[0085] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, these obvious changes or modifications derived from the essential spirit of the present invention still fall within the protection scope of the present invention.

Claims

1. A device for safely transferring materials and personnel between two ships in rough sea conditions, comprising a base fixed on the deck of ship A, characterized in that: An adjustable support structure is fixed on the base, a horizontal rotating platform is arranged on the top surface of the adjustable support structure, and a transfer structure is rotatably arranged on the horizontal rotating platform; A control device is fixed on the base, and the control device is connected to the transfer structure and the adjustable supporting structure.

2. The equipment for safely transferring materials and personnel between two ships in windy and rough sea conditions according to claim 1, characterized in that: The transport structure includes a crane, a main boom, a secondary boom, a main boom electric cylinder, a secondary boom electric cylinder, a load-bearing structure and a monitoring structure; The crane can be rotatably arranged on a horizontal rotating platform; One end of the main boom and the auxiliary boom is arranged on the crane at an adjustable angle through a shaft; The main boom electric cylinder is arranged between the crane and the main boom, and is used to adjust the tilt angle of the main boom and the crane; The auxiliary boom electric cylinder is arranged between the crane and the auxiliary boom, and is used to adjust the tilt angle of the auxiliary boom and the crane; The object-carrying structure is arranged at the end of the main boom, the monitoring structure is arranged at the end of the auxiliary boom, and the monitoring structure is used to monitor the bottom and the lowering position of the object-carrying structure.

3. The equipment for safely transferring materials and personnel between two ships in windy and rough sea conditions according to claim 2, characterized in that: The load-bearing structure includes a sling guide panel, four swing-reducing slings, a hanging basket and a winch; A support ear is provided in the middle of the top surface of the sling guide panel, and lifting holes are provided at the four corners of the sling guide panel. The support ear is rotatably connected to the end of the main boom through a pin shaft; The hoist is arranged in the crane and connected to the ends of four swing-reducing slings; The four swing-reducing slings pass through four sling holes respectively, and the ends are connected to the four corners of the sling basket through hooks.

4. The equipment for safely transferring materials and personnel between two ships in windy and rough sea conditions according to claim 2 is characterized by: The monitoring structure includes a mounting frame, an angle adjustment electric cylinder, a mounting shaft frame, a first image recognition camera, a second image recognition camera and a laser rangefinder; The mounting frame is adjustably arranged at the end of the auxiliary boom through the mounting shaft frame, the angle adjustment electric cylinder is arranged between the mounting frame and the end of the auxiliary boom, and the angle adjustment electric cylinder is arranged parallel to the mounting shaft frame, and the angle adjustment electric cylinder is operated to make the mounting frame rotate at an angle with the mounting shaft frame as a fulcrum; The first image recognition camera is fixed to the side of the mounting frame, the second image recognition camera is fixed to the bottom surface of the mounting frame, and the laser rangefinder is fixed to the bottom surface of the mounting frame; The first image recognition camera, the second image recognition camera and the laser rangefinder are all connected to the control device.

5. The equipment for safely transferring materials and personnel between two ships in stormy sea conditions according to claim 2, characterized in that: The main boom and the auxiliary boom are both multi-section retractable structures.

6. The equipment for safely transferring materials and personnel between two ships in stormy sea conditions according to claim 1, characterized in that: The adjustable support structure includes six electric cylinders and a fixing seat in six directions; Six electric cylinders in six directions are arranged between the fixing seat and the base, and the electric cylinders are connected to the control device and can realize the telescopic adjustment of the electric cylinders.

7. A method for safely transferring materials and personnel between two ships in rough sea conditions, characterized in that: The following steps are involved: Step A, installing the base on the supply ship No. A; Step B, in the case of windy and choppy sea conditions, both the supply ship A and the receiving ship B are in a turbulent state, and the six electric cylinders in six directions of the adjustable support structure on the ship A are started and automatically adjusted to keep the crane, the main boom and the auxiliary boom in a stable state; Step C, put the materials on the supply ship No. A into the hanging basket, and connect the hooks of the four anti-sway slings of the main crane arm to the four corners of the hanging basket, start the main crane arm, and make the main crane arm lift the hanging basket; Step D, manually operate the control device, extend the main boom, adjust the pitch angle of the main boom, lift the basket above the deck area of ​​the No. B supply ship, extend the auxiliary boom, and start the automatic control function of the mounting frame. Under the automatic guidance of the image processing data provided by the second image recognition camera, the mounting frame is moved close to the bottom edge of the basket and the distance position data from the basket is locked; Step E, the mounting frame is raised and lowered together with the hanging basket, and the distance position data from the hanging basket locked by the second image recognition camera is used to automatically control the pitch angle and extension of the auxiliary boom during the lifting process of the hanging basket, so as to ensure that the mounting frame can automatically track the edge of the bottom of the hanging basket at any time; Step F, the first image recognition camera performs image analysis on the basket placement area on the deck of the No. B supply ship diagonally downward, automatically finds a suitable position for placing the basket, and automatically memorizes the data of the position; Step G, the data of the ready placement position of the hanging basket locked by the first image recognition camera is used as the tracking basis data for automatically controlling the horizontal rotation of the crane and the extension and retraction of the main boom and the pitch angle adjustment of the main boom, so as to realize the random automatic adjustment of the placement position of the hanging basket to the No. B supply ship; Step H: According to the frequency regularity of the surge and fall of the sea waves, the laser rangefinder automatically detects the distance between the bottom of the hanging basket and the proposed placement position of the deck of the No. B supply ship, and automatically detects and captures the placement position of the No. B supply ship at the highest point of the surge H. 高 Data and the lowest point data when falling into the trough H 低 , and the height difference between the two points `H 差 And the falling cycle time S 落 ; Step I: The main crane arm lowers the bottom of the basket to an area H slightly higher than the position of Ship B where the waves are rising. 区 Waiting for the final landing opportunity, at this time H 区 Slightly higher than H 高 , when ship B is placed at the highest point H 高 When the descent begins, the main boom will lift the basket faster than the waves, and in the period before it falls into the trough: (H 区 -H 低 ) / S 落 >H 差 / S 落 Then it will gently descend to the predetermined placement position; Step J, when the basket is lowered to the placement position, the auxiliary boom is lifted upward at the fastest speed to prevent the auxiliary boom and the mounting frame at the end from being damaged when Ship B rises with the surge; Step K, fix the basket that has landed on the placement position of Ship B and unlock the connections of the four hooks.

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